JP2001242923A - Servo system and synchronous control method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a servo system for shorter response time at the time of a servo driver starts operation, changes speed, or stops operation, a plurality of servo drivers are synchronously controlled. SOLUTION: As a first step, information is transmitted and set to all three servo drivers. For example, an NC controller 21 transmits a coordinate information and speed information required for alignment operation to one by one of the three servo drivers. After the first step, and operation-start command signal is outputted to the three servo drivers by a transmission means 26 from the NC controller 21, and the three servo drivers receive the synchronous signal and carry out it to start driving the three servo motors (a second step).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo system including an NC controller for controlling a servomotor used in industrial equipment and the like and a control device (servo driver).

[0002]

2. Description of the Related Art In recent years, a communication function has been added to a servo driver and an NC controller for controlling the servo driver. The communication between the NC controller and the servo driver is established by means of a multi-droppable communication means. The control state of the servo driver can be monitored and the motor operation can be controlled from the NC controller.

Hereinafter, a conventional bidirectional information transmission technique between an NC controller and a servo driver will be described.

In FIG. 3, reference numeral 31 denotes an NC controller,
32 and 33 are servo drivers, 34 is communication means, 35 and
36 is a servomotor.

An NC controller 31 having a communication function and two servo drivers 32 and 33 are connected by a multi-drop communication means 34.
And send parameters such as positioning coordinates to the two servo drivers.

In the control state of the servo drivers 32 and 33, the NC controllers 3
1 to the servo driver 32, 3
3 can be monitored by the NC controller 31.

The servo driver drives the servomotors 35 and 36 by outputting operation commands from the NC controller 31 to the servodrivers 32 and 33.

For example, when driving the servo drivers 32 and 33, first, an operation start command is output from the NC controller 31 to the servo driver 32, and then an operation start command is output to the servo driver 33, so that the two units are driven. The operation of the servo driver is started.

The speed of the servo motors 35 and 36 is changed by outputting a speed change command from the NC controller 31 to the servo drivers 32 and 33 by communication means.

For example, when performing a complicated trajectory operation, it is necessary to change the speed of both the servo drivers 32 and 33.
By outputting the speed change command to the servo driver 33 and then to the servo driver 33, the speed of the two servo drivers is changed.

The operation of the servo motor is stopped by outputting a stop command from the NC controller 31 to the servo drivers 32 and 33 by communication means, but when the servo drivers 32 and 33 are stopped, the NC controller 31 An operation stop command is output to the servo driver 32,
Next, by outputting an operation stop command to the servo driver 33, the operation stop of the two servo drivers is realized.

[0012]

In the above-described NC controller and servo driver of the conventional servo system, it is necessary to sequentially output the operation start command and the operation stop command of the servo driver one by one by low-speed communication. Therefore, there is a problem that the response time until the start and stop of the operation of the motor is slow.

In order to drive and control a servomotor by connecting a plurality of servo drivers to one NC controller by means of multi-drop capable communication means, an operation start command, a speed change command, and an operation stop command are required. There is a problem that it is necessary to sequentially transmit the signals to each servo driver, and it is difficult to perform synchronous control that requires simultaneous operation of the servomotors.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems. To speed up the response of a servo driver until the operation starts, changes the speed and stops the operation, and when controlling a plurality of servo drivers, the synchronous control of the servo drivers is performed. It is an object of the present invention to provide a servo system capable of realizing the above.

[0015]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a servo motor, a servo driver for driving the servo motor, an NC controller for controlling the servo driver, and the servo driver and the NC. Communication means for transmitting and receiving parameters and control states between the controllers, and transmission means for transmitting a command such as an operation start command output from the NC controller to a servo driver, wherein the servo driver issues an operation start command. In the servo system that starts the positioning operation of the servo motor by receiving the information, coordinate position information that may have a slow response is set in advance using communication means, and an operation start instruction, a speed change instruction, An instruction such as an operation stop instruction uses a transmission means different from the communication means.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In order to solve the above-mentioned problems, the present invention provides a servo motor, a servo driver for driving the servo motor, an NC controller for controlling the servo driver, and a communication between the servo driver and the NC controller. Communication means for transmitting and receiving parameters, control status, and the like, and transmission means for transmitting a command such as an operation start command output from the NC controller to the servo driver, wherein the servo driver receives the operation start command. By doing so, the servo system starts the positioning operation of the servomotor, and the transmission means is provided separately from the communication means, so that the servo driver can process the operation start command and the like at high speed.

Also, a plurality of servo motors, a plurality of servo drivers for driving the servo motors, one NC controller for controlling the servo drivers, and parameters and control states between the servo drivers and the NC controllers. And the like, and communication means for transmitting commands such as an operation start command and a synchronization command output by the NC controller to the servo drivers as many as the number of servo drivers. This is a servo system that realizes high-speed response and synchronous control of servo motors by executing instructions such as an operation start instruction and a synchronization instruction by a servo driver. A single NC controller performs high-speed and synchronous control of a plurality of servo motors. be able to.

Furthermore, one NC controller and a plurality of servo drivers are connected by a communication means capable of multi-drop and a transmission means of the number of the servo drivers, and conditions such as parameters are communicated to the plurality of servo drivers. And a second step in which the plurality of servo drivers receive and execute command signals such as an operation start command and a synchronization command output by the NC controller after the first step by the transmission means. This is a synchronous control method of a servo system that executes the operation start, operation speed change and operation stop of two servo motors, and is used to send an instruction signal such as an operation start instruction to the servo driver separately from multi-drop capable communication means. Since the number of transmission means is equal to the number of drivers, multiple servo drivers can simultaneously issue commands from the NC controller. It can be performed, thereby enabling high-speed positioning operation and synchronization control.

[0019]

An embodiment of the present invention will be described below with reference to the drawings.

(Embodiment 1) In FIG. 1, 11 is an NC controller, 12 is a servo driver, 13 is communication means for transmitting and receiving parameters and control states, and 14 is a command for transmitting an operation start command to the servo driver. The transmission means 15 is a servomotor.

Communication means 13 and transmission means 14 are provided between the NC controller 11 having the communication function and the servo driver 12.
An operation for transmitting parameters such as positioning coordinates from the NC controller 11 to the servo driver 12 by the communication means 13 and driving the servo motor 15 from the NC controller 11 to the servo driver 12 simultaneously with the setting. A start signal is output from the transmission means 14,
When the servo driver 12 receives the operation start signal, the positioning operation of the servo motor 15 is started.

Hereinafter, another operation of the servo system will be described.

In the control state of the servo driver 12 as in the prior art, a signal of the control state is transmitted from the servo driver 12 to the NC controller 11, and the servo driver 12
Can be monitored by the NC controller 11.

When the operation of the servo motor 15 is stopped, a stop command signal from the NC controller 11 is output to the servo driver 12 by the transmission means 14 and executed, so that the operation of the servo motor 15 is stopped.

As described above, since the transmission means is provided separately from the communication means, the servo driver can process a command such as an operation start command to the servo motor at a high speed.

(Embodiment 2) In FIG. 2, 21 is an NC controller, and 22, 23, and 24 are servo drivers. Numeral 25 denotes communication means which connects three servo drivers in a multi-drop manner. Reference numeral 26 denotes a transmission unit that connects the NC controller 21 and the three servo drivers. 27, 28 and 29 are servomotors connected to and controlled by three servo drivers.

The operation of the servo system configured as described above will be described.

First, as a first step, information is transmitted and set to all three servo drivers. For example, the NC controller 21 transmits coordinate position information and speed information necessary for the positioning operation to three servo drivers one by one, but even if the coordinate position information and speed information are set differently for each servo driver. I do not care.

After the first step, when the NC controller 21 outputs an operation start command signal to the three servo drivers by the transmission means 26, the three servo drivers receive and execute the synchronization signals and execute the three servo drivers. The driving of the motor is started (second step).

As a result, the three servomotors can start operating synchronously.

When the speed is changed by synchronizing the driving servo motors, the speed information to be changed is transmitted from the NC controller 21 to the three servo drivers one by one by the multi-drop communication means 25. Next, a synchronizing signal is output from the NC controller 21 to the three servo drivers by the transmission means 26. Upon receiving the synchronization signal, the three servo drivers start controlling the three servo motors with the set speed information.

Similarly, when the three servomotors are stopped synchronously, a stop command signal is output from the NC controller 21 to the three servodrivers by the transmission means 26 so that the three servomotors are synchronized. Stop the driving operation.

As described above, the transmission means of the number of servo drivers is provided separately from the communication means capable of multi-drop, so that a plurality of servo motors can be controlled at high speed and synchronously.

[0034]

As is apparent from the above embodiment, according to the first aspect of the present invention, the transmission means is provided separately from the communication means, so that the servo driver processes instructions such as an operation start instruction at a high speed. be able to.

According to the second and third aspects of the present invention,
A communication means capable of multi-drop and a transmission means for the number of servo drivers are provided. A synchronization signal is output from one NC controller to the servo driver by the transmission means to start driving a plurality of servo motors at high speed. Synchronous control can be realized.

As described above, it is possible to realize a servo system which is excellent in synchronizing the operations of a plurality of servo drivers and servo motors.

[Brief description of the drawings]

FIG. 1 is a block diagram of a servo system according to a first embodiment of the present invention.

FIG. 2 is a block diagram of a servo system according to a second embodiment of the present invention.

FIG. 3 is a block diagram of a conventional NC control system.

[Explanation of symbols]

 11, 21, 31 NC controller 12, 22, 23, 24, 32, 33 Servo driver 13, 25, 34 Communication means 14, 26 Transmission means 15, 27, 28, 29, 35, 36 Servo motor

Claims (3)

[Claims] 1. A servo motor, a servo driver for driving the servo motor, an NC controller for controlling the servo driver, and a communication unit for transmitting and receiving parameters and control states between the servo driver and the NC controller. A transmission unit for transmitting an instruction such as an operation start command output from the NC controller to a servo driver, wherein the servo driver starts the positioning operation of the servo motor by receiving the operation start instruction. 2. A plurality of servo motors, a plurality of servo drivers for driving the servo motors, one NC controller for controlling the servo drivers, and parameters and control states between the servo drivers and the NC controllers. And the like, and communication means for transmitting commands such as an operation start command and a synchronization command output by the NC controller to the servo drivers as many as the number of servo drivers. A servo system that realizes high-speed response and synchronous control of a servo motor by executing instructions such as an operation start instruction and a synchronization instruction by a servo driver. 3. An NC controller and a plurality of servo drivers are connected by a communication means capable of multi-drop and a transmission means of the number of servo drivers, and conditions such as parameters are communicated to the plurality of servo drivers. And a second step in which a plurality of servo drivers receive and execute command signals such as an operation start command and a synchronization command output by the NC controller after the first step.
Starting operation of a plurality of servomotors,
Synchronous control method for servo system that changes operation speed and stops operation.