Multiaxial motor control system

A multiaxial motor control system configured to control motors for a plurality of shafts included in a multiaxial machine, the multiaxial motor control system comprising:

• a plurality of motor control devices each configured to drive a corresponding one of the motors, the plurality of motor control devices generate a first torque command based on a first command signal, and stops each of the motors for the plurality of shafts by applying a first braking torque corresponding to the first torque command, and
• a controller connected with the plurality of motor control devices by a ring network or a line network, wherein the controller is configured to transmit a second command signal when the controller drives the plurality of motor control devices and transmit the first command signal when the controller detects a failure of the plurality of motor control devices or a failure of the network, wherein:
• each of the plurality of motor control devices includes:
• a communication controller configured to receive a second command signal, transmit the received second command signal, and determine whether or not the second command signal is received normally,
• a rotation controller configured to generate a second torque command for operation of the each of the motors, and
• a drive unit configured to generate a drive voltage for electrification to drive the corresponding one of the motors based on the second torque command,
• at least one of the plurality of motor control devices is configured to communicate another of the plurality of motor control device bypassing the controller,
• the plurality of motor control devices includes a first motor control device at signal receiving side of a location of a failure in the network, and
• the first motor control device continues to operate a motor connected with the first motor control device by applying a second driving torque based on the second command signal which is received normally before the detection of the failure, and stops the motor connected with the first motor control device by applying a third braking torque at a predetermined time after a beginning of the operation to continue, when the communication controller detects the failure of a reception of the second command signal.

A multiaxial motor control system configured to control motors for a plurality of shafts included in a multiaxial machine, the multiaxial motor control system comprising:

• a plurality of motor control devices each configured to drive a corresponding one of the motor;
• and
• a controller having network connection with the motor control devices and configured to transmit a command signal for control of the motor control devices, wherein:
• the motor control devices each include
• a communication controller configured to receive the command signal, transmit the received command signal, and determine whether or not the command signal is received normally,
• a rotation controller configured to generate a torque command for operation of the corresponding one of the motors, and
• a drive unit configured to generate a drive voltage for electrification to drive the corresponding one of the motors in accordance with the torque command,
• when at least one of the motor control devices detects failure in reception of the command signal, the at least one of the motor control devices outputs the torque command for braking torque to stop the corresponding one of the motors,
• the plurality of motor control devices are connected in series so that at least one of the plurality of motor control devices is configured to communicate another of the plurality of motor control device bypassing the controller,
• the controller and the plurality of motor control devices are connected to form a ring network so that only a first one of the plurality of motor control devices connected in series and a last one of the plurality of motor control devices connected in series are directly communicable with the controller, or to form a line network so that only a first one of the plurality of motor control devices connected in series is directly communicable with the controller.

A multiaxial motor control system configured to control motors for a plurality of shafts included in a multiaxial machine, the multiaxial motor control system comprising:

• a plurality of motor control devices each configured to drive a corresponding one of the motors, wherein each of the plurality of the motor control devices generates a first torque command based on a first command signal, and stops each of the motors for a plurality of shafts by applying a first braking torque corresponding to the first torque command;
• and
• a controller having network connection with the plurality of motor control devices, the controller being connected with the plurality of motor control devices by a ring network or a line network, wherein the controller is configured to transmit a second command signal when the controller controls the plurality of motor control devices and transmit the first command signal when the controller detects a failure of the plurality of motor control devices or a failure of the ring network or a line network,
• wherein each of the plurality of motor control devices includes,
• a communication controller configured to receive the second command signal, transmit the received second command signal, and determine whether or not the second command signal is received normally,
• a rotation controller configured to generate a second torque command for operation of the corresponding one of the motors, and
• a drive unit configured to generate a drive voltage for electrification to drive the corresponding one of the motors in accordance with the second torque command,
• the plurality of motor control devices includes a first motor control device provided at a signal receiving side of a location of a failure in the network,
• the first motor control devices further include a dynamic brake circuit that is activated to disconnect electrification to a corresponding one of the motors to stop the motor, the dynamic break circuit comprising a plurality of switches and a plurality of resistors, each of the switches and each of the resistors corresponding to each of respective phases of the motors.