Motor control device, control system, and motor control method

• US 10,935,959 B2
• Filed: 11/05/2018
• Issued: 03/02/2021
• Est. Priority Date: 11/07/2017
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Tsutsumi, Tomohisa, Morita, Yuuki
• Primary Examiner(s): Ali, Mohammad
• Assistant Examiner(s): Rao, Sheela
• Application Number:
  US16/180,274
• Publication Number:
  US 20190137976A1
• Time in Patent Office: 848 Days
• CPC Class Codes: G05B 19/4103 Digital interpolation
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05B 2219/33166 Rs485 bus to control several modules, motors

Abstract

A motor control device is equipped with a command receiving unit adapted to receive a movement command and a first control period of the movement command from a numerical controller, a command generating unit which, on the basis of the first control period and a second control period which is determined in advance, is adapted to generate a movement command of the second control period from the movement command of the first control period, and a motor control unit adapted to control a motor, in accordance with the movement command generated by the command generating unit.

Claims

1. A control system comprising a motor control device and a numerical controller,

the motor control device comprising:

a command receiving unit adapted to receive a movement command and a first control period of the movement command from a numerical controller;

a command generating unit which, on the basis of the first control period and a second control period which is determined in advance, is adapted to generate a movement command of the second control period from the movement command of the first control period; and

a motor control unit adapted to control a motor, in accordance with the movement command generated by the command generating unit,

wherein

the numerical controller includes

a period setting unit adapted to set the first control period; and

a period receiving unit adapted to receive the second control period from the motor control device,

the period setting unit sets as the first control period a period that is longer than the second control period.

2. The control system according to claim 1, wherein the period setting unit sets the first control period in accordance with a processing load ratio by the numerical controller.

3. The control system according to claim 1, comprising:

a plurality of the motor control devices;

wherein the period receiving unit receives the second control period from each of the plurality of motor control devices; and

the period setting unit sets as the first control period a period that is longer than the longest of the second control periods from among the second control periods of the plurality of motor control devices.

4. A motor control method for controlling a motor, comprising:

a command receiving step of a motor control device receiving a movement command and a first control period of the movement command from a numerical controller;

a command generating step of the motor control device generating, on the basis of the first control period and a second control period which is determined in advance, a movement command of the second control period from the movement command of the first control period;

a motor controlling step of the motor control device controlling the motor, in accordance with the movement command generated by the command generating step;

a period setting step of setting, by the numerical controller, the first control period;

a period receiving step of receiving, by the numerical controller, the second control period from the motor control device,

wherein in the period setting step, there is set as the first control period a period that is longer than the second control period.

5. The motor control method according to claim 4, wherein, in the period setting step, the first control period is set in accordance with a processing load ratio by the numerical controller.

6. The motor control method according to claim 4, wherein:

in the period receiving step, the second control period is received from each of a plurality of motor control devices; and

in the period setting step, there is set as the first control period a period that is longer than the longest of the second control periods from among the second control periods of the plurality of motor control devices.