Load state diagnosis device and load state diagnosis method for servomotor

• US 10,639,759 B2
• Filed: 10/17/2018
• Issued: 05/05/2020
• Est. Priority Date: 12/15/2017
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: Omron Corporation
• Inventors: Hattori, Reiko, Matsuyama, Takayoshi, Fujii, Toru
• Primary Examiner(s): Cook, Cortez M
• Application Number:
  US16/162,411
• Publication Number:
  US 20190184511A1
• Time in Patent Office: 566 Days
• CPC Class Codes: B23Q 11/04 Arrangements preventing overload of tools, e.g. restricting load
• CPC Class Codes: B23Q 17/0961 by measuring power, current or torque of a motor
• CPC Class Codes: G05B 19/4062 Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
• CPC Class Codes: G05B 2219/37632 By measuring current, load of motor
• CPC Class Codes: G05B 2219/42295 Detect augmenting torque of drive motor
• CPC Class Codes: G05B 2219/42321 Wrong direction or sign of measured value, eventually stop

Abstract

There are provided a load state diagnosis device and a load state diagnosis method for a servomotor. A PLC diagnoses the load state of the servomotor which rotationally drives a rotary tool in a predetermined rotational drive direction at a constant speed. The PLC includes a detection part that detects the rotational direction of a torque acting on the servomotor, a determination part that determines whether the rotational direction of the torque detected by the detection part is consistent with the predetermined rotational drive direction, and a load index output part that outputs a load index indicating the load state of the servomotor based on a determination result of the determination part.

Claims

1. A load state diagnosis device for a servomotor which diagnoses a load state of the servomotor rotationally driving a rotary tool in a predetermined rotational drive direction at a constant speed, comprising:

a detection part that detects a rotational direction of a torque acting on the servomotor;

a determination part that determines whether or not the rotational direction of the torque detected by the detection part is consistent with the predetermined rotational drive direction; and

a load index output part that outputs a load index indicating the load state of the servomotor based on a determination result of the determination part, wherein the load index output part calculates an integrated value of a period of a state in which the rotational direction of the torque is inconsistent with the predetermined rotational drive direction and outputs the load index based on the integrated value.

2. The load state diagnosis device for the servomotor according to claim 1, the detection part detects the rotational direction of the torque by according to a command current value for the servomotor.

3. The load state diagnosis device for the servomotor according to claim 1, the load index output part measures an occurrence frequency of a state in which the rotational direction of the torque is inconsistent with the predetermined rotational drive direction for a certain period and outputs the load index based on the occurrence frequency.

4. The load state diagnosis device for the servomotor according to claim 2, the load index output part measures an occurrence frequency of a state in which the rotational direction of the torque is inconsistent with the predetermined rotational drive direction for a certain period and outputs the load index based on the occurrence frequency.

5. The load state diagnosis device for the servomotor according to claim 2, the load index output part calculates an integrated value of a period of a state in which the rotational direction of the torque is inconsistent with the predetermined rotational drive direction and outputs the load index based on the integrated value.

6. The load state diagnosis device for the servomotor according to claim 1, a parameter setting part is provided for setting a parameter related to drive of the servomotor so that a load of the servomotor becomes smaller than a present load.

7. The load state diagnosis device for the servomotor according to claim 2, a parameter setting part is provided for setting a parameter related to drive of the servomotor so that a load of the servomotor becomes smaller than a present load.

8. The load state diagnosis device for the servomotor according to claim 3, a parameter setting part is provided for setting a parameter related to drive of the servomotor so that a load of the servomotor becomes smaller than a present load.

9. The load state diagnosis device for the servomotor according to claim 4, a parameter setting part is provided for setting a parameter related to drive of the servomotor so that a load of the servomotor becomes smaller than a present load.

10. The load state diagnosis device for the servomotor according to claim 5, a parameter setting part is provided for setting a parameter related to drive of the servomotor so that a load of the servomotor becomes smaller than a present load.

11. The load state diagnosis device for the servomotor according to claim 6, the parameter setting part comprises a control gain adjustment part for adjusting a control gain of a motor driver that controls the servomotor within a range in which a speed followability of the servomotor is tolerable.

12. The load state diagnosis device for the servomotor according to claim 7, the parameter setting part comprises a control gain adjustment part for adjusting a control gain of a motor driver that controls the servomotor within a range in which a speed followability of the servomotor is tolerable.

13. The load state diagnosis device for the servomotor according to claim 8, the parameter setting part comprises a control gain adjustment part for adjusting a control gain of a motor driver that controls the servomotor within a range in which a speed followability of the servomotor is tolerable.

14. The load state diagnosis device for the servomotor according to claim 9, the parameter setting part comprises a control gain adjustment part for adjusting a control gain of a motor driver that controls the servomotor within a range in which a speed followability of the servomotor is tolerable.

15. The load state diagnosis device for the servomotor according to claim 10, the parameter setting part comprises a control gain adjustment part for adjusting a control gain of a motor driver that controls the servomotor within a range in which a speed followability of the servomotor is tolerable.

16. A load state diagnosis method for a servomotor which diagnoses a load state of the servomotor rotationally driving a rotary tool in a predetermined rotational drive direction at a constant speed, characterized in comprising:

a detection process of detecting a rotational direction of a torque acting on the servomotor;

a determination process of determining whether or not the detected rotational direction of the torque is consistent with the predetermined rotational drive direction; and

a load index output process of outputting a load index indicating the load state of the servomotor based on a determination result, wherein an integrated value of a period of a state in which the rotational direction of the torque is inconsistent with the predetermined rotational drive direction is calculated and a load index based on the integrated value is outputted.