Patent Description:
Conventionally, a technique for reducing the number of input terminals of a motor control device to which an external device is connected has been studied. An example of such a technique is disclosed in Patent Literature <NUM>.

In the inverter device (motor control device) disclosed in Patent Literature <NUM>, a plurality of set parameters are set for one external input terminal (input terminal), and any one of a plurality of internal terminal number specifications is allocated to each of these set parameters. The plurality of internal terminal number specifications correspond to a plurality of functions in the inverter device.

In the inverter device disclosed in Patent Literature <NUM>, at least two of the functions in the inverter device can be allocated to one external input terminal, so that the number of external input terminals can be reduced.

<CIT> discloses a method for allocating more functions to external I/O terminals than the actual number of the I/O terminals, wherein a logical operation is applied to the external I/O terminals and to arbitrary terminals among internal virtual terminals and wherein the calculation results are allocated to the arbitrary terminals.

<CIT> discloses an inverter which can simultaneously set more operation control command information without being limited by the number of external input terminals, wherein, in setting RAMs, three set parameters are assigned to each of the terminals of an external input terminal, and an internal terminal number is respectively set to each of the set parameters.

<CIT> discloses a parameter setting mode for a motor control system, wherein a user's screen image displayed on a programmable display is utilized for parameter setting for motor control equipment. Therein, on the user screen, a graph which represents an operation characteristic in parameter or the like is made and a data is changed by moving the straight line of the graph by so called a tag function which makes a desired picture block at a desired position and displays the data on it. The programmable display has preliminary information which is correlated with a control function corresponding to the tag and the parameter and sends the data thus changed by the tag as changed information of the parameter to the motor control equipment.

In the inverter device disclosed in Patent Literature <NUM>, the number of functions that can be allocated per external input terminal is identical to the number of preset parameters. Therefore, in the inverter device disclosed in Patent Literature <NUM>, flexibility of designing is low (e.g., there is a need to add a master device in order to process an external input signal corresponding to a function which is not allocated to any external input terminal).

An aspect of the present invention aims to implement a motor control device, a method for controlling a motor control device, a control program, and a storage medium, which can improve flexibility of designing in the technique for reducing the number of input terminals of a motor control device. Solution to Problem.

In order to solve the foregoing problem, a motor control device is provided as defined in the appended claims.

In order to solve the foregoing problem, a method for controlling a motor control device is provided as defined in the appended claims. Advantageous Effects of Invention.

One aspect of the present invention can improve flexibility of designing in the technique for reducing the number of input terminals of a motor control device.

Hereinafter, an embodiment according to one aspect of the present invention (hereinafter, also referred to as "the present embodiment") will be described with reference to the drawings. However, the present embodiment described below is merely illustrative of the present invention in all respects.

<FIG> is a block diagram showing a schematic configuration of a motor control device <NUM> according to the present embodiment. First, referring to <FIG>, an exemplary scene to which the present invention is applied will be described.

The motor control device <NUM> controls a motor <NUM>. The motor control device <NUM> comprises: a connector <NUM>, a main MPU (Micro Processing Unit) <NUM>, an MCU (Micro Controller Unit) <NUM>, an ASIC (Application Specific Integrated Circuit) <NUM>, and an interface <NUM>.

The connector <NUM> has a plurality of input terminals <NUM> and a plurality of output terminals <NUM>. The main MPU (main control section) <NUM> has a plurality of function input terminals <NUM>, a plurality of function output terminals <NUM>, a terminal allocating section <NUM>, a timing control section <NUM>, and a display output section <NUM>. Hereinafter, the plurality of input terminals <NUM> will be described focusing on one input terminal <NUM> unless the number thereof is specified. Hereinafter, the plurality of output terminals <NUM> will be described focusing on one output terminal <NUM> unless the number thereof is specified. Hereinafter, the plurality of function input terminals <NUM> will be described focusing on one function input terminal <NUM> unless the number thereof is specified. Further, the plurality of function output terminals <NUM> will be described below focusing on one function output terminal <NUM> unless the number thereof is specified.

The input terminal <NUM> is an input terminal of the motor control device <NUM> to which an input-side external device <NUM> positioned at an upstream of the motor control device <NUM> is connected. The input-side external device <NUM> is connected to the input terminal <NUM>, so that signals outputted from the input-side external device <NUM> can be supplied to the main MPU <NUM> via the input terminal <NUM>. Examples of the input-side external device <NUM> include switches and various controllers such as a programmable logic controller. Separate input-side external devices <NUM> may be connected to the plurality of input terminals <NUM>, respectively, or the same input-side external device <NUM> may be connected to at least two of the plurality of input terminals <NUM>.

The main MPU <NUM> performs a plurality of functions in the motor control device <NUM>. The main MPU <NUM> receives the signal from the input-side external device <NUM> when the signal is supplied to at least one of the plurality of function input terminals <NUM>. The plurality of function input terminals <NUM> are associated with the plurality of functions one-to-one, one-to-x (<NUM>≦x), or x-to-one. The main MPU <NUM> then performs the function in the motor control device <NUM> which function corresponds to the command contained in the received signal.

The terminal allocating section <NUM> sets which of the plurality of input terminals <NUM> is allocated to each of the plurality of function input terminals <NUM> corresponding to the plurality of functions in the motor control device <NUM> in response to the selection by the user.

As a result, one input terminal <NUM> can be allocated to at least two of the plurality of function input terminals <NUM>, so that the number of input terminals <NUM> can be smaller than the number of function input terminals <NUM>. Therefore, the number of the input terminals <NUM> can be reduced. The reduction in the number of the input terminals <NUM> leads to downsizing of the motor control device <NUM>, a reduction in the number of wiring steps in the motor control device <NUM>, and a reduction in the costs (manufacture cost and original cost) of the motor control device <NUM>. This also allows any number of function input terminals <NUM> to be allocated to one input terminal <NUM>, as long as the performance of the motor control device <NUM> allows. Therefore, flexibility of designing can be improved as compared to the prior art.

The timing control section <NUM> controls, in accordance with selection by a user, timing of supplying, to at least one function input terminal <NUM> included in at least two of the plurality of function input terminals <NUM>, a signal supplied to the input terminal <NUM>. As a specific example, the timing control section <NUM> causes timing of supplying a signal to a first function input terminal to be different from timing of supplying the signal to a second function input terminal, the first function input terminal and the second function input terminal being included in the plurality of function input terminals <NUM> and being different from each other. As a result, a signal can be supplied to the first function input terminal and the second function input terminal at different timings. Therefore, for example, this is convenient for executing a function corresponding to the second function input terminal some time after executing a function corresponding to the first function input terminal.

The display output section <NUM> causes a display device to display a correspondence between the input terminal <NUM> and one of the plurality of function input terminals <NUM> to which one the input terminal <NUM> has been allocated. As a result, the user can check the correspondence between the input terminal <NUM> and one of the function input terminals <NUM> to which one the input terminal <NUM> has been allocated. Therefore, the user can check if the correspondence is different from one intended by the user or if the correspondence itself is inappropriate.

The method for controlling the motor control device <NUM> may be executed by a computer such as main MPU <NUM>. In this case, a control program for causing a computer to execute the method for controlling the motor control device <NUM> and a computer-readable storage medium in which the control program is stored are also encompassed in the scope of the present invention.

Next, the schematic configuration of the motor control device <NUM> will be described with reference to <FIG>.

The MCU <NUM> is controlled by the main MPU <NUM>, generates a current for controlling the motor <NUM> in response to this control, and supplies the current to the motor <NUM>. That is, a typical example of the control of the motor <NUM> by the motor control device <NUM> is the control of a current supplied from the MCU <NUM> to the motor <NUM>.

The ASIC <NUM> communicates with a master device (e.g., programmable logic controller, not shown) that centrally controls an industrial network system containing the motor control device <NUM>. Examples of such an industrial network system include systems based on any of Ether CAT®, EtherNet/IP®, and Modbus®.

The interface <NUM> is an interface between the motor control device <NUM> and a control tool <NUM> at an outside of the motor control device <NUM>. By causing the motor control device <NUM> and the control tool <NUM> to communicate with each other using the interface <NUM> as an interface, the user can check the status of the motor control device <NUM> via the control tool <NUM> and set various parameters for the main MPU <NUM> via the control tool <NUM>.

By causing the motor control device <NUM> and the control tool <NUM> to communicate with each other, the user can set, via the control tool <NUM>, the function input terminal <NUM> to which the terminal allocating section <NUM> allocates the input terminal <NUM>. Furthermore, by causing the motor control device <NUM> and the control tool <NUM> to communicate with each other, the user can control, via the control tool <NUM>, timing when the timing control section <NUM> supplies, to the function input terminal <NUM> to be controlled, the signal having been supplied to the input terminal <NUM>. Furthermore, the control tool <NUM> has a display section <NUM> for performing various displays relating to the control tool <NUM>. By causing the motor control device <NUM> and the control tool <NUM> to communicate with each other, it is possible to cause this display section <NUM> to serve as the aforementioned display device caused by display output section <NUM> to display data.

The output terminal <NUM> is an output terminal of the motor control device <NUM> to which an output-side external device <NUM> which is positioned at a downstream of the motor control device <NUM> is connected. The output-side external device <NUM> is connected to the output terminal <NUM> so that a signal outputted from the function output terminal <NUM> of the main MPU <NUM> can be supplied to the output-side external device <NUM> through the output terminal <NUM>. The plurality of function output terminals <NUM> are also associated with the plurality of functions one-to-one, one-to-x, or x-to-one. Upon receiving the signal outputted from the main MPU <NUM>, the output-side external device <NUM> operates according to the function of the motor control device <NUM> which is included in the signal. Examples of the output-side external device <NUM> include a warning light and a valve. Separate output-side external devices <NUM> may be connected to the plurality of output terminal <NUM>, respectively, or the same output-side external device <NUM> may be connected to at least two of the plurality of output terminals <NUM>.

<FIG> is an image diagram showing one specific example in which the terminal allocating section <NUM> sets allocation of the input terminal <NUM> to the function input terminal <NUM>.

The Motor control device <NUM> can perform a plurality of functions. Examples of the function input terminal <NUM> include "reverse direction driving inhibition input", "forward direction operation command input", "compulsive brake locking input", "direct current braking command input", "operation command switching input", and "frequency command switching input". Individual function input terminal <NUM> listed here are briefly described below.

The terminal allocating section <NUM> allocates a terminal IN1 as the input terminal <NUM> to "reverse direction driving inhibition input" and "forward direction operation command input". Consequently, in response to a signal supplied from the terminal IN1 to the main MPU <NUM>, the main MPU <NUM> operates the motor <NUM> in the forward direction while preventing the motor <NUM> from being driven in the reverse direction, so that the motor <NUM> can be operated in the forward direction more reliably.

The terminal allocating section <NUM> allocates a terminal IN2 as the input terminal <NUM> to "compulsive brake locking input" and "direct current braking command input". As a result, the main MPU <NUM> physically and electrically stops rotation of the motor <NUM> in response to a signal supplied from the terminal IN2 to the main MPU <NUM>, so that the rotation of motor <NUM> can be stopped more reliably.

The terminal allocating section <NUM> allocates a terminal IN3 as the input terminal <NUM> to "operation command switching input" and "frequency command switching input". This allows for switching between a remote operation in which the master device operates the motor control device <NUM> and a local operation in which the user operates the motor control device <NUM> using the control tool <NUM>.

<FIG> is a table showing a specific example of the display content displayed by the display section <NUM> at the time of setting allocation of the input terminal <NUM> to the function input terminal <NUM>.

In the <FIG> table, the "name of function input terminal" column shows the name of each function input terminal <NUM>, as with the "name of function input terminal" column in <FIG>. On the other hand, in the <FIG> table, the "value" column shows a value indicating which input terminal <NUM> is allocated for each function input terminal <NUM>. By causing the display section <NUM> to display such a table, the user can visually check the setting of the allocation.

<FIG> is a diagram showing an exemplary set parameter of the function input terminal <NUM>.

According to <FIG>, the set parameter of "reverse direction driving inhibition input" as the function input terminal <NUM> contains a parameter "selection of port". This parameter "selection of port" is set to either "<NUM>", which is a value indicating that the input terminal <NUM> is not allocated to the "reverse direction driving inhibition input", or "<NUM>", "<NUM>",. , which is a value indicating that the input terminal <NUM> is allocated to the "reverse direction driving inhibition input". From <FIG>, it can be seen that whether or not the input terminal <NUM> is allocated to the function input terminal <NUM> can be checked and which of the plurality of input terminals <NUM> is to be allocated to the function input terminal <NUM> can be set.

<FIG> is a flow chart illustrating an exemplary process flow in the main MPU <NUM> and its surrounding elements.

First, output refresh (RAM → physical terminal) is performed (step S1). The output refresh (RAM → physical terminal) is a process of outputting data on a RAM of the main MPU <NUM> to a physical terminal of the main MPU <NUM>. Here, the physical terminal is an output port on the main MPU <NUM>, and corresponds to a process of outputting a signal to the output terminal <NUM> and the MCU <NUM> (microcomputer for controlling the motor <NUM>).

Subsequently, a data output request and/or a data reading-out request are performed (step S2). That is, in the step S2, the MCU <NUM> transmits data for output to the main MPU <NUM>, and/or the main MPU <NUM> requests the MCU <NUM> to read out status information indicative of the status of the motor <NUM> or the like.

Subsequently, input refresh (physical terminal → RAM) is performed (step S3). The input refresh (physical terminal → RAM) is a process of extracting a signal state from the physical terminal of the main MPU <NUM> and loading it in the RAM. Here, the physical terminal is an input port on the main MPU <NUM>, and corresponds to a process of reading out data from the input terminal <NUM> and the MCU <NUM> (microcomputer for controlling the motor <NUM>).

Subsequently, the MCU <NUM> fetches, from a microcomputer register (not shown) of the main MPU <NUM> to the RAM (not shown), the data requested to be read out in the step S2 (step S4).

Subsequently, the main MPU <NUM> executes the function based on the data in the corresponding RAM, and sends the result of the execution to the RAM (execution of function) (step S5).

It should be noted that an initial value at the time of turning on the power of the motor control device <NUM> may be outputted until a first execution of a function in the motor control device <NUM> is performed. In addition, in the step S3, data is copied to the RAM in charge of the corresponding function based on the value set in the parameter "selection of port" in <FIG>.

<FIG> is an image diagram showing another specific example in which the terminal allocating section <NUM> sets allocation of the input terminal <NUM> to the function input terminal <NUM>.

Examples of the function input terminal <NUM> include "output block input (first function input terminal)" and "operation command switching input (second function input terminal)". The function input terminals <NUM> listed here are briefly described below.

"Output block input": the function input terminal <NUM> corresponding to the function of stopping outputting to the motor <NUM> and putting the motor <NUM> in a free run status.

"Operation command switching input": the function input terminal <NUM> corresponding to the function of selecting a path of a command for operation of the motor control device <NUM> (communication from the master device/signal input to the input terminal <NUM>).

The timing control section <NUM> causes the timing of supplying, to "output block input", the signal having been supplied to the terminal IN4 as the input terminal <NUM> to be different from the timing of supplying the signal to the "operation command switching input".

<FIG> is a table showing another specific example of the display content displayed by the display section <NUM> at the time of setting the allocation of the input terminal <NUM> to the function input terminal <NUM>.

In the <FIG> table, the "name of function input terminal or delay timer" column shows the name of the parameter "delay timer" in addition to the name of each function input terminal <NUM>. On the other hand, in the <FIG> table, the "value" column shows a value indicating which input terminal <NUM> is allocated for each function input terminal <NUM>. In addition, in the <FIG> table, the "value" column shows a delay time (unit: ms (milliseconds)) indicative of how delayed, with respect to a reference time, the timing with which the timing control section <NUM> supplies the signal having been supplied to the input terminal <NUM> to the corresponding function input terminal <NUM> is.

<FIG> is a timing chart comparing a signal supplied to the input terminal <NUM> (terminal IN4), a signal supplied to the "output block input", and a signal supplied to the "operation command switching input".

The rising edge of the signal supplied to the "output block input" is delayed by <NUM> with respect to the rising edge of the signal supplied to the terminal IN4. On the other hand, the rising edge of the signal supplied to the "operation command switching input" is delayed by <NUM> with respect to the rising edge of the signal supplied to the terminal IN4. In other words, the rising edge of the signal supplied to the "operation command switching input" is delayed by <NUM> with respect to the rising edge of the signal supplied to the "output block input". In this manner, the timing control section <NUM> can cause the timing of supplying, to the "output block input", the signal having been supplied to the input terminal <NUM> (terminal IN4) to be different from the timing of supplying the signal to the "operation command switching input".

<FIG> is a diagram showing an example of the display content which the display output section <NUM> causes the display device to display. In the diagram shown in <FIG>, a correspondence between the input terminal <NUM> and one of the plurality of function input terminals <NUM> to which one the input terminal <NUM> has been allocated (corresponding to the checked one in <FIG>) is shown. Further, in the drawing shown in <FIG>, a list in which this correspondence is shown is created in one tab, and such a tab is created for each of the plurality of input terminals <NUM>, thereby forming one displayed content. The display output section <NUM> creates such a display content and causes the display device to display the display content. The display device may be the display section <NUM> or another display device.

Alternatively, the display output section <NUM> may create the display content indicating the aforementioned correspondence in an image diagram of connection, and cause the display device to display the display content. Alternatively, the display output section <NUM> may create, as the display content, a list of the function input terminal <NUM> allocated to the input terminal <NUM> based on this input terminal <NUM>, and cause the display device to display the list.

Further, by enabling the checking of the display content related to <FIG>, the display content related to <FIG> may be a setting window itself for setting the function input terminal <NUM> to which the input terminal <NUM> is allocated.

In the motor control device <NUM>, according to the same principles as in the terminal allocating section <NUM>, which of the plurality of output terminals <NUM> is to be allocated to each of the plurality of function output terminals <NUM> that are included in the main MPU <NUM> and that correspond to the plurality of functions in the motor control device <NUM> may be set according to selection by a user. In this case, the main MPU <NUM> may supply a logical disjunction (OR) of signals having been outputted from each of at least two function output terminals <NUM> to which the same output terminal <NUM> has been allocated, to that output terminal <NUM>. Instead of the logical disjunction, an exclusive disjunction (EXOR), a logical conjunction (AND), a joint denial (NOR), or Sheffer stroke (NAND) may be applied, or a combination of two or more of these logical operations and negations (NOT) may be applied.

Control blocks of the motor control device <NUM> (particularly, the terminal allocating section <NUM>, the timing control section <NUM>, and the display output section <NUM>) can be realized by a logic circuit (hardware) provided in an integrated circuit (IC chip) or the like or can be alternatively realized by software.

In the latter case, the motor control device <NUM> includes a computer that executes instructions of a program that is software realizing the foregoing functions. The computer, for example, includes at least one processor and at least one computer-readable storage medium storing the program. An object of the present invention can be achieved by the processor of the computer reading and executing the program stored in the storage medium. Examples of the processor encompass a central processing unit (CPU). Examples of the storage medium encompass a "non-transitory tangible medium" such as a read only memory (ROM), a tape, a disk, a card, a semiconductor memory, and a programmable logic circuit. The computer may further include a random access memory (RAM) or the like in which the program is loaded. Further, the program may be made available to the computer via any transmission medium (such as a communication network and a broadcast wave) which allows the program to be transmitted. Note that an aspect of the present invention can also be achieved in the form of a computer data signal in which the program is embodied via electronic transmission and which is embedded in a carrier wave.

Aspects of the present invention can also be expressed as follows:
A motor control device in accordance with one aspect of the present invention comprises: a plurality of input terminals to which an input-side external device is connected; a plurality of function input terminals which are included in a main control section of the motor control device and which correspond to a plurality of functions of the motor control device, respectively; and a terminal allocating section for setting, in accordance with selection by a user, which of the plurality of input terminals is to be allocated to each of the plurality of function input terminals.

A method for controlling a motor control device in accordance with one aspect of the present invention is a method for controlling a motor control device including a plurality of input terminals to which an input-side external device is connected, said method comprising a terminal allocating step of setting, in accordance with selection by a user, which of the plurality of input terminal is to be allocated to each of a plurality of function input terminals which are included in a main control section of the motor control device and which correspond to a plurality of functions of the motor control device, respectively.

With the arrangement, single input terminal can be allocated to at least two of the plurality of function input terminals, so that the number of the input terminals can be smaller than the number of the function input terminals. Accordingly, with the arrangement, it is possible to reduce the number of the input terminals. The reduction in the number of the input terminals leads to downsizing of the motor control device, a reduction in the number of wiring steps in the motor control device, and a reduction in the costs (manufacture cost and original cost) of the motor control device.

Furthermore, with the arrangement, it is possible to allocate any number of function input terminals to one input terminal, as long as the performance of the motor control device allows. Therefore, flexibility of designing the motor control device can be improved as compared to the prior art.

The motor control device in accordance with one aspect of the present invention is preferably arranged so as to further comprise a timing control section which, with respect to each of at least one of the plurality of input terminals, in accordance with selection by the user, causes timing of supplying a first function input terminal with a signal having been supplied to said at least one input terminal to be different from timing of supplying a second function input terminal with the signal, the first function input terminal and the second function input terminal being included in the plurality of function input terminals and being different from each other.

With the arrangement, it is possible to supply a signal to the first function input terminal and the second function input terminal at different timings. Therefore, for example, this is convenient for executing a function corresponding to the second function input terminal some time after executing a function corresponding to the first function input terminal.

The motor control device in accordance with one aspect of the present invention is preferably arranged so as to further comprise a display output section which, with respect to each of at least one of the plurality of input terminals, causes a display device to display correspondence between said at least one input terminal and one of the plurality of function input terminals to which one said at least one input terminal has been allocated.

With the arrangement, a user can check a correspondence between the input terminal and one of the plurality of function input terminals to which one the input terminal has been allocated. Therefore, the user can check if the correspondence is different from one intended by the user or if the correspondence itself is inappropriate.

The method for controlling the motor control device in accordance with one aspect of the present invention may be executed by a computer. In this case, a control program for causing a computer to execute the method for controlling the motor control device and a computer-readable storage medium in which the control program is stored are also encompassed in the scope of the present invention.

Claim 1:
A motor control device (<NUM>), comprising:
a plurality of input terminals (<NUM>) to which an input-side external device (<NUM>) is connected;
a plurality of function input terminals (<NUM>) which are included in a main control section (<NUM>) of the motor control device (<NUM>) and which correspond to a plurality of functions of the motor control device (<NUM>), respectively; and
a terminal allocating section (<NUM>) for setting, in accordance with selection by a user, which of the plurality of input terminals (<NUM>) is to be allocated to each of the plurality of function input terminals (<NUM>),
a timing control section (<NUM>) which, in accordance with selection by the user, causes timing of supplying a first function input terminal with a signal having been supplied to an input terminal (IN4) to be different from timing of supplying a second function input terminal with the signal having been supplied to the input terminal (IN4), the input terminal (IN4) being one of the plurality of input terminals (<NUM>) and being allocated to the first function input terminal and to the second function input terminal which is different from the first function input terminal;
characterized in that
the motor control device (<NUM>) further comprises:
a display output section (<NUM>) which, with respect to each of at least one of the plurality of input terminals (<NUM>), causes a display device to display correspondence between said at least one input terminal and one of the plurality of function input terminals (<NUM>) to which one said at least one input terminal has been allocated;
wherein a list in which the correspondence is shown is created in one tab, such a tab being created for each of the plurality of input terminals (<NUM>), thereby forming a display content, or
the display output section (<NUM>) creates a display content indicating the correspondence in an image diagram of connection.