JPH11224126A - Motion controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the efficiency and performance of an object equipment to be controlled by the shortening of a tact time by shortening the operation start time of the object equipment. SOLUTION: This motion controller performs a motion control process MC1 at the start of the motion of the object equipment to be controlled as a periodic scanning process in start timer interruption for every specific fixed-time scan cycle t1 while the motion of the object equipment to be controlled is stopping. When a start command signal for a new motion instruction is inputted at specific time TI, a timer is reset in the input timing TI of this motion start instruction and gets ready to accept a start command, and a motion control process MC2 is started and carried out. After the motion control process is started, a motion control process MC3 at the time of operation is performed as a periodic scanning period for every fixed-time scanning cycle t1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion control device for controlling a motion of a device to be controlled such as an industrial machine.

[0002]

2. Description of the Related Art Conventionally, various motion control devices have been proposed which control a servo amplifier or the like based on a motion program and perform positioning control of an industrial machine or the like. In this type of motion control device, a motion program is generally executed according to an external command signal, and a command position calculation and a servo system position loop control are performed based on the motion program to control the motion of the control target device. ing. FIG. 5 is a timing chart showing the timing of executing the motion control process by the conventional motion control device. In the figure, MC1 is a motion control process during a motion stop, MC2 is a motion control process in a start accepting state, MC3 is a motion control process in an operating state, t1 is a regular scan period by a timer, TS is a start timer of the motion control process. The interrupt timing and TI indicate a motion start command input timing. While the motion of the control target device is stopped, the motion control process MC1 is executed as a periodic scan process from the time point of the start timer interrupt timing TS generated every predetermined scan cycle t1. When a start command of a motion command is input at a predetermined time TI, the motion control process MC2 is executed as a start command accepting state at a start timer interrupt timing TS after the motion start command input timing TI. Even after the start of the motion control process, the scheduled scan period t
At each start timer interrupt timing TS, the motion control process MC3 is executed. As described above, in the conventional motion control device, motion control processes such as command position calculation and servo system position loop control are executed in synchronization with a fixed scan cycle. This scan cycle is performed at a fixed timing from power-on. Yes, this timing could not be shifted.

[0003]

As described above, in the conventional motion control device, the motion control processing is executed in synchronization with a predetermined scan cycle. Therefore, as shown in FIG. Even if a start command is accepted, the start process is actually executed in the motion control process that is executed at the timing of the next scheduled scan cycle, and there is a delay between the input of the start command and the actual start of start. I was

The present invention has been made in view of the above circumstances, and it is possible to shorten the operation start delay time of a device to be controlled, and to improve the efficiency and performance of the device by shortening the tact time. It is intended to provide a motion control device.

[0005]

According to a first aspect of the present invention, there is provided a motion control apparatus comprising: a position controller for calculating a position command based on a motion command in synchronization with a timer interrupt at a predetermined scan time; In a motion control device that executes motion control processing such as loop control, the start command signal of a new motion instruction is captured as an interrupt, and when this start command signal is input, the motion control processing is started and the timer is reset to execute the motion control. There is provided a start-up execution control means for shifting the timing and thereafter performing motion control in synchronization with the timer interrupt for each scan time. The motion control device according to claim 2 is a motion control device that executes a motion control process such as a position command calculation based on a motion command and a servo system position loop control in synchronization with a timer interrupt for each predetermined scan time. If a start command signal of a motion command is received as an interrupt, and the input of the start command signal is during the execution of the motion control process, the motion control process is executed immediately after the motion control process being executed is completed. The present invention is further characterized in that there is provided a start-up execution control means for executing the motion control in synchronization with the timer interrupt for each scan time by shifting the motion control execution timing by resetting the timer at the same time as re-executing. A motion control device according to claim 3, wherein the motion control device performs a motion control process such as a position command calculation based on a motion command and a servo system position loop control in synchronization with a timer interrupt for each predetermined scan time. If a start command signal of a motion command is received as an interrupt, and if the input of this start command signal is executing a motion control process, the execution of the motion control process being executed is stopped and a new start command is accepted. The present invention is further characterized in that there is provided a start-up execution control means for executing the motion control process and resetting the timer to shift the motion control execution timing, and thereafter executing the motion control in synchronization with the timer interrupt for each scan time. According to the above configuration, the motion control process can be started immediately without delay after receiving the start command signal, and the delay time until the start of the actual start of the controlled device is reduced.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a functional configuration of a motion control device according to one embodiment of the present invention. The motion control device performs motion control such as positioning control for a controlled device such as an industrial machine based on a motion command such as a motion program. A signal input unit 11 for receiving the start command signal 10 of the first embodiment, and a motion command step management unit 12 as a start execution control unit for controlling the start and stop of the motion command based on the start command signal 10. . The timer 13 for measuring a predetermined scan time is connected to the motion command step management unit 12.
The motion instruction is executed according to the interrupt timing signal output from the CPU. The output stage of the motion command step management unit 12 includes a calculation unit 14 that calculates a control amount according to the motion command, and a servo control unit 15 that controls output to a servo amplifier 16 based on output data from the calculation unit 14. And The drive of the servo motor 17 is controlled by an analog command output from the servo amplifier 15, and an output signal from a position detector 18 such as an encoder indicating rotation information of the servo motor 17 is returned to the servo control unit 15. A position control feedback loop for controlling the position of a device to be controlled such as an industrial machine is configured.

FIG. 2 shows a first example of the timing of executing a motion control process by the motion control device of the present embodiment. In the figure, MC1 indicates a motion control process during a motion stop, MC2 indicates a motion control process in a start receiving state, MC3 indicates a motion control process in an operation state, t1 indicates a regular scan period by the timer 13,
TS indicates a start timer interrupt timing of the motion control process, and TI indicates a motion start command input timing. The motion command step management unit 12 executes a motion control process based on the motion command according to the interrupt timing signal output from the timer 13. While the motion of the device to be controlled is stopped, an interrupt timing signal is output from the timer 13 every predetermined scan cycle t1, and the motion control process MC1 is performed in synchronization with the start timer interrupt timing TS. That is, while the motion is stopped, the stop motion control process MC1 is executed as a periodic scan process at every regular scan period t1. When a start command signal 10 of a new motion command is input at a predetermined time TI, the motion control process MC2 starts from the time of the motion start command input timing TI.
Is performed. That is, the motion command step management unit 12
When the input of the start command signal 10 is detected, even if the timing is shifted from the start timer interrupt timing TS, the timer 13
Is reset and the motion control process MC2 is started and executed in a start command receiving state. After the start of the motion control process, an interrupt timing signal is output from the timer 13 at the same regular scan cycle t1 as before the start, and the motion control process MC3 is performed in synchronization with the start timer interrupt timing TS. That is, after the start command is input, the motion control process MC3 at the time of operation is executed as a periodic scan process at every regular scan cycle t1.

FIG. 3 shows a second example of the motion control processing execution timing. In the second example, processing when a start command signal is input during execution of the motion control processing will be described. When the start command signal 10 is input during the execution of the motion control process MC1 during the motion stop, the motion control process MC2 is performed immediately after the end of the motion control process MC1. That is, when detecting the input of the start command signal 10 during the execution of the motion control process, the motion command step management unit 12 resets the timer 13 immediately after the completion of the process being executed after the motion start command input timing TI. Then, the motion control process MC2 is started and executed as a start command receiving state.
Thereafter, an interrupt timing signal is output from the timer 13 at every regular scan period t1, and the motion control process MC3 during operation is executed as a periodic scan process in synchronization with the start timer interrupt timing TS.

As described above, in the present embodiment, the start command signal is taken into the motion control device as an interrupt, the execution timing of the scan process is shifted by this interrupt process, and the motion control process is immediately started in the start command receiving state. The motion control is started immediately without delay. This makes it possible to reduce the delay time from the input of the start command signal to the actual start of the start, and to improve the efficiency and performance of the controlled device by shortening the tact time. It should be noted that the start command of the new motion command is accepted only while the motion of the control target device is stopped. Even if the execution timing of the motion control process is momentarily shifted, no problem occurs in control of the device. In addition, control processing accompanying motion control, such as status display processing on a display device and input / output signal processing, is structured to be executed as background processing or low-level regular scan processing, thereby achieving motion control processing and Can be processed at independent timing. Further, when an interrupt of the start command signal is input during the execution of the motion control process, the motion control process is immediately re-executed as the start command receiving state immediately after the execution of the motion control process being executed is completed. In this way, a new start command is accepted only while the motion operation of the control target device is stopped, and the load of the motion control process at this time is light, so the execution time of the process is short, and after waiting for the completion of the process being executed, Even if the motion control process is newly executed, no large delay time occurs.

FIG. 4 shows a third example of the motion control processing execution timing. In the third example, a modified example in which a start command signal is input during execution of the motion control process will be described. In FIG. 4, MC4 indicates a motion control process during a motion stop, which is canceled. Motion control processing MC during motion stop
When the start command signal 10 is input during the execution of Step 1, the motion control process MC2 is performed immediately from the motion start command input timing TI. That is, when detecting the input of the start command signal 10 during execution of the motion control process, the motion command step management unit 12 cancels the motion control process MC4 being executed at the time of the motion start command input timing TI and forcibly terminates. After executing the processing, the timer 13 is reset, and the motion control processing MC2 is newly started and executed. Thereafter, an interrupt timing signal is output from the timer 13 at each regular scan period t1, and the motion control process M during the operation as the periodic scan process is synchronized with the start timer interrupt timing TS.
Execute C3. According to the third example, the motion control process being executed is interrupted and forcibly terminated by the start command interrupt process, and immediately after that, the motion control process is re-executed as a new start accepting state, thereby executing the motion control process. It is possible to avoid a start delay time when a start command is input during the operation.

[0011]

As described above, according to the present invention,
A start command signal of a new motion command is taken as an interrupt. When the start command signal is received, the motion control process is started, and the timer is reset to shift the motion control execution timing. By executing the motion control in synchronization, the operation start delay time of the controlled device can be reduced, and the efficiency and performance of the device can be improved by shortening the tact time.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a functional configuration of a motion control device according to an embodiment of the present invention.

FIG. 2 is a timing chart showing a first example of motion control processing execution timing by the motion control device of the present embodiment.

FIG. 3 is a timing chart showing a second example of the motion control processing execution timing by the motion control device of the present embodiment.

FIG. 4 is a timing chart showing a third example of the motion control process execution timing by the motion control device of the present embodiment.

FIG. 5 is a timing chart showing a timing of executing a motion control process by a conventional motion control device.

[Explanation of symbols]

Reference Signs List 10 Start command signal 11 Signal input unit 12 Motion command step management unit 13 Timer 14 Operation unit 15 Servo control unit MC1 Motion control process during motion stop MC2 Motion control process in start acceptance state MC3 Motion control process in operation state MC4 Execution cancellation Control process during motion stop t1 Scheduled scan period TS Start timer interrupt timing TI Motion start command input timing

Claims (3)

[Claims] 1. A motion control device that executes a motion control process such as a position command calculation based on a motion command and a servo system position loop control in synchronization with a timer interrupt at a predetermined scan time. A signal is captured as an interrupt, the motion control process is started when this start command signal is input, the timer is reset, the motion control execution timing is shifted, and thereafter, the motion control is executed in synchronization with the timer interrupt for each scan time. A motion control device comprising activation execution control means. 2. A motion control apparatus for executing a motion control process such as a position command calculation based on a motion command and a servo system position loop control in synchronization with a timer interrupt for each predetermined scan time. If the input of this start command signal is during the execution of the motion control process, the motion control process is re-executed immediately after the execution of the motion control process is completed and the timer is set to the start command accepting state. A motion control device comprising: a start execution control unit that resets the motion control execution timing, shifts the motion control execution timing, and thereafter executes the motion control in synchronization with the timer interrupt for each scan time. 3. A motion control device that executes a motion control process such as a position command calculation based on a motion command and a servo system position loop control in synchronization with a timer interrupt for every predetermined scan time. If the input of the start command signal is during the execution of the motion control process, the execution of the motion control process being executed is stopped, and the motion control process is newly performed with the start command received. And a start control unit for resetting the timer to shift the motion control execution timing and thereafter executing the motion control in synchronization with the timer interrupt for each scan time.