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US 6,806,660 B2Granted
Motor controlling serial communication device and motor driver
AssigneeMatsushita Electric Industrial Co., Ltd.
InventorsYoshihiro Fujisaki, Yuji Hamada
Life of this patent
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Abstract
A motor controlling serial communication device includes an upper controller having a first IC and a first connector, and motor drivers having second ICs, second connectors and third connectors. First cables and second cables are used for coupling the upper controller to the motor drivers, so that a daisy-chain connection is formed.
Claims8
A serial communication device for controlling motors, the device comprising:
- an upper controller including:
- a first communication IC for controlling communication of a set of transmitting and receiving;
- a first communication connector having a transmitting terminal coupled to a transmitting terminal of the first IC and a receiving terminal coupled to a receiving terminal of the first IC, and
- a first motor driver including:
- a second communication IC for controlling communication of a set of transmitting and receiving;
- a second communication connector having a receiving terminal coupled to a receiving terminal of the second IC;
- a third communication connector having a transmitting terminal coupled to a transmitting terminal of the second IC and a receiving terminal coupled to the transmitting terminal of the second connector,
- wherein, in a connection between the upper controller and the first motor driver disposed in a front-most stage, a first communication cable that has a transmitting path and receiving path independently couples the first connector to the second connector,
- wherein, in a connection between the respective motor drivers, another first communication cable couples the third connector of the first motor driver to a second connector of a second motor driver, and
- wherein, a coupling element, which couples a transmitting terminal to a receiving terminal of the third connector of the motor driver disposed in a back-most stage,
- for forming a daisy-chain connection between the upper controller and the motor drivers.
8 more elements
A motor driver comprising:
- a carrier signal generator for outputting a pulse width modulation (PWM) carrier signal having a cycle based on a carrier cycle command;
- a servo-start timing signal generator for generating a timing signal for starting servo-control, the timing signal being synchronized with the PWM carrier signal;
- a servo-controller for starting servo-control periodically responsive to the servo-start timing signal;
- a communication timing signal generator for outputting a timing signal synchronized with a communication cycle;
- a delay-time detector for detecting a delay-time between the communication timing signal and the servo-start timing signal;
- a deviation detector for detecting a difference between a preset reference delay-time and the delay-time detected by the delay-time detector;
- and
- a carrier cycle generator for outputting a result of adding a reference carrier cycle to a product of multiplying the delay-time difference by a control gain, as the carrier cycle command.
5 more elements
Dependencies are inferred from the claim text.