阅读说明：本技术 马达控制系统、马达控制装置 (Motor control system and motor control device ) 是由 安藤邦正 于 2019-04-22 设计创作，主要内容包括：本发明提供马达控制系统、马达控制装置,能够实现连接布线结构的简化及低成本化。马达控制系统(1)具备马达(2)和基于马达(2)的驱动状态量对马达(2)的驱动电力进行供电控制的马达控制装置(13),马达控制装置(13)具备安全模块(14)(安全控制处理部34),安全模块(14)(安全控制处理部34)包括：从外部输入安全请求信号的安全请求输入部(例如输入端口3-A)、从外部输入安全协调信号的安全协调输入部(例如输入端口3-C)、以及向外部输出安全协调信号的安全协调输出部(例如输出端口3-A),在输入了安全请求信号和安全协调信号中的至少一者时,安全模块(14)监视预定的动作监视模式与驱动状态量的关系状态,并且输出安全协调信号。(The invention provides a motor control system and a motor control device, which can simplify a connection wiring structure and reduce the cost. A motor control system (1) is provided with a motor (2) and a motor control device (13) for controlling the power supply of the drive power of the motor (2) on the basis of the drive state quantity of the motor (2), wherein the motor control device (13) is provided with a safety module (14) (safety control processing unit (34)), and the safety module (14) (safety control processing unit (34) is provided with: when at least one of the safety request signal and the safety coordination signal is input, the safety module (14) monitors the state of the relationship between a predetermined operation monitoring mode and the driving state quantity and outputs the safety coordination signal.)

1. A motor control system comprising:

a motor; and

a motor control device that performs power supply control of drive power of the motor based on the drive state quantity of the motor,

the motor control system is characterized in that the motor control device includes a safety control processing unit,

the safety control processing unit includes:

a security request input unit for inputting a security request signal from the outside;

a security coordination input unit for inputting a security coordination signal from the outside; and

a security coordination output unit for outputting the security coordination signal to the outside,

wherein, when at least one of the safety request signal and the safety coordination signal is input, the safety control processing unit monitors a state of a relationship between a predetermined operation monitoring mode and the driving state amount, and outputs the safety coordination signal.

2. The motor control system according to claim 1,

the motor control system includes a plurality of the motor control devices,

the safety coordination output unit of a specific one of the motor control devices is connected to the safety coordination input unit of another one of the motor control devices, and a transmission signal path for transmitting the safety coordination signal to all of the plurality of motor control devices is formed.

3. The motor control system of claim 2,

the transmission signal path is formed in a ring shape.

4. The motor control system of claim 2,

the transmission signal path is arranged to be multiplexed.

5. The motor control system according to claim 1,

the safety coordination output unit outputs a test signal before outputting the safety coordination signal.

6. The motor control system according to any one of claims 1 to 5,

the safety control processing unit has a signal input unit to which the driving state quantity is input, and when an input signal is input to the signal input unit, the safety control processing unit monitors a state of relationship between the predetermined operation monitoring mode and the driving state quantity, and outputs the safety coordination signal to the outside.

7. The motor control system according to any one of claims 2 to 4,

the safety coordination input unit, the safety coordination output unit, and the transmission signal path are configured by a transmission/reception unit capable of transmitting/receiving a digital signal and a digital signal line.

8. The motor control system according to any one of claims 1 to 5,

the motor control device includes a power supply cutoff unit that cuts off power supply to the motor when a power supply cutoff signal is input from the safety control processing unit,

when the predetermined operation monitoring mode and the driving state quantity are in a predetermined relationship state, the safety control processing unit outputs the power supply cutoff signal to the power supply cutoff unit.

9. The motor control system according to claim 8,

the operation monitoring mode is a time-series change mode in which the first input of the security request signal and the security coordination signal is started.

10. A motor control device for controlling the supply of electric power to drive a motor, comprising a safety control processing unit,

the safety control processing unit includes:

a security request input unit for inputting a security request signal from the outside;

a security coordination input unit for inputting a security coordination signal from the outside; and

a security coordination output unit that outputs the security coordination signal,

wherein, when at least one of the safety request signal and the safety coordination signal is input, the safety control processing unit monitors a state of a relationship between a predetermined operation monitoring mode and a driving state amount of the motor, and outputs the safety coordination signal to the outside.

Technical Field

The disclosed embodiments relate to a motor control system and a motor control device.

Background

Patent document 1 discloses a motor control system including a motor control device that compares an operation monitoring mode with a detected driving state quantity of a motor and cuts off power supply to the motor when the operation monitoring mode and the detected driving state quantity are in a specific relationship state.

Prior art documents

Patent document

Patent document 1: japanese patent No. 6369590.

Disclosure of Invention

Problems to be solved by the invention

However, in the above-described conventional technique, when a plurality of motor control devices are provided or when there are a plurality of sources of the safety request signal requesting execution of the safety monitoring control, the configuration of connecting a plurality of wires is likely to be complicated.

The present invention has been made in view of the above problems, and an object thereof is to provide a motor control system and a motor control device that can simplify and reduce the cost of a connection wiring structure.

Means for solving the problems

In order to solve the above problem, according to an aspect of the present invention, a motor control system is applied, including a motor; and a motor control device that performs power supply control of drive power of the motor based on a drive state quantity of the motor, the motor control device including a safety control processing unit that includes: a security request input unit for inputting a security request signal from the outside; a security coordination input unit for inputting a security coordination signal from the outside; and a safety coordination output unit that outputs the safety coordination signal to the outside, wherein when at least one of the safety request signal and the safety coordination signal is input, the safety control processing unit monitors a state of relationship between a predetermined operation monitoring mode and the driving state quantity, and outputs the safety coordination signal.

In addition, according to another aspect of the present invention, there is provided a motor control device for controlling power supply of driving power of a motor, the motor control device including a safety control processing unit including: a security request input unit for inputting a security request signal from the outside; a security coordination input unit for inputting a security coordination signal from the outside; and a safety coordination output unit that outputs the safety coordination signal, wherein when at least one of the safety request signal and the safety coordination signal is input, the safety control processing unit monitors a state of relationship between a predetermined operation monitoring mode and a driving state quantity of the motor, and outputs the safety coordination signal to the outside.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, the connection wiring structure can be simplified and the cost can be reduced.

Drawings

Fig. 1 is a functional block diagram showing a schematic configuration of a motor control system according to an embodiment;

fig. 2 is a diagram illustrating a signal flow direction in the motor control system during normal operation;

FIG. 3 is a diagram illustrating the flow of signals in the motor control system when the active deceleration mode is executed;

FIG. 4 is a diagram illustrating the flow of signals in the motor control system during an STO condition;

fig. 5 is a diagram showing an example of a wiring connection structure for mutually transmitting and receiving a security coordination signal between three security modules;

fig. 6 is a diagram showing an example of a setting screen for performing selection setting for each safety function unit in the safety control processing unit;

fig. 7 is a diagram showing an example of setting of a security function section for realizing the processing function of the third security module;

fig. 8 is a diagram showing an example of a wiring connection structure when different safety controllers are connected to a plurality of safety modules, respectively;

fig. 9 is a diagram showing an example of a timing chart of security coordination signals transmitted and received between three security modules;

fig. 10 is a diagram showing an example of a wiring connection structure when an output signal from a sensor of a motor is input to a security module.

Detailed Description

Hereinafter, embodiments will be described with reference to the drawings.

< schematic structure of motor control System >

Fig. 1 is a functional block diagram showing a schematic configuration of a motor control system according to an embodiment of the present invention.

In fig. 1, a motor control system 1 according to the present embodiment includes a motor 2 (which is a general name of a motor 2A, a motor 2B, and a motor 2C), an encoder 3 (which is a general name of an encoder 3A, an encoder 3B, and an encoder 3C), a motor control device 13 (which is a general name of a first motor control device 13A, a second motor control device 13B, and a third motor control device 13C), a safety module 14 (which is a general name of a first safety module 14A, a second safety module 14B, and a third safety module 14C), an upper control device 11, and a safety controller 12.

In fig. 1, the connection between the respective components and the flow of signals transmitted between the respective components are indicated by arrows, and the internal configuration thereof will be described in detail later. The signal lines indicated by broken lines in the following figures do not transmit and receive signals in the illustrated situation, but indicate that signals can be transmitted and received between the corresponding components according to other situations. Hereinafter, each of the above-described components will be schematically described.

The motor 2 is, for example, a three-phase ac motor or the like mechanically coupled to and driving a driving machine 4 constituting an industrial machine, a robot, or the like.

The encoder 3 is mechanically coupled to the motor 2, for example, and functions to detect a driving state quantity such as a driving position of the motor 2.

The motor control device 13 basically controls the driving of the motor 2 based on a higher-level control command input from a higher-level control device 11 to be described later and the driving state quantity of the motor 2 detected by the encoder 3.

The safety module 14 is a function extender additionally connected to the above-described motor control device 13. The safety module 14 functions to output a power supply cutoff signal to the motor control device 13 to forcibly decelerate and stop the motor 2 when a predetermined condition after a safety request signal is input from the safety controller 12 described later is satisfied.

The upper control device 11 functions to output an upper control command for causing the motor 2 to perform a desired driving operation to the motor control device 13, and to control the driving of the motor 2 through power supply control by the motor control device 13. The upper control command is output as a position command, a speed command, a torque command, or the like.

The safety controller 12 functions to output a corresponding safety request signal to the safety module 14 in this example when the occurrence of a predetermined state in which the motor 2 should be decelerated and stopped is detected from the drive machine 4 itself or various sensors 16 provided in its surroundings. In addition, the present invention is not limited to this example, and the same safety request signal (not shown in particular) may be collectively output to the upper control device 11 depending on the detection content of the sensor 16.

In the example of the present embodiment, the drive machine 4 to be drive-controlled by the motor control system 1 has a 3-axis structure in which the three motors 2A, 2B, and 2C are driven in coordination with each other, and the motor control system 1 includes three motor control devices 13A, 13B, and 13C corresponding to the three motors 2A to 2C, and individually performs drive control. The safety modules 14A, 14B, and 14C are connected to the motor control devices 13A to 13C, respectively, and in the illustrated example, the first to third safety modules 14A to 14C are connected to the first to third motor control devices 13A to 13C, respectively, in order of position from the top to the bottom in the drawing.

In this example, only the third security module 14C of the three security modules 14A to 14C is connected to the security controller 12 and can input the security request signal, while wiring is connected between all the security modules 14A to 14C so that a security cooperation signal, which will be described later, can be mutually transmitted and received. The wiring connection structure between the security modules 14A to 14C for transmitting and receiving the security coordination signal will be described in detail later. The connection wiring for transmitting and receiving the upper control command between the upper control device 11 and each of the motor control devices 13A to 13C and the connection wiring for transmitting and receiving the safety request signal between the safety controller 12 and the third safety module 14C are each constituted by a so-called field network which is a communication network (see a dotted line portion in the figure) based on a predetermined protocol, and are functionally capable of transmitting and receiving various commands and data bidirectionally. On the other hand, the connection wiring for transmitting and receiving the security coordination signal between the security modules 14A to 14C is constituted by a digital signal line (see a dashed line portion in the figure) capable of bidirectionally transmitting and receiving a simple digital signal.

In the case of the multi-axis drive machine 4 as described above, for example, when stopping the drive in an emergency, it is not possible to freely stop the drive of each of the motors 2A to 2C in order to avoid mechanical damage or the like in the drive machine 4, and it is necessary to perform safety control in which all the motor control devices 13A to 13C stop the drive in a time-series change pattern suitable for each of them in cooperation. Specifically, as the safety control, safety operation control is executed in which the motor control devices 13A to 13C perform deceleration and stop operations in an individual operation control mode at the same time, and the safety modules 14A to 14C perform safety monitoring control for monitoring the individual operation monitoring mode and the driving state amount. In the example of the present embodiment, the above-described safety operation control is performed in a so-called active deceleration mode in which the motors 2A to 2C are decelerated and stopped in accordance with an internal deceleration command generated by the motor control devices 13A to 13C themselves.

Detailed construction and safety control of motor control system

Fig. 2 to 4 are diagrams illustrating the flow of signals in the motor control system 1, and fig. 2 corresponds to a normal operation, fig. 3 corresponds to the execution of an active deceleration mode (described later), and fig. 4 corresponds to an STO state (described later). In fig. 2 to 4, the HWBB32 and the inverter 33 included in the motor controller 13C are configured by hardware circuits, but functional portions included in the motor controller 13C and the safety module 14C are represented as software blocks executed by CPUs included in the motor controller 13C and the safety module 14C, respectively. In order to avoid the complication of the drawing, only the configuration and control of the third motor control device 13C and the third safety module 14C are shown in the drawing, and the other first to second motor control devices 13A and 13B and the first to second safety modules 14A and 14B have the same configuration, and the same control is performed by transmission and reception of a safety cooperative signal to be described later. In order to avoid complication of the illustration, the transmission and reception of the security coordination signal are not illustrated.

As described above, in fig. 2 to 4, the motor control device 13C includes the motor control processing unit 31 as a software Block, the HWBB (Hard Wire Base Block: hardware cutoff motor current circuit) 32 configured by a hardware circuit, and the inverter 33 therein. The security module 14C also includes a security control processing unit 34 as a software block therein.

The motor control processing unit 31 functions to refer to the driving state quantity of the motor 2C detected by the encoder 3C as a feedback signal, and to perform power supply control (switching control of the inverter 33 to be described later based on a PWM signal) to the motor 2C in accordance with a predetermined drive control command (for example, an upper control command from the upper control device 11).

The HWBB32 (power supply cutoff unit) includes a semiconductor switching element that functions to switch on and off a PWM signal output from the motor control processing unit 31 to the inverter 33 so that, when the HWBB activation signal (power supply cutoff signal) is input, the output of the PWM signal is cut off to cut off power supply to the motor 2C in the inverter 33.

The inverter 33 functions to convert the power supplied from a commercial power supply, not shown in particular, into drive power for the motor 2 based on the PWM signal input from the motor control processing unit 31.

The safety control processing unit 34 functions to output an HWBB activation signal and activate (turn off a PWM signal) the HWBB32 when the driving state quantity (output position, output speed, etc. of the motor 2C detected by the encoder 3C exceeds a later-described operation monitoring mode. The operation monitoring mode is a plurality of time-series change modes (not shown in particular) defined by safety standards, and a mode arbitrarily selected by a setting operation described later is applied to the safety control processing unit 34 (described later in detail).

First, when the drive machine 4 is normally operated, as shown in fig. 2, the upper control device 11 outputs the generated upper control command to the motor control device 13C so that the motor 2C is driven in a predetermined manner, and the motor control device 13C directly inputs the input upper control command to the internal motor control processing unit 31. Then, the motor control processing unit 31 outputs a PWM signal in accordance with the upper control command while referring to the driving state quantity detected by the encoder 3C as a feedback signal. During this normal operation, the safety control processing unit 34 does not output the HWBB start signal, and the PWM signal output from the motor control processing unit 31 is directly input to the inverter 33 via the HWBB32, and the corresponding drive power is supplied to the motor 2C. This enables the motor control system 1 as a whole to stably drive the motor 2C in accordance with the upper control command from the upper control device 11. During this normal operation, neither the detection signal is output from the sensor 16 nor the safety controller 12 outputs a safety request signal corresponding to the detection signal.

In the normal operation of the drive machine 4, when a detection signal indicating an abnormality is output from the sensor 16, the safety controller 12 outputs a safety request signal corresponding to the detection signal to the safety module 14C as shown in fig. 3. Then, the motor control device 13C decelerates and stops the motor 2C by executing the active deceleration mode in this example via the safety module 14C to which the safety request signal is input as described above.

In the active deceleration mode shown in fig. 3, an internal deceleration command in accordance with a predetermined operation control mode of the safety function is generated inside the motor control device 13 and is input to the motor control processing unit 31 as a deceleration control command. That is, the motor control device 13C itself autonomously performs deceleration control or stop control of the motor 2C, instead of the upper control device 11. When this active deceleration mode is executed, there is no need for a system configuration in which a safety request signal is input to the upper control device 11, and the motor control processing unit 31 outputs an active state signal to the upper control device 11, and the upper control device 11 that has received the active state signal stops outputting the upper control command.

On the other hand, as described above, the safety control processing unit 34 included in the safety module 14C outputs the HWBB activation signal to activate the HWBB32 (to cut off the PWM signal) when the driving state quantity of the motor 2C exceeds the predetermined operation monitoring mode after the safety request signal is input from the safety controller 12.

As described above, when the HWBB32 is activated, as shown in fig. 4, the PWM signal from the motor control processing unit 31 is cut Off by the HWBB32 in the motor control device 13C, and the inverter 33 becomes in the STO (safe Torque Off) state in which the supply of the driving power to the motor 2C is stopped. In this STO state, although the ease of return for restarting the drive machine 4 is low, the motor 2C can be reliably and quickly decelerated and stopped, and therefore, the safest and reliable safety control is achieved.

< feature of the present embodiment >

As described above, in the motor control system 1 for controlling the motor as the drive source for driving the machine, it is necessary to control the deceleration operation and the stop operation of the motor 2 in compliance with the plurality of operation control modes (i.e., the deceleration mode and the stop mode) prescribed in the safety standards in an emergency or the like. In addition, in association with this, the safety module 4 is provided with a safety control processing unit 34, and the safety control processing unit 34 compares the operation monitoring mode corresponding to any one of the above-described operation control modes with the detected driving state amount of the motor 2, and cuts off the power supply to the motor 2 when these modes are in a specific relationship state.

On the other hand, the drive machine 4 to be driven and controlled by the motor control system 1 is often driven by the plurality of motors 2A to 2C, and in this case, the motor control system 1 includes motor control devices 13A to 13C corresponding to the plurality of motors 2A to 2C, and individually drives and controls the motors. In the case of the multi-axis drive control, all the motor control devices 13A to 13C need to perform the safety operation control for performing the deceleration and stop operations in the individual operation control modes simultaneously in a coordinated manner in the emergency described above, and perform the safety monitoring control for monitoring the individual operation monitoring mode and the drive state amount.

However, in such a motor control system 1, a plurality of wires for transmitting and receiving signals instructing the plurality of motor control devices 13A to 13C to start the coordinated safety operation control and safety monitoring control are required, and the wiring connection structure thereof is liable to become complicated.

In contrast, in the present embodiment, the motor control device 13 includes a safety control processing unit including: a security request input unit (any one of input ports described later) for inputting a security request signal from the outside as described later; a safety coordination input unit (any one of input ports described later) for inputting a safety coordination signal for coordinating and controlling with another device (i.e., another motor control device 13) from the outside; and a safety control processing unit (output port described later) that monitors a state of relationship between a predetermined operation monitoring mode and the driving state quantity and outputs a safety coordination signal to the outside when at least one of the safety request signal and the safety coordination signal is input from the outside.

That is, a signal input from an external safety controller 12 or the like to request at least safety monitoring control is treated as a safety request signal, and a signal input and output to and from the motor control device 13 (i.e., with another device) to coordinate at least starting safety monitoring control is treated as a safety coordination signal, and clearly distinguished. In response to this, the safety control processing unit that performs safety monitoring control in the motor control device 13 has an input unit for the safety request signal and an input unit and an output unit for the safety coordination signal. Therefore, in the motor control system 1, the connection structure of the plurality of wires between the motor control devices 13 relating to the request of the safety monitoring control can be simplified and reduced in cost. Next, a specific structure and processing for realizing the structure will be described in order.

< Wiring connection Structure and operation procedure between safety modules >

In the example of the present embodiment, fig. 5 shows an example of a wiring connection structure for transmitting and receiving the security coordination signal to and from each other among the three security modules 14. In fig. 5, the three security modules 14 include three input ports (1 to 3-a to C) and one output port (1 to 3-a), respectively, and these input and output ports are each configured to be able to bidirectionally transmit and receive a simple digital signal.

As described above, in the example of the present embodiment, the security controller 12 is connected to only the input port 3-a (security request input section) of the third security module 14C via the communication network, and can input the security request signal. In contrast, in order to transmit and receive the security coordination signal between the three security modules 14A to 14C, a digital signal line is connected to form a loop-shaped transmission signal path 35. Specifically, a digital signal line is connected so that the safety coordination signal is transmitted from the output port 3-a (safety coordination output unit) of the third safety module 14C to the input port 2-C (safety coordination input unit) of the second safety module 14B in one direction. Further, a digital signal line is connected so that the safety coordination signal is transmitted from the output port 2-a (safety coordination output part) of the second safety module 14B to the input port 1-C (safety coordination input part) of the first safety module 14A in one direction. Furthermore, a digital signal line is connected so that the safety coordination signal is transmitted from the output port 1-a (safety coordination output) of the first safety module 14A to the input port 3-C (safety coordination input) of the third safety module 14C in one direction. In this example, the entire transmission signal path 35 formed by the wiring connection structure of the digital signal line is made redundant by doubling (connecting two parallel wirings) for the purpose of so-called fail-safe.

Then, when a security request signal is input from the security controller 12 to the input port 3-a of the third security module 14C, security control (security operation control and security monitoring control) in the active deceleration mode shown in fig. 3 and 4 described above is performed inside the third security module 14C, and a security coordination signal is output from the output port 3-a of the third security module 14C and is input to the input port 2-C of the second security module 14B. Then, in the second security module 14B to which the security coordination signal is input, the security control based on the active deceleration mode is also performed, and the security coordination signal is output from the output port 2-a of the second security module 14B and input to the input port 1-C of the first security module 14A. Then, in the first security module 14A to which the security coordination signal is input, the security control based on the active deceleration mode is also performed, and the security coordination signal is output from the output port 1-a of the first security module 14A and input to the input port 3-C of the third security module 14C.

As described above, in the case of a system emergency, when the output of the safety request signal from the safety controller 12 is triggered, the safety coordination signals are serially transmitted in one direction between the three safety modules 14A to 14C via the transmission signal path 35, and the execution of individual safety control can be started together.

Specific processing structure of safety control processing section

As described above, a plurality of operation modes each including a combination of the operation control mode and the operation monitoring mode are defined in accordance with the safety standard, and the driving state amount corresponding to the safety control processing unit 34 in the safety modules 14A to 14C is monitored for an excess amount (whether or not there is a failure) with respect to the operation monitoring mode. In the present embodiment, the safety control processing unit 34 includes a plurality of safety function units installed therein in a software processing manner, and can individually perform comparison and monitoring with the driving state quantity by selecting an operation monitoring mode to be a target of comparison and monitoring for each of the safety function units.

Fig. 6 shows an example of a setting screen for performing selection setting for each safety function unit. In fig. 6, the safety control processing unit includes ten safety function units (the safety function units C to I are not illustrated in the figure) from the safety function unit a to the safety function unit J, and can individually set an arbitrarily selected safety function unit by an operation input via an appropriate engineering tool (not particularly illustrated) or the like.

The setting items prepared by any one of the safety function units a to J are completely the same, and are roughly divided into three setting items, namely, a safety signal input source selection, an operation monitoring mode selection, and a monitoring result signal output destination selection. In the setting item of the safety signal input source selection, the input source of the safety request signal or the safety coordination signal serving as the execution start reference of the safety function unit can be selected. In the illustrated example, any one of "0 (: None)" indicating that no safety request signal or safety coordination signal is Input, "1 to 5" (: Safe Input 1 to 5) for selecting which safety request signal is Input when a maximum of five safety controllers 12 are provided, "6 to 10 (: Chain Input 1 to 5)" indicating that safety coordination signal is Input when a maximum of five other safety modules 14 (motor control devices 13) are provided, and "11 to 15 (: Feed _ Back _ Input 1 to 5)" indicating that an Input signal (described later) is Input when a maximum of five other sensors different from the sensor 16 are provided may be selected.

In the setting items of the operation monitoring mode selection, the type of the operation monitoring mode to be referred to by the safety function unit can be selected. The specific operation monitoring mode is not particularly shown, and for example, an operation monitoring mode presented in international standard IEC61800-5-2 such as a safety basic block function (ssb (sto)), a safety speed limit monitoring function (SLS), and a safety position monitoring function with delay (SPM-D (SS2)) may be applied. In this case, specific processing contents may be determined by a known method described in, for example, japanese patent No. 6369590, and a detailed description thereof will be omitted.

In the illustrated example, among the setting items selected in the operation monitoring mode, any of "0 (:none)" when no operation monitoring mode is referred to, "1 (: Direct)" when the comparison monitoring result is output without performing the operation monitoring control, "2 (: STO)" when the operation monitoring mode of the safety base block function SBB (the mode which becomes STO immediately when the safety request signal is input) is selected, and "3 (: SLS)" when the operation monitoring mode of the safety speed limit monitoring function SLS is selected (other illustration is omitted) may be selected. In addition, in the setting items for selecting the operation monitoring mode, mode parameters defining the shape of the temporal change of the selected operation monitoring mode may be set together. In addition, the motor control device 13 is configured to apply the operation control mode of the type corresponding to the operation monitoring mode selected in the setting item in synchronization with the functioning of the safety function unit, so as to function. Thus, the same type of operation control mode and operation monitoring mode are executed simultaneously.

In the setting item of the monitoring result signal output destination selection, the output destination of the monitoring result signal indicating the comparison monitoring result (whether or not there is a failure) of the safety function unit at that time can be selected. In the illustrated example, any one of "0 (:none)" when no monitoring result signal is output, "1 (: HWBB)" when the monitoring result signal is directly output as the HWBB activation signal, "2 to 6 (: SafeOutput1 to 5)" when any one of the five output destinations of the safety controller 12 is selected, and "7 to 11 (: ChainOutput 1 to 5)" when any one of the five output destinations of the other safety modules 14 is selected may be selected. When any of the other security modules 14 is selected as the output destination, the monitoring result signal is output as the security coordination signal.

Fig. 7 shows a setting example of a security function section for realizing the processing function of the third security module 14C shown in fig. 5 described above by using a plurality of security function sections as described above. In the drawings, appropriate portions are not shown in order to avoid complication of the drawings.

In fig. 7, in the safety function section a, the Input port 3-a ("Safe Input 1") connected to one safety controller 12 is selected as an Input source in the safety signal Input source selection, the operation monitoring mode of the safety speed limit monitoring function SLS is selected in the operation monitoring mode selection, and the HWBB32 is selected as an output destination in the monitoring result signal output destination selection. By the processing of the safety function unit a, when the safety request signal is input during the normal operation, the motor speed is controlled and monitored in the operation control mode and the operation monitoring mode of the safety speed limit monitoring function SLS, and when the corresponding drive state quantity (the motor speed in the case of SLS) exceeds the operation monitoring mode, the monitoring result signal is output as a start signal to the HWBB32, and the motor 2C is in the STO state (motor stop) in which the power supply is interrupted.

In the safety function unit B, the Input port 3-a ("Safe Input 1") connected to one safety controller 12 is selected as an Input source in the safety signal Input source selection, the Direct Output ("Direct") of the comparison monitoring result (safety coordination signal) is selected in the operation monitoring mode selection, and the Output port 3-a ("Chain Output 1") corresponding to the other safety module 14 (in this case, the second safety module 14B) is selected as an Output destination in the monitoring result signal Output destination selection. By the processing of the safety function section B, when a safety request signal is input during normal operation, a safety coordination signal is immediately output from the output port 3-a.

In the safety function unit C, the input port 3-C ("Chain Output 1") corresponding to the other safety module 14 (in this case, the first safety module 14A) is selected as the input source in the safety signal input source selection, the operation monitoring mode of the safety speed limit monitoring function SLS is selected in the operation monitoring mode selection, and the HWBB32 is selected as the Output destination in the monitoring result signal Output destination selection. By the processing of the safety function unit C, when the safety coordination signal is input from the first safety module 14A to the input port 3-C during the normal operation, the motor speed is controlled and monitored in the operation control mode and the operation monitoring mode of the safety speed limit monitoring function SLS, and when the corresponding driving state quantity (motor speed in the case of SLS) is excessive with respect to the operation monitoring mode, the monitoring result signal is output as the start signal to the HWBB32, and the state becomes the STO state (motor stop) in which the power supply to the motor 2C is disconnected.

In the safety function unit D, the input port 3-C ("Chain Output 1") corresponding to the other safety module 14 (in this case, the first safety module 14A) is selected as an input source in the safety signal input source selection, the Direct Output ("Direct") of the comparison monitoring result (safety coordination signal) is selected in the operation monitoring mode selection, and the Output port 3-a ("Chain Output 1") corresponding to the other safety module 14 (in this case, the second safety module 14B) is selected as an Output destination in the monitoring result signal Output destination selection. By the processing of the safety function unit D, when the safety coordination signal is input from the first safety module 14A to the input port 3-C in the normal operation, the safety coordination signal is immediately output from the output port 3-a.

In the other safety function units E to J, the function is stopped by setting "None" in any of the safety signal input source selection, the operation monitoring mode selection, and the monitoring result signal output destination selection. The function of the third security module 14C can be realized by processing a plurality of security function units in parallel. In each of the first and second security modules 14A and 14B, only the same setting as the security function unit C and the security function unit D may be performed. However, the operation monitoring mode selection in the safety function unit C may be arbitrary, or only the safety function unit D may be set without setting the safety function unit C.

By the above-described setting processing of the safety function section, a wiring connection structure having a high degree of freedom between the plurality of safety modules 14A to 14C can be realized. For example, as shown in fig. 8, even when different safety controllers 12A to 12D are connected to the plurality of safety modules 14A to 14C, a set of safety function units equivalent to the safety function unit A, B may be set individually in correspondence with the connection of the safety controllers 12A to 12D. Thus, when any one of the plurality of safety controllers 12A to 12D outputs a safety request signal, all the safety modules 14A to 14C can start execution of safety control in cooperation with each other. In this case, the operation monitoring mode may be set differently for each of the plurality of connected safety controllers 12 (for each safety function unit in accordance with the safety request signal) in one safety module 14.

Details of the safety coordination Signal

Fig. 9 shows an example of a timing chart of the security coordination signals transmitted and received between the three security modules 14A to 14C. The example shown in fig. 9 corresponds to the wiring connection configuration shown in fig. 5, and shows a case where the third security module 14C uniquely connected to the security controller 12 first starts outputting and transmitting the security coordination signal, and first stops outputting and recovering the security coordination signal.

In the example of the present embodiment, the safety coordination signal is a digital signal transmitted as 2 values of H level and L level, and particularly, the output of L level is a so-called negative logic signal set as the safety coordination signal. This is because, when the work site including the drive machine 4 is actually wide, the signal cable of the transmission signal path 35 connecting the motor control devices 13A to 13C (safety modules 14A to 14C) arranged separately to each other is likely to become long, and even when the signal cable is broken and the signal level is lowered, the safety cooperative signal as negative logic is transmitted, and the motor control devices 13A to 13C can start the execution of the safety monitoring control. Before each of the safety modules 14A to 14C outputs a negative logic safety coordination signal, a test signal (in the example shown in the figure, a test pulse) shown in an enlarged view of the X portion in the figure is output. This is to distinguish whether the input safety coordination signal is a signal normally output or a signal caused by an open circuit.

As described above, the transmission signal path 35 for transmitting the security coordination signal between the security modules 14A to 14C is duplicated, but the transmission method of the security coordination signal between the two transmission signal paths 35 is slightly different. Specifically, when the safety coordination signal output is started, that is, when the safety control is started, each of the safety modules 14A to 14C simultaneously outputs the safety coordination signal (changes to the L level) on each of the two transmission signal paths 35. At this time, each of the security modules 14A to 14C generates only a time error from the detection of the input of the external security coordination signal to the output of the security coordination signal by the security module 14A to 14C itself, that is, a delay of the time period required for the processing of the security function unit D.

On the other hand, when the safety cooperative signal is stopped from being output, that is, when the normal operation is resumed, each of the safety modules 14A to 14C stops outputting (changes to the H level) for one round on one of the two transmission signal paths 35, and then stops outputting for one round on the other. Therefore, in the first secure module 14A and the second secure module 14B, when the output of the security coordination signal is stopped, the output of the security coordination signal is stopped on the transmission signal path 35 to which the security coordination signal is not input among all the transmission signal paths 35 multiplexed. In addition, when the third secure module 14C stops outputting the security coordination signal, the output of the security coordination signal is stopped on the transmission signal path 35, to which the third secure module 14C has previously outputted the security coordination signal, except for the case where the security coordination signal is not input.

By stopping the output of the safety cooperative signal sequentially for each transmission signal path 35 at the time of recovery in this way, it is possible to transmit a recovery instruction to all the safety modules 14A to 14C in the first round, and to obtain approval of recovery preparation for each of the safety modules 14A to 14C in the second round, for example. That is, even in the same drive machine 4, the time required for the recovery preparation may be different depending on the mechanical components driven by the motors 2, but the recovery preparation is started almost simultaneously in the first round, and the recovery of the whole can be started safely after the completion of the recovery preparation is confirmed in the second round. Therefore, in each of the safety modules 14A to 14C, the safety function portion corresponding to the first round transmission signal path 35 may stop outputting the safety coordination signal in "Direct", and the safety function portion corresponding to the second round transmission signal path 35 may stop outputting the safety coordination signal when the preparation for returning the mechanical structure portion corresponding to the safety module 14 is completed (not particularly shown).

< Effect of the present embodiment >

As described above, the motor control device 13 of the motor control system 1 of the present embodiment includes the safety module 14 (safety control processing unit 34), the safety module 14 (safety control processing unit 34) includes a safety request input unit (for example, input port 3-a) for inputting a safety request signal from the outside, a safety coordination input unit (for example, input port 3-C) for inputting a safety coordination signal from the outside for coordinating control with another motor control device 13, and a safety coordination output unit (for example, output port 3-a) for outputting the safety coordination signal to the outside, and when at least one of the safety request signal and the safety coordination signal is inputted from the outside, the safety module 14 (safety control processing portion 34) monitors a state of relationship between a predetermined operation monitoring mode and a driving state quantity of the motor 2 and outputs a safety coordination signal to the outside.

That is, a signal inputted at least for requesting safety monitoring control from the external safety controller 12 or the like is treated as a safety request signal, and a signal inputted and outputted at least for starting safety monitoring control in cooperation with the motor control device 13 (i.e., with another device) is treated as a safety coordination signal clearly and separately. In response to this, the safety control processing unit 34, which performs safety monitoring control in the motor control device 13, is provided with an input unit (for example, input port 3-a) for the safety request signal and an input unit (for example, input port 3-C) and an output unit (output port 3-a) for the safety coordination signal. Therefore, in the motor control system 1, simplification and cost reduction can be achieved with respect to the connection structure of the plurality of wires between the motor control devices 13 in response to the request for the monitor control.

In the present embodiment, in particular, the motor control system 1 includes a plurality of motor control devices 13, and a transmission signal path 35 for transmitting a safety coordination signal to all of the plurality of motor control devices 13 is formed by connecting a safety coordination output unit (output ports 3-a, 2-a, 1-a) of a specific one of the motor control devices 13 to a safety coordination input unit (input ports 3-C, 2-C, 1-C) of another one of the motor control devices 13. Thus, the safety control processing unit 34 of the plurality of motor control devices 13 can transmit the safety cooperative signal in series and in one direction via the transmission signal path 35, and at least the motor control device 13 that has first output the safety cooperative signal can start the execution of the safety monitoring control in cooperation with the safety control processing units 34 of all the motor control devices 13 connected to the downstream side.

In the present embodiment, the transmission signal path 35 is formed in a ring shape. Thus, even when one of the plurality of motor control devices 13 outputs the safety coordination signal, the safety coordination signal is cyclically input to the safety control processing units 34 of all the motor control devices 13 via the transmission signal path 35 that transmits the safety coordination signal in one direction in series, and the execution of the safety monitoring control can be started all at once.

In the present embodiment, the transmission signal path 35 is particularly provided in a multiplex manner (redundancy is more than double). This can realize a failsafe structure that can ensure a normal transmission function of the safety cooperative signal even when, for example, one transmission signal path 35 is disconnected in the work site.

In the present embodiment, in particular, when neither of the safety request signal and the safety coordination signal is externally input, the safety control processing unit 34 stops monitoring of the state of relationship between the operation monitoring mode and the driving state amount and outputting of the safety coordination signal, and when outputting of the safety coordination signal is started, the safety coordination signal is output substantially simultaneously on all of the multiplexed transmission signal paths 35, and when outputting of the safety coordination signal is stopped, the safety control processing unit 34 stops outputting the safety coordination signal on the transmission signal path 35 corresponding to the safety coordination input unit to which the safety coordination signal is not input, among all of the multiplexed transmission signal paths 35, or on any of the transmission signal paths 35 to which the safety control processing unit 34 has output the safety coordination signal before that time, among the other transmission signal paths 35. This makes it possible to perform the two-stage or more recovery processing, i.e., to start the recovery preparation for each motor control device 13 at substantially the same time in the first round, and to safely start the entire recovery after confirming the completion of all the recovery preparations in the second round and thereafter.

In the present embodiment, in particular, the safety cooperative signal is output in negative logic (L level, normally on type). Thus, even when the transmission signal path 35 is disconnected at a certain point and the signal level thereof is lowered, the transmission signal is transmitted as a negative logic safety coordination signal, and the safety module 14 of each motor control device 13 can start execution of safety monitoring control.

In the present embodiment, in particular, the safety coordination output unit (output ports 3-a, 2-a, and 1-a) outputs a test signal (test pulse in the present example) before the safety coordination signal is output. This makes it possible to distinguish whether the input safety cooperative signal is a signal normally output or a signal caused by disconnection.

In the present embodiment, in particular, the security coordination input unit (input ports 3-C, 2-C, 1-C), the security coordination output unit (output ports 3-a, 2-a, 1-a), and the transmission signal path 35 are not constituted by a communication network based on a predetermined protocol, but are constituted by a transmitting/receiving unit capable of transmitting/receiving a simple digital signal and a digital signal line. In the wiring connection structure (ring transmission connection structure, so-called daisy chain connection structure) between the safety modules 14A to 14C according to the present embodiment, it is not necessary to provide a connection structure (so-called star, tree, or bus connection structure) in which at least the plurality of motor control devices 13 transmit the safety coordination signal from one node to a plurality of nodes in a distributed manner. Therefore, for example, a wiring connection structure in a communication network, which requires high performance and increased manufacturing cost for connection in a distributed manner, is not necessary, and in the present embodiment, wiring for transmitting a security coordination signal is particularly preferable because it can be applied with low functionality and low cost. Further, the safety coordination input unit (input ports 3-C, 2-C, 1-C) and the safety coordination output unit (output ports 3-a, 2-a, 1-a) are provided as input/output exclusive use of the safety coordination signal, separately from the other input ports and output ports, and thus the processing time and the load on the system can be reduced, which is useful.

In the present embodiment, in particular, the motor control device 13 includes the HWBB32 that cuts off the power supply to the motor 2 when the power supply cut-off signal is input from the safety control processing unit 34, and the safety control processing unit 34 outputs the HWBB start signal to the HWBB32 when the predetermined operation monitoring mode and the driving state amount of the motor 2 are in a predetermined relationship state (for example, when the driving state amount exceeds the operation monitoring mode). Thus, for example, when the driving state quantity and the operation monitoring mode are in a predetermined relationship state due to a reason such as the safety operation control not functioning correctly, the most safe and reliable deceleration stop operation (so-called STO) of the motor 2 can be automatically executed.

In the present embodiment, the operation monitoring mode is a time-series change mode in which the first input of the safety request signal or the safety coordination signal is a start trigger. Accordingly, the operation monitoring mode can be changed over time in accordance with the timing of the early input of the safety request signal or the safety coordination signal, and the safety monitoring control of the mechanism portion of the drive machine 4 suitable for the drive control of the motor 2 corresponding to the motor control device 13 can be performed.

< modification example >

The disclosed embodiments are not limited to the above, and various modifications can be made without departing from the spirit and scope of the invention. Next, such a modification will be described.

< case where safety control is performed based on an analog signal different from the safety request signal >

In the above embodiment, the execution of the security control of each security module 14 is started only when a security request signal in the form of a network signal (digital signal) is input from the security controller 12, but the present invention is not limited to this. For example, the motor 2 may be provided with an analog sensor (not particularly shown) for directly detecting the temperature and the output torque of the motor 2. On the other hand, as shown in fig. 10 corresponding to fig. 5, the analog signal detected by the sensor may be directly input as an input signal (corresponding to one of the driving state quantities) to the signal input unit 14Ca of the safety module 14C, and the safety module 14C may detect an abnormality of the motor 2C based on the input signal therein, and start to execute safety control and output a safety coordination signal based on the result.

In this case, although not particularly shown, the safety function unit may be set to select an analog signal Input port ("Feed Back Input 1 to 5") to which the Input signal is additionally Input as an Input source in the safety signal Input source selection, to select an operation monitoring mode for detecting an abnormality in the Input analog signal, to select an Input port 3-a corresponding to the safety controller 12 as an output destination (that is, a recursive Input of the safety request signal) in the monitoring result signal output destination selection, or the like. At this time, the security module 14C preferably outputs the security request signal in reverse to the security controller 12.

As a result, the analog sensor provided in the motor 2 can directly input the detection signal in the analog form to the many safety modules 14 disposed in the near positions, and the safety modules 14 themselves can determine the abnormality of the motor 2 and start the execution of the safety control. Therefore, wiring of analog signals that are relatively susceptible to noise can be shortened, and the cost of the entire motor control system 1 can be saved by omitting the expensive safety controller 12.

In addition to the above, the methods of the above embodiments and the modifications may be used in appropriate combinations. Although not illustrated, the above embodiment and the modifications are implemented by being variously modified within a range not departing from the gist thereof.

Description of the symbols

1 Motor control System

2 Motor

3 Coder

4 driving machine

11 upper control device

12 safety controller

13 Motor control device

14Ca signal input part

16 sensor

31 motor control processing part

32 HWBB (Power supply cut-off part)

33 inverter

34 safety control processing part

35 carry signal paths.