U.S. patent application number 09/091179 was filed with the patent office on 2002-01-24 for method and device for managing equipment connected to controller of production machine.
Invention is credited to MATSUBARA, SHUNSUKE, MATSUKANE, TOKUHISA.
Application Number | 20020010520 09/091179 |
Document ID | / |
Family ID | 17853524 |
Filed Date | 2002-01-24 |
United States Patent
Application |
20020010520 |
Kind Code |
A1 |
MATSUBARA, SHUNSUKE ; et
al. |
January 24, 2002 |
METHOD AND DEVICE FOR MANAGING EQUIPMENT CONNECTED TO CONTROLLER OF
PRODUCTION MACHINE
Abstract
Amplifiers (41 to 44) connected to a CNC (10) are provided
individually with memories (41b to 44b) that are stored with ID
data for discriminating the kinds and properties thereof and ID
data as maintenance management data. Likewise, motors (41c to 44c)
are provided with memories (41c to 44c) stored with ID data. The
management of the amplifiers and the motors is facilitated by
reading these ID data from the CNC (10) and displaying them on a
display unit (20). Based on the ID data, moreover, adaptation or
nonadaptation between the motors and the amplifiers is
automatically determined by means of the CNC (10).
Inventors: |
MATSUBARA, SHUNSUKE;
(MINAMITSURU-GUN, JP) ; MATSUKANE, TOKUHISA;
(MINAMITSURU-GUN, JP) |
Correspondence
Address: |
STAAS & HALSEY LLP
700 11TH STREET, NW
SUITE 500
WASHINGTON
DC
20001
US
|
Family ID: |
17853524 |
Appl. No.: |
09/091179 |
Filed: |
June 10, 1998 |
PCT Filed: |
October 22, 1997 |
PCT NO: |
PCT/JP97/03821 |
Current U.S.
Class: |
700/95 ;
700/57 |
Current CPC
Class: |
G05B 19/414
20130101 |
Class at
Publication: |
700/95 ;
700/57 |
International
Class: |
G05B 019/18 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 22, 1996 |
JP |
297975/1996 |
Claims
1. Management method for apparatuses connected to a control device
for a manufacturing machine, in which apparatuses connected to a
control device for any one of various manufacturing machines, such
as robot, machine tool and general industrial machine are provided
with storage means storing data for discriminating the kinds and
properties of said apparatuses or data for the maintenance
management of said apparatuses, and the data stored in said storage
means are read from said control devices and displayed on a display
unit.
2. Management method for apparatuses connected to a control device
for a manufacturing machine according to claim 1, wherein said
control device includes an interface through which the data read
from said storage means can be delivered to an external computer so
that said external computer can manage a plurality of apparatuses
used for the control device.
3. Management method for apparatuses connected to a control device
for a manufacturing machine according to claim 1, wherein said
control device includes an interface connected to a public network,
and transmits the data read from said storage means to an external
computer through the public network so that said external computer
can manage the apparatuses used for the control device.
4. Management method for apparatuses connected to a control device
for a manufacturing machine, in which apparatuses connected to a
control device for any one of various manufacturing machines, such
as robot, machine tool and general industrial machines, are
provided with storage means stored with data for discriminating the
kinds and properties of said apparatuses, the data stored in said
storage means are read from said control devices, and said control
means automatically determines whether or not the individual
apparatuses are adaptive to one another on the basis of the read
data.
5. Management method for apparatuses connected to a control device
for a manufacturing machine according to claim 1, 2, 3 or 4,
wherein said apparatuses connected to a said control device are
amplifiers or motors.
6. Management method for apparatuses connected to a control device
for a manufacturing machine, in which amplifiers or motors
connected to a control device for any of various manufacturing
machines, such as robot, machine tool and general industrial
machine, are provided with storage means storing data for
discriminating the kinds and properties of said amplifiers or
motors; storage sections of said control devices are provided with
a standard parameter table storing the data for discriminating the
properties of said amplifiers or motors; wherein, when a model name
of any one of an amplifier and a motor is inputted through input
means of said control devices, the data for discriminating
properties corresponding to said model name are read from said
storage sections, and also data for discriminating properties are
read from said storage means of the other of the amplifier and the
motor, whereby it is determined whether or not the amplifier is
adaptive to the motor.
7. A numerical control device in which a numerical control device
body is connected with one or a plurality of apparatuses controlled
in operation by the numerical control device body, wherein: each
said apparatus comprises storage means for storing necessary
information for identifying the kinds and properties thereof; and
said numerical control device comprises data readout means for
fetching the information stored in the storage means of each said
apparatus and display means for displaying the information read by
said data readout means for each apparatus on the screen of a
display unit of said numerical control device in a manner such that
the kinds and properties of the apparatus are easy to see.
8. A numerical control device in which a numerical control device
body is connected with one or a plurality of apparatuses controlled
in operation by the numerical control device body, wherein: each
said apparatus comprises storage means stored with necessary
information for the maintenance management of the apparatus; and
said numerical control device comprises data readout means for
fetching the information stored in the storage means of each said
apparatus and display means for displaying the information read by
said data readout means for each apparatus on the screen of a
display unit of said numerical control device in a manner such that
the kinds and properties of the apparatus are easy to see.
9. A numerical control device according to claim 7 or 8, wherein
said numerical control device body includes an interface for
delivering the information read by said data readout means to an
external computer.
10. A numerical control device according to claim 7 or 8, wherein
said numerical control device body includes an interface for
delivering the information read by said data readout means to a
public network.
11. A numerical control device according to claim 7, wherein said
numerical control device body includes adaptivity determining means
adapted to receive information on the individual apparatuses read
by said readout means and determine whether or not combinations of
the corresponding apparatuses are adaptive.
12. A numerical control device according to claim 7, wherein said
apparatuses include a plurality of servo amplifiers and servomotors
connected to the servo amplifiers, individually, and said numerical
control device body includes adaptivity determining means adapted
to receive information on the servo amplifiers and the servomotors
read by said readout means and determine whether or not
combinations of the corresponding servo amplifiers and servomotors
are adaptive.
Description
TECHNICAL FIELD
[0001] The present invention relates to management method for
apparatuses, such as motors and amplifiers that are used in various
manufacturing machines, such as robots, machine tools, and general
industrial machines, and a control device for the management.
BACKGROUND ART
[0002] The kinds, operating conditions, performance characteristics
and other specifications of motors, amplifiers and other
apparatuses that are used in various manufacturing machines, such
as robots, machine tools, and general industrial machines, are
conventionally identified by the apparatuses including the
amplifiers, motors, etc., name plates pasted on the apparatuses, or
specification forms. When these apparatuses are in trouble, their
maintenance management requires use of information data, such as
the version numbers, lot numbers, serial numbers, etc. of these
apparatuses, as well as the kinds, types, and specifications
thereof. These necessary information data for the maintenance
management are also obtained with reference to the specification
forms, manuals, etc. of those apparatuses and name plates pasted on
the apparatuses.
[0003] When the apparatuses that are connected to a control device
for any of various manufacturing machines, such as robots, machine
tools, and general industrial machines, are exchanged, these
apparatuses and the control device must be made congenial to one
another. It is inconvenient and troublesome to check this
congeniality with reference to the specification forms, manuals, or
name plates. Further, some apparatuses, such as motors and
amplifiers, are required to be congenial to one another. If
nonadaptive motor is attached to an amplifier, the motor may
possibly be damaged.
[0004] In troubleshooting or maintaining these apparatuses, it is
necessary to obtain information data, such as the version numbers,
lot numbers, serial numbers, etc. of the apparatuses, in advance.
It is inconvenient and time-consuming, however, to obtain these
information data from the specification forms, manuals, or name
plates of the apparatuses.
DISCLOSURE OF THE INVENTION
[0005] An object of the present invention is to make it possible
that a control device for any one of various manufacturing
machines, such as robot, machine tool, and general industrial
machine identifies data for discriminating the kinds and properties
of apparatuses and data for maintenance management, such as version
numbers, lot numbers, serial numbers, etc.
[0006] Another object of the present invention is to make it
possible that a control device for manufacturing machine checks
apparatuses connected thereto for congeniality.
[0007] In order to achieve the above object, according to one
aspect of the present invention, there is provided a management
method for apparatuses connected to a control device for a
manufacturing machine, in which apparatuses connected to a control
device for any one of various manufacturing machines, such as
robot, machine tool and general industrial machine are provided
with storage means storing data for discriminating the kinds and
properties of the apparatuses or data for the maintenance
management of the apparatuses, and the data stored in the storage
means are read from the control devices and displayed on a display
unit.
[0008] Preferably, the control device includes an interface through
which the data read from said storage means can be delivered to an
external computer so that said external computer can manage a
plurality of apparatuses used for the control device.
[0009] Preferably, the control device includes an interface
connected to a public network, and transmits the data read from
said storage means to an external computer through the public
network so that said external computer can manage the apparatuses
used for the control device.
[0010] In another aspect according to the method of the present
invention, moreover, apparatuses connected to a control device for
a manufacturing machine, such as robot, machine tool and general
industrial machine, are provided with storage means storing data
for discriminating the kinds and properties of the apparatuses, the
data stored in the storage means are read from the control devices,
and the control means automatically determines whether or not the
individual apparatuses are adaptive to one another in accordance
with the read data.
[0011] Preferably, the apparatuses connected to the control devices
are amplifiers or motors.
[0012] In another aspect according to the method of the present
invention, amplifiers or motors connected to control devices for
manufacturing machines are provided with storage means stored with
data for discriminating the kinds and properties of the amplifiers
or motors, and storage sections of the control devices are provided
with parameter tables stored with data for discriminating the
properties of the amplifiers or motors, and in which data for
discriminating properties corresponding to the model name of the
amplifiers or motors are read from the storage sections and data
for discriminating properties are read from the storage means of
the motors or amplifiers when the model name is inputted through
input means of the control devices, whereby it is determined
whether or not the amplifiers and the motors are congenial to one
another.
[0013] According to the present invention, the apparatuses that are
connected to the control devices for various manufacturing
machines, such as robots, machine tools, and general industrial
machines, are provided with the storage means stored with the data
for discriminating the kinds and properties of the apparatuses and
the data for the maintenance management of the apparatuses, and the
connected apparatuses can be discriminated by reading and
displaying these data, so that the maintenance management of these
apparatuses is easy. Further, these apparatuses can be checked for
congeniality, so that wrong connection can be prevented.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] FIG. 1 is a block diagram showing an example of a control
system for a numerically controlled machine tool, robot, etc. to
which a method of the present invention is applied;
[0015] FIG. 2 is a diagram for illustrating amplifier ID data
display in the control system shown in FIG. 1;
[0016] FIG. 3 is a system diagram to be assumed according to the
amplifier ID data display;
[0017] FIG. 4 is a flowchart showing processes for checking motors
with inputted motor model names and amplifiers for congeniality
according to the control system shown in FIG. 1; and
[0018] FIG. 5 is a flowchart showing processes for checking
amplifiers and motors for congeniality according to the control
system shown in FIG. 1.
BEST MODE FOR CARRYING OUT THE INVENTION
[0019] Referring to the block diagram of FIG. 1, one embodiment of
a control system for a numerically controlled machine tool, robot,
etc. to which the present invention is applied will be
described.
[0020] A numerical control device 10 has a CNC control unit formed
of one printed board (hereinafter referred to as "CNC control unit
printed board"). This CNC control unit printed board is mounted
with a CPU card 11, servo card 12, and display control card 13,
which are modularized by mounting hardware on a smaller printed
board, in a replaceable manner. A circuit of a programmable
controller (hereinafter referred to as "PC") 14 for sequence
control with the machine, a memory circuit 15, and an interface
circuit 16 are further provided. The memory circuit 15 is composed
of a flash memory (electrically writable nonvolatile semiconductor
memory) for storing CNC software and an SRAM (writable volatile
semiconductor memory) backed up by means of a battery and used to
store NC machining programs, various parameters, etc. The interface
circuit 16 serves for connection with a spindle amplifier,
connection with an external computer such as a personal computer,
connection to a public network through a modem, etc. The CPU card
11, servo card 12, display control card 13, PMC circuit 14, memory
circuit 15, and interface circuit 16 are connected to one another
by means of a bus 17.
[0021] The CPU card 11, which is mounted with a circuit for
executing numerical control processing, comprises a processor, DRAM
stored with CNC control programs, and other peripheral circuits.
The processor executes functions to interpret operation commands
delivered from the machining programs and calculate move commands
for servomotors for individual axes, functions to interpret the
operation commands and transmit to and receive on-off signals from
the machine, and a function to effect communication with a machine
operator through a keyboard and a display unit 20, etc. Among these
elements, the peripheral circuits include an MDI interface
connected to the keyboard 21, an interface through which the NC
machining programs and the like from an external storage medium
such as a floppy disk are inputted, an interface for a manual pulse
generator, etc. This CPU card 11 is changeably coupled to the CNC
control unit printed board by means of a connector (not shown). By
exchanging the CPU card 11, the function of the numerical control
device can be replaced with a higher-level function or a
higher-version function of the same level.
[0022] The servo card 12 is composed of a digital signal processor
(DSP), a serial transfer control circuit for controlling a cable
(serial servo bus) 30, and memories such as a ROM, SRAM, etc. The
DSP carries out position feedback control, speed feedback control
and current control of the servomotor for each axis in accordance
with move commands for each axis instructed from the CPU card 11
and position, speed and feedback signals fed back from a built-in
position-speed detector (hereinafter referred to as pulse coder) in
each servomotor through the serial servo bus 30, and generates
commands for servo amplifiers. Further, as the servo card 12 is
detachably coupled to the CNC control unit printed board, if the
number of servomotors (number of axes) or the like is changed, the
servo card 12 may be exchanged.
[0023] The display control card 13 is mounted with a display
control circuit that is formed of a processor, memory, etc. The
display control card 13 is connected to the display unit 20 through
a connector on a printed board of this card by means of a cable.
The display unit 20 displays machining programs, work shape, tool
shape, tool path, etc. Also, it is used for generating and editing
the machining programs.
[0024] The PC 14 includes a flash memory that is used to store
sequence programs, and is connected with a cable for transmitting
to and receiving signals from various sensors and actuators of the
machine.
[0025] The numerical control device 10 and servo amplifiers 41 to
44 are connected in a daisy-chain form by means of the serial servo
bus 30 that is formed of one optical fiber cable. Provided in the
servo card 12 of the numerical control device 10 is a serial
transfer control circuit for controlling the serial servo bus 30.
The servo amplifiers 41 to 44 are also provided with serial
transfer control circuits 41a to 44a, respectively. The DSP of the
servo card 12 delivers command currents, which are to be supplied
to servomotors 41c to 44c through the serial servo bus (optical
fiber cable) 30 by the daisy-chain system, to the servo amplifiers
41 to 44, individually. The servo amplifiers 41 to 44 detect
driving currents for the servomotors 41c to 44c, and feed back
signals that are obtained by converting the detected currents into
digital data and signals from position-speed detectors (pulse
coders) 41d to 44d of the servomotors to the servo card 12.
Further, ID data for the amplifiers and the motors mentioned later
are transmitted to the DSP.
[0026] The servo amplifiers 41 to 44 are provided, respectively,
with memories (EEPROM's) 41b to 44b stored with ID data for
specifying the amplifiers. These ID data are composed of data for
specifying working conditions of the amplifiers, such as the kinds
and performance characteristics of the servo amplifiers, and data
for maintenance management utilized for the maintenance management
of version numbers, lot numbers, serial numbers, etc. Further, the
respective electric circuit sections of the position-speed detector
41d to 44d are fitted with memories (EEPROM's) stored with ID data
for specifying the servomotors 41c to 44c to which the
position-speed detectors are attached individually. These ID data
are also composed of data for specifying working conditions of the
motors, such as the kinds and performance characteristics of the
motor and data for maintenance management utilized for the
maintenance management of the version numbers, lot numbers, serial
numbers, etc.
[0027] Stored as ID data for the amplifiers are, for example, kinds
of units [SVM (Servo Amp. Module), SVU (Servo Amp. Unit), six axes,
SPM (Spindle Amp. Module), PSM (Power Supply Module) . . . ],
series names (.alpha., .beta. . . . ), numbers of amplifier axes
(1, 2, 3, 6), amplifier axis numbers (L, M . . . ), maximum current
values (12 A, 20 A, 40 AS, 40 AL, 80 A . . . ), etc., and moreover,
with amplifier unit version numbers (e.g., 03A . . . ), serial
numbers (e.g., EA6700001 . . . ) including lot numbers, etc.
[0028] Likewise, stored as ID data for the motors are data such as
motor kinds, adaptive amplifier maximum current values, version
numbers, serial numbers, etc.
[0029] The ROM in the servo card 12 is stored with control standard
parameters for each kind of amplifier and each kind of motors in
the form of a standard parameter table, and these parameters
include the maximum current value for an amplifier and the maximum
current for the amplifier adaptive to a certain motor.
[0030] When an amplifier ID data read command is then inputted by
means of the keyboard 21, the processor of the CPU card 11
transfers this command to the servo card 12, the digital signal
processor (DSP) of the servo card 12 reads amplifier ID data from
the memories 41a to 44a of the servo amplifiers through the serial
servo bus 30, and the display control card 13 causes the display
unit to display the amplifier ID data.
[0031] FIG. 2 shows a display example of the amplifier ID data.
"SLAVE No." represents number of an axis, successively attached to
the axes (servomotors) in order from the one nearest to the
numerical control device 10. "AMP. TYPE" represents number of an
amplifier, successively attached to the amplifiers in order from
the nearest one to the numerical control device, and specifies the
axes that correspond to slaves, individually. For example, a slave
1 is composed of a first amplifier Al, and is indicated by "L" that
represents a first axis of this amplifier. "A2-L" indicates that a
slave 2 is composed of a first axis of a second amplifier. "A2-M"
indicates that a slave 3 is composed of a second axis M (M
represents a second axis) of the second amplifier. Others are
indicated in like manner. "UNIT NAME" represents amplifier kinds.
"SERIES" represents series names. "AXIS NUMBER" represents the
numbers of axes the amplifier has. "MAXIMUM CURRENT" represents
maximum values of current that can be delivered from the axes of
the amplifiers. Further, "SERIAL No." represents serial numbers
that include the year of production and lot number each.
[0032] From the contents displayed in this manner, the operator can
imagine a system such as the one shown in FIG. 3. In this system,
amplifiers A1, A2, A3 and A4 are connected to the numerical control
device in the order named. It can be understood that the amplifier
Al has one axis, amplifier A2 has two axes, amplifier A3 has two
axes, and amplifier A4 has one axis, thereby forming six slaves.
Further, since the unit name, series, axis number, maximum current,
and serial number of each of the amplifiers are also displayed,
these indications are helpful to maintenance management of these
amplifiers.
[0033] The display control circuit 13 may be given a function such
as to process the ID data on each apparatus read by the digital
signal processor (DSP) of the servo card 12 to cause the display
unit 20 to display the data in an easy form for the operator to
see, using a graphic such as the one shown in FIG. 3.
[0034] Also, the ID data for the motors can be read in a manner
such that the DSP of the servo card 12 accesses the memories in the
position-speed detectors 41d to 44d, which are stored with the
motor ID data, through the serial servo bus 30 and the servo
amplifiers 41 to 44, and can be displayed on the display unit 20 in
like manner.
[0035] Further, the external computer, such as a personal computer,
may be connected through the interface 16 so that the ID data for
the amplifiers and the motors can be delivered to the computer to
manage the amplifiers and the motors intensively through the
computer. Furthermore, the system may be connected to a public
network, such as a telephone line, through the interface 16 so that
it is connected to a computer of a service center or the like in a
remote place. In case of fault in the system, the ID data for the
amplifiers and the motors can be transmitted to the computer of the
service center and serve as reference data for the investigation of
the cause of the fault and troubleshooting.
[0036] In attaching a servomotor to an amplifier or in replacing
the servomotor, moreover, the motor model name is inputted through
the keyboard 21, and a command for collation with the amplifier is
inputted. Thereupon, the DSP of the servo card 12 starts the
collating operation of FIG. 4. More specifically, the inputted
motor model name is read (Step S1), and adaptive amplifier maximum
current data I corresponding to the motor model name is read from
the standard parameter table stored in the memory (Step S2). Then,
maximum current data Ia1 to Ian (n=6 in this embodiment) are read
out of the amplifier ID data stored in the memories 41a to 44a of
the individual amplifiers (Step S3), an index j indicative of the
axis is set at "1" (Step S4), and the adaptive amplifier maximum
current data I for the inputted motor is compared with maximum
current data Iaj for the read amplifier ID. If the data I
corresponds to the data Iaj, an indication that the motor parameter
for the j-axis is adaptive to the connected amplifier is displayed
on the display unit 20 (Step S6). On the other hand, if the data I
does not correspond to the data Iaj, indication of nonadaptation is
displayed (Step S7). Then, it is determined whether or not the
index j reached the maximum axis number n (Step S8). If not reached
the maximum axis number n yet, "1" is added to the index j (Step
S9), and the program returns to Step S5, whereupon the process of
Step S5 and the subsequent processes are repeated until the index j
reaches the maximum axis number n.
[0037] In consequence, the axis of the amplifier to which the motor
with the inputted motor model name is adapted is discriminated
automatically.
[0038] Further, when a motor is already attached to an amplifier,
in determining whether or not the amplifier and the motor are
adaptive to each other, an acknowledgement command for adaptability
between the amplifier and the motor is inputted through the
keyboard 21. Thereupon, the DSP of the servo card 12 starts the
processes shown in FIG. 5. Thus, adaptive amplifier maximum
currents Im1 to Imn for the motors are read from the motor ID data
that are stored in the memories in the amplifiers and the
position-speed detectors, and further, maximum currents Ia1 to Ian
are read from the amplifier ID data (Steps T1 and T2). The index j
for specifying the axis is set at "1" (Step T3), and it is
determined whether or not the maximum current of the j-axis motor
and the maximum current Imj of the amplifier for the j-axis are
equal (Step T4). If the values Iaj and Imj are equal, indication
that the amplifier 13 adapted to the motor parameter for the j-axis
is displayed (Step T5). If not equal, on the other hand, indication
of nonadaptation is displayed (Step T6). Then, "1" is added to the
index j until the index j reaches the maximum axis number n (Steps
T7 and T8), and the process of Step T4 and the subsequent processes
are repeated.
[0039] In consequence, as adaptation or nonadaptation between the
amplifiers and the motors are displayed on the display unit 20 and
recognized, so that the system can be prevented from being driven
with the motors wrongly mounted or from failing to be driven
normally, and the motors can be prevented from being damaged.
* * * * *