WO2016174755A1 - Motor drive device - Google Patents

Abstract

A motor unit (11) that comprises a servo motor (12) and an encoder (13) is replaceably attached to an amplifier unit (16) that comprises a multi-axial amplifier (14) and an amplifier control unit (15). Provided are the following: a control power-source switch means (24) that maintains control power-source supply to the amplifier control unit (15) by blocking control power-source supply to the encoder (13) when the motor unit (11) is being replaced; and an encoder detection information disregarding means that causes the amplifier control unit (15) to disregard detection information from the encoder (13) when the motor unit (11) is being replaced.

Description

Motor drive device

The present invention relates to a motor driving device that drives a driven object with a servo motor.

For example, in a component mounting machine, as described in Patent Document 1 (Japanese Patent Laid-Open No. 2013-135049), a servo motor is used as a drive source for raising and lowering the suction nozzle, or a plurality of suction nozzles are used. Servo motors are used as drive sources for various drive mechanisms of component mounters, such as servo motors used as drive sources for driving the R-axis, Q-axis (θ-axis), and Z-axis of the rotary mounting head that is held. ing. In general, a servo motor detects its rotation with an encoder, and a servo amplifier compares the detection information of the encoder with a command value to feedback control the rotation of the servo motor.

In recent years, as described in Patent Document 2 (International Publication No. 2014/033900), three drive mechanisms that individually drive the R axis, the Q axis, and the Z axis to the head moving device of the component mounting machine. There is a type in which a rotary type mounting head provided with is attached in a replaceable manner.

JP 2013-135049 A International Publication No. 2014/033900 JP 2005-348475 A

By the way, if the mounting head is replaced while the power of the component mounting machine is turned on, the communication between the servo amplifier and the encoder is interrupted, so that it is judged as abnormal and an encoder alarm is generated. To cancel this encoder alarm, it is necessary to temporarily turn off and restart the control power supply of the servo amplifier and encoder.

However, if the control power is turned off, the control power supply to the amplifier control section of the servo amplifier is also cut off. Therefore, after the control power is turned on, the control circuit between the component mounter and the amplifier control section It is necessary to reestablish communication. As a result, it takes time to cancel the encoder alarm and return the component mounter to a state where production can be started.

For this reason, at present, the operator turns off the servo amplifier and encoder control power before replacing the mounting head so that an encoder alarm does not occur when the mounting head is replaced. After the head replacement is completed, the operator needs to turn on the control power to reestablish communication between the component mounter control unit and the amplifier control unit, and the component mounter will again be ready for production. It takes time to do so, and the setup change time becomes longer.

Such a problem is a common problem not only for component mounters but also for various devices that can replace a motor unit including a servo motor.

Incidentally, Patent Document 3 (Japanese Patent Laid-Open No. 2005-348475) describes a technique for recovering from a malfunction of an encoder (electric motor sensor). However, even with the technique of Patent Document 3, the above-described motor unit replacement is described. Can't solve the problem.

In order to solve the above-described problems, the present invention provides a servo motor that is a drive source of a driven object, an encoder that detects rotation of the servo motor, and feedback of rotation of the servo motor based on detection information of the encoder. A servo amplifier for controlling, an amplifier control unit for controlling the operation of the servo amplifier, and a higher-level device control unit for communicating with the amplifier control unit, and the amplifier control unit and the encoder via the servo amplifier In the motor driving apparatus that supplies control power to the servo motor and supplies power to the servo motor via the servo amplifier, the motor unit including the servo motor and the encoder includes the servo amplifier and the amplifier control unit. Replaceable for amplifier unit And a control power switch means for cutting off the supply of the control power to the encoder and maintaining the supply of the control power to the amplifier control unit when the motor unit is replaced, and when the motor unit is replaced The amplifier control unit includes encoder detection information ignoring means for ignoring the detection information of the encoder.

In this configuration, when the motor unit is replaced, the control power switch means shuts off the control power supply to the encoder and maintains the control power supply to the amplifier control section. Since the detection information is ignored, when the motor unit is replaced, the control power supply to the amplifier control unit is maintained and communication between the amplifier control unit and the host device control unit is established. By ignoring the detection information of the encoder, the motor unit can be replaced while preventing an encoder alarm from being generated, and the operation can be resumed promptly after the replacement of the motor unit is completed.

The present invention is not limited to a motor driving device having only one motor unit, and can be applied to a motor driving device including a plurality of motor units. However, the present invention is applicable to a motor driving device including a plurality of motor units. In this case, the servo amplifier may be a multi-axis amplifier that feedback controls the servo motors of the plurality of motor units. If the supply of control power to the amplifier control unit of the multi-axis amplifier is cut off, the servo motors of the plurality of motor units controlled by the multi-axis amplifier all stop, but if the present invention is applied, the plurality of motor units When replacing a part of the motor unit, it is possible to replace the motor unit while maintaining communication between the amplifier control unit and the host device control unit while maintaining the supply of control power to the amplifier control unit of the multi-axis amplifier. Even during replacement of the motor unit, the servo motors of other motor units can continue to be driven if there is no problem such as interference.

In this case, before replacing the motor unit, the host control unit switches off the control power switch means after switching to a state in which the encoder control information ignore means causes the amplifier control section to ignore the encoder detection information. After the supply of the control power to the encoder is cut off and the replacement of the motor unit is completed, the control power switch means is turned on to resume the supply of the control power to the encoder, and then the encoder detection information ignoring means It is preferable to cancel the ignoring of the detection information of the encoder by the above and return to a state in which the amplifier control unit recognizes the detection information of the encoder. In this way, the operations of the encoder detection information ignoring means and the control power switch means can be automated.

Further, the present invention provides a power supply switch means in a power supply line connecting between the servo amplifier and the servomotor, and the host device control unit is configured to control the control power switch means before replacing the motor unit. To turn off the control power supply to the encoder and turn off the power supply switch means to cut off the power supply to the servo motor, and after completing the replacement of the motor unit, The control power switch means may be turned on to resume the supply of the control power to the encoder, and the power power switch means may be turned on to resume the supply of the power power to the servo motor. In this way, it is possible to safely replace the motor unit in a state where the power supply to the servo motor is automatically cut off by the power power switch means.

By the way, when the operator replaces the motor unit, the host device control unit does not know that the motor unit is replaced in advance.

Therefore, an operator has an input means for inputting a motor unit replacement signal to the host device control unit before replacing the motor unit, and the host device control unit receives the motor unit replacement signal so that the worker can What is necessary is just to be notified about replacing | exchanging the said motor unit. In this way, by operating the input means before the replacement of the motor unit, the operator can notify the upper unit control unit in advance of the replacement of the motor unit, and the upper unit before the replacement of the motor unit. The control unit can ignore the detection information of the encoder and turn off the control power.

The control power switch means may be provided inside the servo amplifier. However, if the control power switch means is provided inside the servo amplifier, it is necessary to modify the servo amplifier.

Therefore, the present invention may be configured such that a control power switch means is provided on a control power line connecting the servo amplifier and the encoder. In this way, the control power switch means can be easily provided without modifying the servo amplifier.

The present invention can be applied to various apparatuses using a servo motor with an encoder as a drive source, and can be applied to, for example, a component mounting machine. The rotary mounting head of the component mounting machine is provided with three drive mechanisms for individually driving the R axis, Q axis (θ axis), and Z axis, and the mounting head may be replaced. By applying the invention, it is possible to replace the mounting head while preventing an encoder alarm from occurring during replacement of the mounting head, and it is possible to resume production immediately after the replacement of the mounting head.

FIG. 1 is a block diagram showing a configuration of a control system of a component mounter in one embodiment of the present invention. FIG. 2 is a flowchart showing a flow of processing of the encoder alarm prevention program at the time of motor unit replacement.

Hereinafter, an embodiment in which a mode for carrying out the present invention is applied to a component mounter will be described.
First, the configuration of the entire control system of the component mounter will be described with reference to FIG.

A plurality of motor units 11 are mounted on the component mounting machine, and each motor unit 11 includes a servo motor 12 serving as a drive source of a driven object, a rotation angle (rotation position), a rotation speed, and a rotation direction of the servo motor 12. The encoder 13 which detects etc. is provided. Although not shown, examples of the driving object of the component mounting machine include, for example, R axis, Q axis, and Z axis drive mechanisms of the mounting head, a head moving device (XY robot) that moves the entire mounting head in the XY direction, There are feeders that supply parts. In the present embodiment, the mounting head is replaceably attached to the head moving device, and three motor units 11 are assembled to the mounting head as drive mechanisms for individually driving the R axis, the Q axis, and the Z axis. Here, the R-axis drive mechanism is a drive mechanism that rotates (rotates) the mounting head and turns all the suction nozzles held by the mounting head in the circumferential direction of the mounting head. The drive mechanism for rotating each suction nozzle held by the mounting head, and the Z-axis drive mechanism is a drive mechanism for moving each suction nozzle held by the mounting head in a vertical direction at a predetermined stop position of the orbit. is there.

The mounting head provided with the motor unit 11 of the three drive mechanisms of the R axis, the Q axis, and the Z axis is a rotary mounting head (so-called rotary head), but in the case of a mounting head that does not rotate, a suction nozzle It is the structure provided with the motor unit 11 of the two drive mechanisms for rotation and vertical movement. Alternatively, the mounting head holding the mechanical chuck may be attached to the head moving device in a replaceable manner.

The servo motors 12 of the plurality of motor units 11 mounted on the component mounting machine are feedback-controlled by one multi-axis amplifier 14 (servo amplifier) based on the detection information of each encoder 13. The multi-axis amplifier 14 includes an amplifier control unit 15 that controls the operation of the multi-axis amplifier 14. At least one motor unit 11 among a plurality of motor units 11 for the amplifier unit 16 including the multi-axis amplifier 14 and the amplifier control unit 15 (in this embodiment, at least the motor unit 11 of the drive mechanism assembled to the mounting head). Are installed interchangeably.

The multi-axis amplifier 14 is connected to a control power line 21 for supplying control power from the outside and a power power line 22 for supplying power power from the outside. The control power is supplied to the multi-axis amplifier 14 and the amplifier control unit 15 to operate them, and is also supplied to the encoder 13 of each motor unit 11 via the multi-axis amplifier 14 so that each encoder 13 is operated. It also becomes a power source to operate. The control power supply line 23 connecting the multi-axis amplifier 14 and each encoder 13 is provided with a control power switch means 24 (for example, a switching element such as a relay or a transistor), and each control power switch means 24 is turned on / off. The supply of control power to each encoder 13 is individually turned on / off by switching off.

On the other hand, the motive power is supplied to each servo motor 12 via the multi-axis amplifier 14. The power supply line 25 that connects between the multi-axis amplifier 14 and each servo motor 12 is provided with a power supply switch means 26 (for example, a switching element such as a relay or a transistor), and the power supply switch means 26 is turned on. The supply of power to each servo motor 12 is individually turned on / off by switching / off.

The component mounter control unit 27 (high-level device control unit) is configured by a computer, and controls an operation of sucking a component supplied by a feeder with a suction nozzle and mounting it on a circuit board. The component mounter control unit 27 and the amplifier control unit 15 of the multi-axis amplifier 14 are connected by a communication line 28, and the command value of each servo motor 12 is transmitted from the component mounter control unit 27 to the amplifier control unit 15. It is supposed to be.

The component mounter control unit 27 executes an encoder alarm prevention program at the time of motor unit replacement shown in FIG. 2 to be described later, so that the detection information of the encoder 13 of the motor unit 11 is sent to the amplifier control unit 15 when the motor unit 11 is replaced. It functions as an encoder detection information ignoring means for ignoring. In this embodiment, an operator is provided with an input device 30 (for example, input means such as a keyboard, a mouse, a touch panel, etc.) for inputting a motor unit replacement signal to the component mounter control unit 27 before replacing the motor unit 11, and the component mounter The control unit 27 is informed that an operator replaces the motor unit 11 when the motor unit replacement signal is input. For example, when the mounting head is replaced, the three motor units 11 of the R axis, the Q axis, and the Z axis are replaced together with the mounting head. Therefore, the motor unit replacement signal for these three motor units 11 is sent to the mounting head. The signal is input to the component mounter control unit 27 as an exchange signal. The motor unit replacement signal includes information such as an identification number for identifying the motor unit 11 to be replaced.

In addition, the component mounter control unit 27 has a function of individually switching on / off the control power switch means 24 and the power supply switch means 26 of each motor unit 11.

Further, the component mounter control unit 27 executes a motor unit replacement encoder alarm prevention program shown in FIG. 2 to be described later, and determines that the motor unit 11 is not replaced when a motor unit replacement signal is input. The control information of the motor unit 11 to be replaced is controlled after switching to the state in which the detection information of the encoder 13 of the motor unit 11 to be replaced is ignored by the amplifier control unit 15 (the state in which communication with the encoder 13 of the motor unit 11 to be replaced is not performed). The power switch means 24 is turned off to cut off the supply of control power to the encoder 13 of the motor unit 11 to be replaced, and the power supply switch means 26 of the motor unit 11 to be replaced is turned off to replace the motor unit to be replaced. The power supply to the 11 servo motors 12 is cut off, After the replacement of the data unit 11 is completed, the control power switch 24 is turned on to resume the supply of control power to the encoder 13, and then the communication between the amplifier control unit 15 and the encoder 13 is resumed. To return to the state in which the detection information of the encoder 13 is recognized, and the power supply switch means 26 is turned on to resume the supply of power to the servo motor 12 of the motor unit 11.

Hereinafter, the processing contents of the encoder alarm prevention program at the time of motor unit replacement shown in FIG. 2 executed by the component mounter control unit 27 will be described. The encoder alarm prevention program at the time of motor unit replacement in FIG. 2 is executed at a predetermined cycle while the power of the component mounter control unit 27 is turned on. When this program is started, first, in step 101, it is determined whether or not the operator is going to replace the motor unit 11 (the mounting head in the present embodiment) based on whether or not a motor unit replacement signal is input. . As a result, if it is determined that the motor unit replacement signal is not input, the present program is terminated without performing the subsequent processing.

On the other hand, if it is determined in step 101 that a motor unit replacement signal has been input, it is determined that the operator is going to replace the motor unit 11, and the process proceeds to step 102, where a plurality of motor units mounted on the component mounting machine are processed. 11 specifies the motor unit 11 to be replaced based on the motor unit replacement signal. Thereafter, the process proceeds to step 103 where the component mounter control unit 27 causes the amplifier control unit 15 to ignore the detection information of the encoder 13 of the motor unit 11 to be replaced (not communicate with the encoder 13 of the motor unit 11 to be replaced). ) The processes in steps 101 to 103 serve as encoder detection information ignoring means.

Thereafter, the process proceeds to step 104, and the component mounter control unit 27 receives the ignore completion signal transmitted from the amplifier control unit 15 when the amplifier control unit 15 switches to the state of ignoring the detection information of the encoder 13. If the ignore completion signal has not been received yet, the process waits until the ignore completion signal is received. Thereafter, when the ignore completion signal is received, the process proceeds to step 105 where the control power switch 24 of the motor unit 11 to be replaced is turned off and the supply of control power to the encoder 13 of the motor unit 11 to be replaced is cut off. At the same time, the power supply switch means 26 of the motor unit 11 to be replaced is turned off to interrupt the supply of power power to the servo motor 12 of the motor unit 11 to be replaced. As a result, the operator can replace the motor unit 11 to be replaced.

After this, the process proceeds to step 106, and the operator is guided by display and voice so as to replace the motor unit 11 to be replaced. Then, in the next step 107, the operator performs the replacement work of the motor unit 11 depending on whether or not the replacement work completion signal input by the input device 30 is received when the worker completes the replacement work of the motor unit 11. It is determined whether or not the replacement work completion signal has been received. If the replacement work completion signal has not been received yet, the process waits until the replacement work completion signal is received.

Thereafter, when the replacement work completion signal is received, the routine proceeds to step 108, where the control power switch means 24 of the replaced motor unit 11 is turned on, and the supply of control power to the encoder 13 of the replaced motor unit 11 is resumed. . Thereafter, the process proceeds to step 109, communication between the encoder 13 of the replaced motor unit 11 and the amplifier control unit 15 is resumed, and the state returns from the state of ignoring the detection information of the encoder 13 of the replaced motor unit 11 to the recognized state. The component mounter control unit 27 instructs the amplifier control unit 15 to do so.

Then, in the next step 110, when the amplifier control unit 15 returns from the state of ignoring the detection information of the encoder 13, the return completion signal transmitted from the amplifier control unit 15 is sent to the component mounter control unit 27. Is received, and if a return completion signal has not yet been received, the process waits until the return completion signal is received. Thereafter, when a return completion signal is received, the process proceeds to step 111, where the power supply switch means 26 of the replaced motor unit 11 is turned on, and the supply of power supply to the servo motor 12 of the replaced motor unit 11 is resumed. End this program. Thereby, the operation of the replaced motor unit 11 is started.

According to this embodiment described above, the control power switch means 24 cuts off the supply of control power to the encoder 13 when the motor unit 11 is replaced, while maintaining the supply of control power to the amplifier control unit 15. Since the control unit 15 ignores the detection information of the encoder 13, when the motor unit 11 is replaced, the control power supply to the amplifier control unit 15 is maintained and the amplifier control unit 15 and the component mounter control unit 27 are maintained. By making the amplifier control unit 11 ignore the detection information of the encoder 13 while establishing communication between the motor unit 11 and the motor unit 11 can be replaced while preventing an encoder alarm from occurring. Operation can be resumed promptly after replacement is complete.

As in this embodiment, if the present invention is applied to a component mounting machine, the mounting head can be replaced while preventing an encoder alarm from occurring during replacement of the mounting head, and promptly after completion of replacement of the mounting head. Production can be resumed.

In addition, in this embodiment, the servo motors 12 of the plurality of motor units 11 are feedback controlled by the multi-axis amplifier 14, but in this case, the supply of control power to the amplifier control unit 15 of the multi-axis amplifier 14 is cut off. Then, all the servo motors 12 of the plurality of motor units 11 controlled by the multi-axis amplifier 14 are stopped, but in this embodiment, when a part of the plurality of motor units 11 is replaced, the multi-axis amplifier 14 It is possible to replace some of the motor units 11 while maintaining communication between the amplifier control unit 15 and the component mounter control unit 27 while maintaining the supply of control power to the amplifier control unit 15 of the motor. Even during replacement of the unit 11, the servo motor 12 of the other motor unit 11 can continue to be driven if there is no problem such as interference. Come, it is possible to increase the production efficiency.

However, the present invention is not limited to the configuration in which the servo motors 12 of the plurality of motor units 11 are feedback-controlled by the multi-axis amplifier 14, and may be configured to be feedback-controlled by a separate servo amplifier for each servo motor 12.

In this embodiment, the control power supply switch means 24 is provided in the control power supply line 23 connecting the multi-axis amplifier 14 (servo amplifier) and the encoder 13, and the multi-axis amplifier 14 (servo amplifier) and the servo motor 12 are provided. Since the power supply switch means 26 is provided in the power supply line 25 connecting between the control power switch line 24 and the control power switch means 24 and the power supply switch means 26 without changing the multi-axis amplifier 14 (servo amplifier). Can be provided.

However, the present invention may be configured such that the control power switch means 24 and / or the motive power switch means 26 are provided inside the multi-axis amplifier 14 (servo amplifier).

In the present embodiment, the control power switch means 24 and the power power switch means 26 are automatically switched on / off by the component mounter control unit 27. However, the amplifier control unit 15 automatically switches them. Further, the operator may manually turn on / off the control power switch means 24 and / or the power supply power switch means 26.

In addition, when exchanging the motor unit 11, the trigger for switching between the state in which the amplifier control unit 15 ignores the detection information of the encoder 13 and the state in which the detection is recognized may be performed by communication or by I / O. Alternatively, the operator may be switched manually.

In the present embodiment, the operator replaces the motor unit 11, but the motor unit 11 may be replaced automatically. In this case, since the component mounter control unit 27 (high-level device control unit) determines the replacement timing of the motor unit 11, it is not necessary for the operator to input a motor unit replacement signal manually.

In addition, the present invention may be applied to a motor driving device having only one motor unit, and is not limited to a component mounting machine, and can be applied to various devices using a servo motor with an encoder as a driving source. In addition, a part of the function executed by the component mounter control unit 27 (high-level device control unit) may be configured as hardware by one or a plurality of ICs, etc. Needless to say, various modifications can be made.

DESCRIPTION OF SYMBOLS 11 ... Motor unit, 12 ... Servo motor, 13 ... Encoder, 14 ... Multi-axis amplifier (servo amplifier), 15 ... Amplifier control part, 16 ... Amplifier unit, 21 ... Control power supply line, 22 ... Power supply line, 23 ... Control Power line, 24... Control power switch means, 25. Power power line, 26. Power power switch means, 27. Component mounter control section (high-order apparatus control section), 30... Input device (input means)

Claims (7)

A servo motor that is a drive source of the driven object, an encoder that detects the rotation of the servo motor, a servo amplifier that feedback-controls the rotation of the servo motor based on detection information of the encoder, and an operation of the servo amplifier. An amplifier control unit for controlling, and a host device control unit for communicating with the amplifier control unit, and supplies control power to the amplifier control unit and the encoder via the servo amplifier, and the servo amplifier A motor driving device for supplying power to the servomotor via:
The motor unit including the servo motor and the encoder is attached to the amplifier unit including the servo amplifier and the amplifier control unit in a replaceable manner.
Control power switch means for interrupting the supply of the control power to the encoder at the time of replacement of the motor unit and maintaining the supply of the control power to the amplifier control unit;
An encoder detection information ignoring unit that causes the amplifier control unit to ignore the detection information of the encoder when the motor unit is replaced. The motor unit includes a plurality of motor units,
The motor drive device according to claim 1, wherein the servo amplifier is a multi-axis amplifier that feedback-controls the servo motors of the plurality of motor units. The upper device control unit switches off the control power switch unit by switching to a state in which the encoder control information ignoring unit causes the amplifier control unit to ignore the detection information of the encoder before replacing the motor unit. After the supply of the control power to the encoder is cut off and the replacement of the motor unit is completed, the control power switch means is turned on to resume the supply of the control power to the encoder, and then the encoder detection information ignoring means 3. The motor drive device according to claim 1, wherein ignoring of the detection information of the encoder is canceled and the amplifier control unit is returned to a state in which the detection information of the encoder is recognized. Power power switch means is provided in a power power line connecting the servo amplifier and the servo motor,
The upper device control unit turns off the control power switch means to cut off the supply of the control power to the encoder and also turns off the power power switch means before replacing the motor unit. After the replacement of the motor unit is completed, the control power switch means is turned on to resume the supply of the control power to the encoder, and the power power switch means is turned on. The motor drive device according to claim 3, wherein the power supply to the servo motor is resumed. An operator includes input means for inputting a motor unit replacement signal to the host device control unit before replacing the motor unit,
5. The motor drive device according to claim 3, wherein the host device control unit is informed that an operator replaces the motor unit when the motor unit replacement signal is input. 6. The motor driving apparatus according to claim 1, wherein the control power switch means is provided on a control power line connecting the servo amplifier and the encoder. The motor unit and the amplifier unit are assembled to a component mounting machine,
The motor drive device according to any one of claims 1 to 6, wherein the higher-level device control unit controls an operation of a drive target of the component mounter.

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