Switching device for driving at least two motors

The invention relates to a switching device for controlling at least two motors according to the preamble of claim 1.

There are in practice many servo axes that rarely or not needed simultaneously. The rarely needed servo axes include, for example, drives to the machine (to) configuration, for example, only when a product changes in claim be taken. In other machines it can kinematics or prohibit the certainty that certain servo axes simultaneously Movements run.

It is known that each assigned its own drive motor becomes. This would be extremely expensive.

A conventional servo drive consists among other things of a Servo controller with a power amplifier (power amplifier), and the associated Control electronics, a motor, a position / speed or Acceleration sensor as feedback for motor control, a Motor temperature sensor and an optional holding brake. The sensor is usually mounted directly on the motor shaft. The optional holding brake is generally provided on the motor shaft. There are servo controller for an axle and drive for several axes in a known housing. In any case, each motor has an output stage assigned or a servo controller.

The invention is based on the object, the generic Switching device such that in a structurally simple and cost-effective manner several motors are operated sequentially can.

This object is in the generic switching device having the characterizing features of claim 1 dissolved.

In the switching device according to the invention more than one motor operated on the single servo amplifier or converter. The Logikbaustufe receives inverter signals to select one of Engines and then switches all required lines of the selected Motor to the corresponding interfaces of the inverter around. The accuracy and resolution of the Feedback or feedback signals are not affected, so that the invention Switching means of highly sensitive analog systems, such as a resolver or a sine / cosine encoder is used, can be. The EMC immunity of the feedback lines is not impaired. It is also possible to use a wire break detection be designed so that during the switch they want to Engine does not respond. The feedback-evaluation in the inverter does not result in the switch to the desired engine Errors.

The individual drives / motors are advantageous in the control loop operated. In an advantageous embodiment, it is ensured that after each switching each of the correct position value the engine to seduction is such that a reference run after each Switching is avoided. Stand for the position measurement No absolute encoder available, in this case the actual position values advantageously stored.

The position calculation in the inverter comes with different Sensor, motor and mechanical parameters, for example, Gear ratios in the individual axes cope. About the Switching device, in particular, the shift assembly, can actuated the parking brake and possibly existing temperature sensors be evaluated.

Further features of the invention result from the additional claims, the description and the drawings.

The invention is based on three shown in the drawings Embodiments explained in more detail. Show it<dl tsize="6"><dt>Fig. 1</dt><dd>a first embodiment of the present invention Switching device,</dd><dt>FIG. 2</dt><dd>a second embodiment of the present invention Switching device,</dd><dt>Fig. 3</dt><dd>a third embodiment of the present invention Switching device.</dd></dl>

The switching device according to FIG. 1 is used to control motors M and has a single servo controller 1, with which the individual M motors are driven. The inverter 1 is a Line 2 connected to a power switch 3, with which the respective Motor M can be switched. In Fig. 1, only a Motor M shown. Of the remaining motors only are the Switching contacts 3a to recognize.

The inverter 1 has the interface 4. This interface 4 are Control lines 5 connected to the inverter 1 with a logic module 6 connect. The logic module 6 evaluates the inverter 1 signals coming from and generated according to these signals Switching signals by which the switch 3 is actuated. correspondingly the signal of the switch 3 is switched so that it on the desired motor M switches.

Each motor M has a feedback sensor R, one on each Line 8 is connected via a switch 7 to the inverter. 1 In Fig. 1, for the further sensors, only the corresponding R Switching contacts shown. The two switches 3 and 7 are switched from logic block 6 at the same time, so that the desired Motor M are connected to the associated sensor R. Also the Controlling a holding brake or the signals of a temperature sensor can be switched according to on more switches.

The switches used 3, 7 operate as a multiplexer.

The monitoring of the selected motor M via the line 8, via which the sensor signals back to the inverter 1 R sends. The return signals are evaluated by him.

The logic circuit 6 to the switches 3, 7 is part of an option module 9. welcomes you in the manner described by the inverter 1, the signals for selecting one of a plurality of motors M and then switches on all required lines of the selected motor M 1. on the corresponding interfaces of the inverter 4, the line switching can be done electro-mechanically or electronically. The switches 3, 7 are in the embodiment shown in the optional board 9 provided. but you can located outside of the optional board 9, that is, by external switches can be formed. The inverter 1 is about m control lines 5 connected to the logic module. 6 The motors M are n connected via lines 8 to the inverter. 1

The embodiment of FIG. 2 used in place of m-control lines 5 a single control line 5 '. It is in contrast for the control lines 5 a bi-directional line via which Signals from the inverter 1 'to logic module 6' and vice versa will. Should one of the motors M are operated, from Servo Controller 1 'via the bidirectional control line 5' a corresponding Signal supplied to the logic chip 6 ', the portion of the Option module 9 'is. The logic module 6 'evaluates the on bidirectional line 5 'supplied signal, and switches the two Switch 3 ', 7' according to the previous embodiment at the same time around. The return signals for monitoring the respectively driven Motor M is carried out according to the foregoing embodiment on the logic module 6 '. enter via the bidirectional line 5 ' the signals from the logic module 6 'to the servo controller 1'.

A comparison with the embodiment according to Fig. 1 shows that the bi-directional Control line 5 'the control lines 5 and the line 8 the embodiment of FIG. 1 is replaced. The embodiment of FIG. 2 operates in otherwise the same as the previous embodiment.

The inverter 1 includes a software which of the drive Switching the timing for switching to the individual Motors M, managing machine data and parameter sets for each motor M and the position detecting each single motor M contains. With this software, therefore, the isolated position values ​​of sequentially be driven motors M managed and positioning tasks with different machine data be done in the individual axes.

The described embodiments result in a user-friendly sequential switching of multiple servomotors M to the servo controller 1, 1 ', which is a single-axis servo converter. The option module 9, 9 'and the logic module 6, 6' received the inverter 1, 1 'signals to select one of several motors M and turn then all the required lines of the selected Motor M to the corresponding interfaces of the inverter 4 1, 1 '. The logic module 6, 6 'filters the selection signals and switches to each signal and power cables. The circuit breakers 3, 3 ', can an integral part of the optional board 9, his 9 '. However, it is also possible for the power switches 3,3 ' as independent contactors, relays and train like. In this Case assumes the option module 9, 9 'their control.

To ensure correct operation of the switching device, the hardware and the firmware of the inverter 1, 1 'provided so that problems 'Do not occur at a switching of the feedback lines 8; 5. Since the software or firmware of the switching device the actual position values sequentially driven motors managed M, it is ensured that after a motor changeover always the correct actual position the respective axle is available.

In the embodiment of FIG. 3, the inverter 1 is connected to a Multiplexer 7 is connected, the alternately several motors (Encoder) 14-1 to 14-N with a bidirektikonalen interface with the Converter connects. The multiplexer 7 simultaneously generated independently of the switch position of the multiplexer 7 additional signals 13. The control of the multiplexer 7 via encoder cables CLOCK 2 and DATA. 3

Multiplexer 7 is connected upstream of a decoder 15. It analyzes the Data stream and controls, even without the presence of these special commands, the direction of bidirectional drivers 14b, 24b for first encoder 14-1 at Port Cross 1. To select a different encoder ports * N, the inverter sends 1 via the bidirectional interface special, binary coded commands. They are designed such that they have no relevant effect on the behavior and Encoder are ignored by him.

The decoder 15 generates on the basis of commands N signals 16 to Control of the multiplexer 7 and signals 9-1 to 9-N to change the direction the bidirectional drivers 11b. The multiplexer 7 switched in accordance with the decoded instruction bidirectional one of N Data lines 18-1 to 18-5 of the associated encoders 14-1 to 14-N to a data line 23 of the converter the first

When using interfaces with a CLOCK signal can the associated drivers 11 a at all inactive interfaces be disabled via the signal "output enable" OE 12th

The commands to control the multiplexer 7 may further include additional contain information which, for example, to generate additional can serve signals. 13

The multiplexer 7 may alternately multiple encoders 14-1 to 14-N is switched to the bi-directional interface via converter 1 will. The control of the multiplexer 7 is thus no additional lines via the existing encoder signals. In the sent by the inverter 1 command can also be act bit combination which is viewed by donors as faulty becomes. The decoder 15 listens to the data stream and controls the direction the bidirectional drivers 14b, 24b to the encoder.