United States Patent [19] [11] Patent Number: 5,012,169

Ono et al. [45] Date of Patent: Apr. 30, 1991

[54] MOTOR DRIVE SYSTEM [56] References Cited

U.S. PATENT DOCUMENTS
[75] Inventors: Yutaka Ono; Yasuhiko Muramatsu; 4 868 474 9/1989 L ft et al 318 [568 2
Yoichi , , ancra . ............... .. , .

Shigeru Hashida; Shotaro Shindo; 4,876,494 10/1989 Daggett et a1. .............. .. 3l8/568.22
Haruo Higuchi; Hiroyuki Shinomiya; Primary Examiner--William M. Shoop, Jr.
Mitsuhiro Nikaido; Koichi Sato, all of Assistant Examiner-Saul M. Bergmann
Tokyo, Japan Attorney, Agent, or Firm-Moonray Kojima
[73] Assignee: Yokogawa Electric Corporation, ' [57] _ ABST
RA _
Tokyo, Japan A motor drlve system used w1th industrial robots, pro
cessing machines, and the like comprising an external
[2 APPL No; 376 323 interface part ready for connecting a plurality of kinds
of host controllers generating a command signal; a sen
[22] Filed Jul 6 1989 sor interface part to which a motor rotation detecting
' ' sensor is connected; a main control part operating for
. . . . . feedback control of a motor according to signals pro
[301 Formal Apphcatmn Pnonty Data vided by way of the interfaces; and a power ampli?ca
Jul. 20, 1988 [JP] Japan .......................... .. 88/96180[U] . tion part for feeding a current to motor coils according
Jul. 26, 1988 [JP] Japan .......................... .. 88/98879IU] to a control signal from the main control part and
Aug. 29, 1988 [JP] Japan .... .. 88/112928[U] wherein the external interface part, the sensor interface
Apr. 4, 1989 [JP] Japan .......................... .. 89/84614[U] part, the main control part, and the power ampli?cation
part are separate and modularized as cards. Advanta
[51] Int. Cl.5 .............................. .. GOSB 19/405 geously, the various controllers, sensors and power
[52] US. Cl. ............................... .. 318/568; 318/568.2; systems are changeable to flexibly meet different user
318/569; 318/631; 318/599 requirements.
[58] Field of Search .............. .. 318/568.22, 568.2, 569,
318/631, 599 23 Claims, 50 Drawing Sheets

400 4
<3
'__L____
i /
run- ____________________ PEEK-"ml
Host Controller l {IE/2801", 41 47 Control Port)I/48
l Personal l l High-Speed l
31 T compmer I I Unloxlol I/F Mum Type I
N! l Speed Control (1:1)
32L Servo l l ' TorqueI/F Port Low-Speed )f 481
I Controller 1 ] geIrmlI/F Type I
33 I- m] | Se A1482
q Posltlonlng . I 8 BI;r Bus I
I Controller I JPJ/I: ________ _________ _ _.____l
l a| I R I
34 1_ Robot I I 44 I Control f5O
I Controller I I I- Power
L ______ ___I I Sensor I/F Part I Source 4
| 0 ?ea] f/F l Moln P ower Source
1 o I p 1 AC 200v Input
l - | DC 280V Output
! Resolver \45 l__ AC 100v Input 49
I VP 1 I DC 280V Output
_/ I \ l
46 l__ 492
'~t35I-' AC 100v Input
I} DC 140V Output f 493

6\ Dynamic .]
Broke ] Drlver Box
US. Patent Apr. 30, 1991 Sheet 3 of 50 5,012,169

FIG.2 (b) 597

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l 502 ConTroL PQIT l
L. ______________________ ______T.______._l
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48

1 ,
,_ ____________ ___1_
I

Mognerlc
Resolver

Op'HCOl
Resolver
US. Patent Apr. 30, 1991 Sheet 5 of 50 5,012,169

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US. Patent Apr. 30, 1991 Sheet 6 0f 50 5,012,169

FIGL

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US. Patent. Apr. 30, 1991 Sheet 7 of 50 5,012,169

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US. Patent Apr. 30, 1991 _Sheet 8 of so 5,012,169

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FIG.7
US. Patent Apr. 30, 1991 Sheet 10 of 50 5,012,169
US. Patent Apr. 30, 1991 Sheet 11 of 50 5,012,169
US. Patent Apr. 30, 1991 Sheet 13 0f 50 5,012,169

FIG.11

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US. Patent Apr. 30, 1991 Sheet 14 of 50 5,012,169

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US. Patent Apr. 30, 1991 Sheet 15 of 50 5,012,169

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US. Patent Apr. 30, 1991 Sheet 17 of 50 5,012,169

FIG.15
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US. Patent Apr. 30, 1991 Sheet 18 of 50 5,012,169