Actuator control unit
First Claim
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1. An actuator control device for controlling the positions of a plurality of output shafts, comprising:
- a plurality of actuators for respectively driving the plurality of output shafts by a motor;
a plurality of control circuits for respectively detecting present positions of the output shafts of the plurality of actuators and respectively driving the output shafts to respective target stop positions based on the present positions thus detected; and
an electrical control unit which carries out multiplex communications with the control circuits through a multiplex communication line, wherein the electrical control unit comprises a receiving unit for receiving the present positions from the plurality of control circuits through the multiplex communication line before the plurality of control circuits drive the respective actuators, a judging unit for judging whether each of the respective present positions thus received is abnormal or not, and a transmitting unit for correcting some present position out of the received present positions when judged by the judging unit that the some present position concerned is abnormal, and transmitting the corrected present position to the control circuit corresponding to the abnormal present position through the multiplex communication line.
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Abstract
An actuator control device includes an electrical control unit for detecting the present positions of output shafts of servo motors, and communicating with control circuits for driving the output shafts of the servo motors to target stop positions on the basis of the present positions thus detected. When it is judged that a present position of one of the output shafts thus receives is abnormal, the electrical control unit corrects the present position and transmits the corrected present position to the appropriate control circuit.
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Citations
19 Claims
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1. An actuator control device for controlling the positions of a plurality of output shafts, comprising:
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a plurality of actuators for respectively driving the plurality of output shafts by a motor;
a plurality of control circuits for respectively detecting present positions of the output shafts of the plurality of actuators and respectively driving the output shafts to respective target stop positions based on the present positions thus detected; and
an electrical control unit which carries out multiplex communications with the control circuits through a multiplex communication line, wherein the electrical control unit comprises a receiving unit for receiving the present positions from the plurality of control circuits through the multiplex communication line before the plurality of control circuits drive the respective actuators, a judging unit for judging whether each of the respective present positions thus received is abnormal or not, and a transmitting unit for correcting some present position out of the received present positions when judged by the judging unit that the some present position concerned is abnormal, and transmitting the corrected present position to the control circuit corresponding to the abnormal present position through the multiplex communication line. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An actuator control device for controlling the position of an output shaft, comprising:
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a control circuit for receiving from an actuator two pulse signal sequences displaced in phase, for counting variation of the two pulse signal sequences to obtain a count value and detect the present position of the output shaft, and for driving the output shaft to a target stop position based on the present position thus detected, wherein the present position thus detected comprises the count value;
an electrical control unit for receiving the present position thus detected from the control circuit through a multiplex communication line before the control circuit controls the actuator to drive the output shaft, for correcting the present position thus received when judged to be abnormal, for transmitting the corrected present position to the control circuit through the multiplex communication line, for storing the relationship between the pulse state of the two pulse signals and the value of a predetermined digit at a lower side of the count value indicating the present position when the present position is normal in a storage unit;
wherein the electrical unit judges whether the present position thus received is abnormal by judging whether the present position comprising the count value and the pulse state of the two pulse signals satisfy the relationship indicated in the storage data of the storage unit;
wherein the present position of the output shaft is renewed on the basis of a switching operation of the state of the two pulse signal sequences, and the count value serving as the present position is incremented by one every time the state of the two pulse signal sequences is changed in the following order [0,1]→
[1,1]→
[1,0]→
[0,0]→
[0,1]→
. . . - View Dependent Claims (17, 18, 19)
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Specification