JP5091025B2 - Multi-axis driver system - Google Patents

Description

  The present invention relates to a multi-axis driver system including a plurality of driver unit motors for driving a plurality of motors that operate according to control commands from a host controller, and a multi-axis driver unit used in the system.

Japanese Unexamined Patent Publication No. 2000-60181 (Patent Document 1) discloses a multi-axis servo driver that connects a plurality of control units (drivers) by serial communication. In this multi-axis servo driver (multi-axis driver unit), the CPU provided in the control unit (driver) for driving the motor is connected to the CPU of another driver via the RS-485 port which is a communication standard. Is done.
Japanese Patent Laid-Open No. 2000-60181 FIG.

  In the conventional multi-axis driver unit disclosed in Patent Document 1, a plurality of control units (drivers) are connected to one RS-485 communication line. In addition, it is possible to configure the control unit so that a plurality of motors are driven and controlled by one control unit. However, in the conventional configuration, the plurality of control units are connected to only one communication line. It is also possible to connect a plurality of multi-axis drivers via the RS-485 communication line. However, in the conventional configuration, even if there is a control unit (driver) that is not used in one multi-axis driver, the control unit (driver) in one multi-axis driver must be left unused. ) Could not be used as effectively as possible.

  An object of the present invention is to provide a multi-axis driver system that can effectively use a plurality of drivers in a multi-axis driver unit.

  The multi-axis driver system of the present invention includes a host controller that outputs a control signal for controlling a plurality of motors, and a plurality of hosts that receive commands output from the host controller and convert them into commands of a predetermined communication standard And an interface and a plurality of drivers provided corresponding to the plurality of host interfaces. The plurality of drivers transmit and receive commands via the corresponding host interface and communication system, and drive one or more motors based on the received commands. Communication between the communication system and a plurality of drivers in the multi-axis driver unit and between hosts is performed by serial communication. As serial communication, for example, a communication standard such as RS-485 can be used.

  The multi-axis driver unit used in the present invention includes first and second communication ports, a first communication line connected to the first communication port, and a second communication line connected to the second communication port. And a connection communication line for connecting the first communication line and the second communication line, including a communication separation opening / closing switch. The multi-axis driver unit used in the present invention includes first and second node number setting units. The first node number setting unit is provided corresponding to the first communication line, and sets the head value of the node number of one or more drivers that receive commands from the first communication line. The second node number setting unit is provided corresponding to the second communication line, and sets the head value of the node number of one or more drivers that receive commands from the second communication line. In addition, the plurality of drivers are connected to both the first and second communication lines so that serial communication is possible, and when the communication isolation open / close switch is in an ON state, the drivers receive a command from the first communication line and are used for communication isolation. When the open / close switch is in the OFF state, the setting is divided into a first group that receives commands from the first communication line by serial communication and a second group that receives commands from the second communication line by serial communication. It is configured to be.

  When the multi-axis driver unit is configured in this way, a plurality of drivers in one multi-axis driver unit are divided into a first group connected to the first communication line and a second group connected to the second communication line. Can be used. As a result, one or more drivers belonging to the first group and one or more drivers belonging to the second group can be connected to different hosts via different communication systems. The driver in the axis driver unit can be used effectively.

  In order to be able to terminate the communication line in the multi-axis driver unit, a first termination resistor connected to the first communication line via the first open / close switch in the multi-axis driver unit; A second termination resistor connected to the second communication line via a second opening / closing switch is used. The first open / close switch is closed when the first communication line becomes a termination line. The second open / close switch is closed when the second communication line becomes a termination line. If the first and second termination resistors can be connected to the first communication line and the second communication line in this way, the degree of utilization of the multi-axis driver unit is further increased. Even when no termination resistor is provided, the present invention is naturally applicable.

  According to the basic idea of the present invention, a command is transmitted / received via a corresponding host interface and communication system, and a multi-axis driver unit having a plurality of drivers for driving one or more motors based on the received command is provided. A group of n drivers can be created. For this purpose, the multi-axis driver unit includes n communication ports (n is an integer of 2 or more), n communication lines connected to the n communication ports, and an open / close switch for communication separation. A connection communication line that connects n communication lines, and a node number of a node number of one or more drivers that are provided corresponding to the n communication lines and receive the command from the corresponding communication line n Node number setting units. A plurality of drivers are connected between one communication line and the remaining n-1 communication lines so that serial communication is possible. Also, a plurality of drivers can receive commands from one communication line when the communication isolation on / off switch is in the on state, and can be serialized from one communication line by setting when the communication isolation on / off switch is in the off state. The first group that receives commands by communication and the second to n-1th groups that receive commands by serial communication from the remaining n-1 communication lines are configured. In this way, a plurality of drivers in one multi-axis driver unit can be utilized to the maximum extent.

  In this case as well, n termination resistors connected to n communication lines via n on / off switches are further provided. Then, the open / close switch is closed when the corresponding communication line becomes the termination line. In this way, a communication line to which all groups are connected can be set as a termination line.

  The type of the motor driven by the driver is arbitrary, and in particular, when the driver is configured so as to drive a plurality of stepping motors, an unprecedented multi-axis driver system can be obtained.

  Moreover, it is preferable that the driver unit is provided so that a plurality of drivers can be added. In this way, if there is a driver that is not used from the system design, the driver can be removed to configure the system.

  According to the present invention, a plurality of drivers in one multi-axis driver unit are divided into a first group connected to the first communication line and a second to nth group connected to the second to nth communication lines. One or more drivers belonging to each group can be connected to different hosts via different communication systems, and the drivers in one multi-axis driver unit are effective. Benefits that can be exploited.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an embodiment of a multi-axis driver system of the present invention used for controlling driving of a plurality of stepping motors. In FIG. 1, reference numeral 1 denotes a host controller that generates a plurality of control signals for controlling a plurality of stepping motors. Below the host controller 1, three host interfaces 21 to 23 that convert control signals into commands according to the RS-485 communication standard and perform serial communication according to the RS-485 communication standard are arranged. The host controller 1 outputs control signals to the three host interfaces 21 to 23, and the three host interfaces 21 to 23 convert the control signals into RS-485 communication commands and transmit / receive commands to / from the multi-axis driver unit. Do. Each of the three host interfaces 21 to 23 has a specification in which a driver can be connected to up to 32 stations including the own station by a multi-drop method in one communication system. In FIG. 1, numbers (1, 2, 3) in circles indicate components that are connected to each other using the same communication systems 31 to 33. Each of the communication systems 31 to 33 includes two communication lines for transmission, and includes two communication lines for reception.

  Under the host interfaces 21 to 23, three multi-axis driver units 41 to 43 are arranged via communication systems 31 to 33. FIG. 2 shows a schematic perspective view of a specific configuration of an actual unit used for the multi-axis driver units 41 to 43. As shown in FIG. FIG. 3 more specifically shows the configuration of the multi-axis driver unit 41 as a representative example. The multi-axis driver units 41 to 43 include first and second communication ports P1 and P2, respectively, a first communication line L1 connected to the first communication port P1 as shown in FIG. A second communication line L2 connected to the communication port P2 and a connection communication line L0 that includes the communication separation open / close switch SW1 and connects the first communication line L1 and the second communication line L2 are provided. . Each communication line (L1 to L0) is composed of two transmission lines and two reception lines in order to perform serial communication according to the RS-485 communication standard.

  The multi-axis driver units 41 to 43 include first and second node number setting units RSW1 and RSW2. In the present embodiment, the first node number setting unit RSW1 is provided corresponding to the first communication line L1, and includes one or more drivers that receive commands from the first communication line L1 (example in FIG. 3). Then, the head value of the node number of D1 and D2) is set. The second node number setting unit RSW2 is provided corresponding to the second communication line L2, and one or more drivers (D3 and D4 in the example of FIG. 3) that receive commands from the second communication line L2. Set the start value of the node number. The first and second node number setting units RSW1 and RSW2 are constituted by two rotary switches (not shown), one digit of the node number is set by one rotary switch, and the node number 2 is set by the other rotary switch. It is configured to set the digit.

  The multi-axis driver units 41 to 43 include four drivers D1 to D4, respectively. Each of the four drivers D1 to D4 includes a CPU having a communication function therein and two motor drive circuits. Therefore, each of the four drivers D1 to D4 can drive two stepping motors (shafts). The numbers in the circle symbols shown in the four drivers D1 to D4 shown in FIG. 1 indicate the communication system, and the numbers below the numbers indicate the axis numbers (node numbers). The four drivers D1 to D4 have a built-in CPU connected to both the first and second communication lines L1 and L2 so that serial communication is possible. The built-in CPU is set with an operation program so as to receive a command from the first communication line L1 when the communication separation opening / closing switch SW1 is in the ON state. Further, the built-in CPU is configured such that when the communication separation opening / closing switch SW1 is in the OFF state, the drivers D1 to D4 receive commands from the first communication line L1 by serial communication according to the setting of the separation location setting switch DSW. The operation program is set so as to be divided into a second group that receives commands from the second communication line L2 through serial communication.

  In the present embodiment, the separation location setting switch DSW includes first to third switch portions. When the first switch unit is set to the on state, the drivers D2 to D4 can be connected to the second communication line L2, and when the second switch unit is set to the on state, the driver D3 and The CPU of each driver is connected so that the driver D4 can be connected to the second communication line L2 when the D4 can be connected to the second communication line L2 and the third switch unit is set to the ON state. The operation program is set. The state shown in FIG. 3 shows the case where the second switch portion of the separation location setting switch DSW is in the ON state, and the drivers D3 and D4 can transmit and receive with the host interface 22 via the second communication line L2. It has become. In the example of FIG. 3, the first node value number setting unit RSW1 described above is set so that the leading value of the node numbers of the drivers D1 and D2 belonging to the first group is “01”. Further, the second node number setting unit RSW2 described above is set so that the head value of the node numbers of the drivers D3 and D4 belonging to the second group is “05”.

  In the present embodiment, in order to be able to terminate the communication lines L1 and L2 in the multi-axis driver unit, the first communication line L1 is connected to the first communication line L1 via the first opening / closing switch SW2. A first termination resistor R1 connected to the second communication line L2 and a second termination resistor R2 connected to the second communication line L2 via the second opening / closing switch SW3 are provided. The first opening / closing switch SW2 is closed when the first communication line L1 becomes a termination line. The second open / close switch SW3 is closed when the second communication line L2 becomes a termination line. Thus, if the first and second termination resistors R1 and R2 can be connected to the first communication line L1 and the second communication line L2, the degree of utilization of the multi-axis driver unit is increased. It is not necessary to provide the first and second termination resistors and the first and second open / close switches in the multi-axis driver unit used at a position where the termination is not performed inside.

  In the present embodiment shown in FIG. 1, two drivers D3 and D4 in the multi-axis driver unit 41 are serially connected to the host interface 22 via the communication system 32 together with the drivers D1 to D4 in the multi-axis driver unit 42. It is connected so that it can communicate. In practice, the first and second open / close switches SW2 and SW3 in FIG. 3 are turned on, and the first and second termination resistors are connected to the first and second communication lines L1 and L2. Yes. In the multi-axis driver unit 42, the communication separation opening / closing switch SW1 shown in FIG. 3 is turned on. Also in the multi-axis driver unit 43, the communication separation opening / closing switch SW1 shown in FIG. 3 is turned on, the second opening / closing switch SW3 is turned on, and the termination resistor R2 is connected to the line.

  FIG. 4 is a flowchart showing an algorithm of a program used when determining a node number (axis number) in a CPU built in one driver. In step ST1, the setting state of the separation location setting switch DSW and the leading value of the node number setting unit RSW1 or 2 are input. In step ST2, the driver number is confirmed. If the driver number is 1 (D1), the setting value of the node number setting unit RSW1 is determined as the head value of the node number (axis number) in steps ST3 and ST4. When the driver number is 2 and the setting for separating the driver D1 and the driver D2 is not made, 1 is added to the setting value of the node number setting unit RSW1 through steps ST5, ST8, and ST9. The number is determined as the first value of the node number (axis number). If the driver number is 2 and the setting is made to separate the driver D1 and the driver D2, the setting value of the node number setting unit RSW2 is changed to the node number (steps ST5, ST10, and ST11). (Axis number) is determined as the first value. If the driver number is 3 and the setting for separating the driver D1 from the driver D2, the driver D2, or the driver D3 is not made, the setting of the node number setting unit RSW1 is performed through steps ST6, ST12, and ST13. The number obtained by adding 2 to the value is determined as the leading value of the node number (axis number). When the driver number is 3 and the setting for separating the driver D1 and the driver D2 is made, 1 is added to the setting value of the node number setting unit RSW2 through steps ST6, ST14, and ST15. The number is determined as the first value of the node number (axis number). When the driver number is 3 and the setting is made to separate the driver D2 and the driver D3, 2 is added to the setting value of the node number setting unit RSW2 through steps ST6, ST16, and ST17. The number is determined as the first value of the node number (axis number). If the driver number is 4 and the setting for separating the driver D1 and the driver D2, the driver D2 and the driver D3, the driver D3, or the driver D4 is not made, the node is passed through steps ST7, ST18, and ST19. The number obtained by adding 3 to the set value of the number setting unit RSW1 is determined as the head value of the node number (axis number). In the case where the driver number is 4 and the setting is made so that the driver D1 and the driver D2 are separated from each other, 2 is added to the setting value of the node number setting unit RSW2 through steps ST7, ST20, and ST21. The number is determined as the first value of the node number (axis number). When the driver number is 4 and the setting is made so that the driver D2 and the driver D3 are separated from each other, 1 is added to the set value of the node number setting unit RSW2 through steps ST7, ST22, and ST23. The number is determined as the first value of the node number (axis number). If the driver number is 4 and the setting is made to separate the driver D3 and the driver D4, the setting value of the node number setting unit RSW2 is changed to the node number (steps ST7, ST24 and ST25). (Axis number) is determined as the first value.

  In the above-described embodiment, a stepping motor is targeted as a motor to be driven, but a servo motor may be driven.

  In the above embodiment, the multi-axis driver unit has eight axes (eight motors) as driving targets, but the number of driving target axes is arbitrary.

  FIG. 5 shows an outline of the configuration of the embodiment in the case where the multi-axis driver unit includes m drivers D1 to Dm, and the m drivers D1 to Dm can be divided into n groups. It is a block diagram. The multi-axis driver unit includes n communication ports P1 to Pn (n is an integer of 2 or more), n communication lines L1 to Ln respectively connected to the n communication ports P1 to Pn, and communication. A connection communication line L0 that connects n communication lines L1 to Ln including the opening / closing switch SW1 for separation, and 1 that is provided corresponding to the n communication lines L1 to Ln and that receives a command from the corresponding communication line There are provided n node number setting units RSW1 to RSWn for setting the top value of the node numbers of the drivers D1 to Dm. A plurality of drivers D1 to Dm are connected so that serial communication is possible between one communication line L1 and the remaining n-1 communication lines L2 to Ln. A plurality of drivers D1 to Dm receive a command from one communication line L1 when the communication isolation on / off switch SW1 is in an on state, and 1 is set by setting when the communication isolation on / off switch SW1 is in an off state. A first group that receives commands from the first communication line L1 by serial communication, and second to n-1th groups that receive commands from the remaining n-1 communication lines L2 to Ln by serial communication, respectively. It is configured to be divided into For example, if each group includes two drivers, the drivers D1 and D2 receive commands from the communication line L1, the drivers D3 and D4 receive commands from the communication line L2, and the drivers Dm-1 and Dm A command is received from the communication line Ln. Therefore, m is an integer that satisfies the relationship m> n. Also in this embodiment, the above setting is determined by the setting state of the separation location setting switch DSW. In this way, a plurality of drivers in one multi-axis driver unit can be utilized to the maximum extent. Also in the present embodiment, n termination resistors R1 to Rn connected to n communication lines L1 to Ln via n open / close switches SW2 to SWn + 1, respectively, are further provided. If the open / close switches SW2 to SWn + 1 are closed when the corresponding communication line is the termination line, the communication line can be the termination line.

It is a block diagram which shows the structure of one Embodiment of the multi-axis driver system of this invention used in order to control the drive of several stepping motors. It is a schematic perspective view which shows the specific structure of the actual unit used for a multi-axis driver unit. It is a block diagram which shows more specifically the structure of a multi-axis driver unit. It is a flowchart which shows the algorithm of the program used when determining a node number (axis number) in CPU built in one driver | operator. It is a block diagram which shows the structure of other embodiment of the multi-axis driver unit of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Host controller 21-23 Host interface 31-33 Communication system 41-43 Multi-axis driver unit D1-D4 Driver L1, L2 1st and 2nd communication line DSW Separation location setting switch RSW1 1st node number setting device RSW2 Second node number setting device SW1 Communication isolation open / close switch SW2, SW3 First and second open / close switches R1, R2 First and second termination resistors P1 First communication port P2 Second communication port

Claims (8)

A host controller that outputs a control signal for controlling a plurality of motors as serial communication;
A plurality of host interfaces for receiving the control signal output from the host controller and converting the control signal into a command of a predetermined communication standard;
Provided in correspondence with the plurality of host interfaces, provided with a plurality of drivers for transmitting and receiving commands via the corresponding host interfaces and communication systems, and driving one or more motors based on the received commands A plurality of multi-axis driver units,
In the multi-axis driver system in which communication between the communication system and the plurality of drivers in the multi-axis driver unit and between the hosts is performed by serial communication,
The multi-axis driver unit includes first and second communication ports;
A first communication line connected to the first communication port;
A second communication line connected to the second communication port;
A connection communication line for connecting the first communication line and the second communication line, including a communication isolation open / close switch;
A first node number setting unit that is provided corresponding to the first communication line and sets a head value of a node number of one or more drivers that receive the control signal from the first communication line;
A second node number setting unit that is provided corresponding to the second communication line and sets a head value of a node number of one or more drivers that receive the control signal from the second communication line; Prepared,
The plurality of drivers are connected to both the first and second communication lines so as to be capable of serial communication, and receive the command from the first communication line when the communication separation opening / closing switch is in an ON state. When the communication isolation open / close switch is in the OFF state, the command is received by serial communication from the first communication line and the first group receiving the command from the first communication line by serial communication. A multi-axis driver system configured to be divided into a second group for reception. A host controller that outputs a control signal for controlling a plurality of motors as serial communication;
A plurality of host interfaces for receiving and commanding the command output from the host controller and performing command conversion of communication standards;
Provided in correspondence with the plurality of host interfaces, provided with a plurality of drivers for transmitting and receiving commands via the corresponding host interfaces and communication systems, and driving one or more motors based on the received commands A plurality of multi-axis driver units,
In the multi-axis driver system in which communication between the communication system and the plurality of drivers in the multi-axis driver unit and between the hosts is performed by serial communication,
The multi-axis driver unit includes first and second communication ports;
A first communication line connected to the first communication port;
A second communication line connected to the second communication port;
A connection communication line for connecting the first communication line and the second communication line, including a communication isolation open / close switch;
A first termination resistor connected to the first communication line via a first open / close switch;
A second termination resistor connected to the second communication line via a second open / close switch;
A first node number setter that is provided corresponding to the first communication line and sets a head value of a node number of one or more of the drivers that receive the command from the first communication line;
A second node number setting unit that is provided corresponding to the second communication line and sets a head value of a node number of one or more drivers that receive the command from the second communication line. ,
The first open / close switch is closed when the first communication line becomes a termination line,
The second open / close switch is closed when the second communication line becomes a termination line,
The plurality of drivers are connected to both the first and second communication lines so as to be capable of serial communication, and receive the command from the first communication line when the communication separation opening / closing switch is in an ON state. When the communication isolation open / close switch is in the OFF state, the command is received by serial communication from the first communication line and the first group receiving the command from the first communication line by serial communication. A multi-axis driver system configured to be divided into a second group for reception.   The multi-axis driver system according to claim 1, wherein the driver is configured to be able to drive a plurality of stepping motors.   The multi-axis driver system according to claim 1, wherein the driver unit is provided so that the plurality of drivers can be added. A multi-axis driver unit comprising a plurality of drivers for transmitting and receiving commands via a corresponding host interface and communication system and driving one or more motors based on the received commands;
First and second communication ports;
A first communication line connected to the first communication port;
A second communication line connected to the second communication port;
A connection communication line for connecting the first communication line and the second communication line, including a communication isolation open / close switch;
A first node number setter that is provided corresponding to the first communication line and sets a head value of a node number of one or more of the drivers that receive the command from the first communication line;
A second node number setting unit that is provided corresponding to the second communication line and sets a head value of a node number of one or more drivers that receive the command from the second communication line. ,
The plurality of drivers are connected to both the first and second communication lines so as to be capable of serial communication, and receive the command from the first communication line when the communication separation opening / closing switch is in an ON state. When the communication isolation open / close switch is in the OFF state, the command is received by serial communication from the first communication line and the first group receiving the command from the first communication line by serial communication. A multi-axis driver unit configured to be divided into a second group for reception. A first termination resistor connected to the first communication line via a first open / close switch;
A second terminating resistor connected to the second communication line via a second open / close switch;
The first open / close switch is closed when the first communication line becomes a termination line,
6. The multi-axis driver unit according to claim 5, wherein the second open / close switch is closed when the second communication line becomes a termination line. A multi-axis driver unit comprising a plurality of drivers for transmitting and receiving commands via a corresponding host interface and communication system and driving one or more motors based on the received commands;
n communication ports (n is an integer of 2 or more);
N communication lines respectively connected to the n communication ports;
A connection communication line for connecting the n communication lines, including a communication separation opening / closing switch;
N node number setting units that are provided corresponding to the n communication lines, and that set the first value of the node numbers of one or more of the drivers that receive the command from the corresponding communication line;
The plurality of drivers are connected so as to be capable of serial communication between one communication line and the remaining n-1 communication lines, and when the communication separation opening / closing switch is in an ON state, A first group that receives the command by serial communication from the one communication line according to the setting, and the remaining n A multi-axis driver unit configured to be divided into second to n-1 groups that receive the command from one communication line by serial communication. N termination resistors connected to the n communication lines via n open / close switches, respectively.
The multi-axis driver unit according to claim 7 , wherein the open / close switch is closed when the corresponding communication line becomes a termination line.

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