Motor drive, motor drive control method, and component attaching device

• US 6,943,521 B2
• Filed: 10/11/2001
• Issued: 09/13/2005
• Est. Priority Date: 10/11/2000
• Status: Expired due to Fees

• Current Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Original Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Inventors: Kurokawa, Takahiro, Matsuo, Seiichi, Tanaka, Yoichi
• Primary Examiner(s): DUDA, RINA I
• Application Number:
  US10/381,214
• Publication Number:
  US 20030184250A1
• Time in Patent Office: 1,433 Days
• Field of Search: 318/625, 318/34, 318/49, 318/113, 318/569, 318/600
• US Class Current: 318/625
• CPC Class Codes: G05B 19/4141 characterised by a controller or microprocessor per axis
• CPC Class Codes: G05B 2219/31174 Load, use different protocols, formats, emulators for different systems
• CPC Class Codes: G05B 2219/31181 Controller and device have several formats and protocols, select common one
• CPC Class Codes: H02P 5/00 Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors H02P6/04, H02P8/40 take precedence

Abstract

In a motor drive device having a plurality of driver units for driving motors and a command generator for giving a command to the driver units which are connected in serial communication, there is a communication section for setting up the communication formats corresponding to each of the driver units having different communication formats including data transmission speed from one another. Communication among the plurality of driver units with the respective communication formats and the command generator is carried out on a single serial bus.

Claims

1. A motor drive device comprising:

a plurality of driver units for driving a motor;

a command generator that transmits a command to the driver units, the command generator being connected to the driver units in serial communication; and

a communication section that sets up unique communication formats corresponding to the driver units having different communication formats, including data transmission speed;

wherein communication formats in the communication section are set during a synchronous communication frame comprising a communication stage in which the command generator and each of the driver units communicate using a communication format that is common to every driver unit, and after the synchronous communication frame, the command generator and each of the driver units transmit and receive information to control the motor during a normal communication frame comprising another communication stage in which communication formats corresponding to each of the driver units are used for communication; and

wherein in the synchronous communication frame, the command generator transmits information including occupation times during which each of the driver units performs communication, and in the normal communication frame, each of the driver units communicates with the command generator during the occupation time of the driver unit, set up in the synchronous communication frame.

2. The motor drive device according to claim 1, wherein the command generator transmits information to set up the communication formats in the communication section.

3. The motor drive device according to claim 1, wherein the driver units transmit information corresponding to the respective communication formats of each of the driver units to set up the communication formats in the communication section.

4. The motor drive device according to claim 1, wherein the motor comprises at least one of a servo motor and a pulse motor.

5. The motor drive device according to claim 1, wherein serial communication is performed by optical communication using an optical cable.

6. The motor drive device according to claim 1, wherein during the synchronous communication frame, the command generator designates one of the driver units to be set up and transmits information to set up the communication format to the designated driver unit, and the driver unit receives the information when the driver unit is designated, and changes its communication format to the received communication format.

7. A method for driving a motor by a motor drive device, the motor drive device comprising a plurality of driver units for driving a motor, and a command generator that transmits a command to the driver units, the command generator being connected to the driver units in serial communication, the method comprising:

transmitting information from the command generator to the driver units with different communication formats including data transmission speed, during a synchronous communication frame comprising a communication stage in which a communication format, that is common to every driver unit, is used for communication to set up the communication formats corresponding to each of the driver units;

transmitting, during the synchronous communication frame, information including occupation times during which each of the driver units performs communication, the communication being performed during the normal communication frame between each of the driver units with the command generator during the occupation time of the driver unit which is set up in the synchronous communication frame;

transmitting and receiving, after the synchronous communication frame, information to control the motor during a normal communication frame comprising another communication stage in which communication formats corresponding to each of the driver units are used for communication; and

communicating information to control the motor during a normal communication frame comprising a communication stage in which the communication formats corresponding to each of the driver units are used for communication.

8. A component mounting apparatus including a conveyor section for conveying a substrate to a position where a component is mounted, and a transfer head mounted on an XY robot including an X-axis robot and a Y-axis robot in such a manner as to be movable on an X-Y plane, the transfer head sucking the component supplied by a component feeding section and moving over the substrate to mount the component, the component mounting apparatus comprising:

driver units that drive each motor of the conveyor section, the X-axis robot, and the Y-axis robot;

a command generator that transmits a command to the driver units, the command generator being connected to each of the driver units in serial communication; and

a communication section that sets up unique communication formats corresponding to each of the driver units having different communication formats including data transmission speed.

9. The component mounting apparatus according to claim 8, wherein the communication formats in the communication section are set by transmitting information to set up the communication format from the command generator during a synchronous communication frame comprising a communication stage in which a communication format for every driver unit is used for communication between the command generator and each of the driver units, and after the synchronous communication frame, the communication generator and each of the driver units transmit and receive information to control the motor during a normal communication frame comprising another communication stage in which communication formats corresponding to each of the driver units are used for communication.

10. The component mounting apparatus according to claim 9, wherein in the synchronous communication frame, the command generator transmits information including occupation times during which each of the driver units performs communication, and in the normal communication frame, each of the driver units communicates with the command generator during the occupation time of the driver unit, set up in the synchronous communication frame.

11. The component mounting apparatus according to claim 10, wherein the occupation times are periodically provided in the normal communication frame by periodically dividing the normal communication frame, and an occupation time interval of the driver units that drive the motor of the conveyor section is set to be longer than an occupation interval time of the driver units that drive the motors of the X-axis robot and the Y-axis robot.