WO2010134198A1

WO2010134198A1 - Simulation apparatus and simulation program

Info

Publication number: WO2010134198A1
Application number: PCT/JP2009/059449
Authority: WO
Inventors: 鉄二本並; 美佐子岡田
Original assignee: 三菱電機株式会社
Priority date: 2009-05-22
Filing date: 2009-05-22
Publication date: 2010-11-25

Abstract

Provided is a simulation apparatus for simulating motion programs concerning a cycle operation performed in order that a motion controller computes a command variable supplied to a servo motor. The simulation apparatus is characterized in that the apparatus includes a program generating means (22) for generating a sequence control program (D3) for starting motion programs concerning the cycle operation at start timings preset for the respective motion programs and that the motion programs are simulated by using the sequence control program (D3).

Description

Simulation apparatus and simulation program

The present invention relates to a simulation apparatus and a simulation program for simulating control of a motion controller.

Generally, in an FA system, a motion controller for driving and controlling a motor that operates a controlled device is used. The motion controller generates position command values and speed command values (hereinafter referred to as command values) based on a plurality of motion programs (servo programs) that are created in advance to achieve positioning, circular interpolation, constant speed control, etc. It is calculated at a fine calculation cycle, and the calculated command value is sequentially supplied to the servo amplifier that drives the motor. The servo amplifier drives the motor based on the sequentially supplied command value, and sends the detection value by the position detector that detects the motor position and the speed detector that detects the speed to the motion controller as the execution result of the command value. To do. The motion controller feeds back the received detected value of the motor when calculating the command value.

The programmable controller issues a command to the motion controller to start each of the plurality of motion programs in a predetermined order based on the sequence control program. The programmable controller repeats the operation of issuing commands in this predetermined order in order to cause the controlled device to repeatedly execute the operation (in other words, to execute the cycle operation). The motion controller starts the commanded motion program at the timing when the command is issued.

Conventionally, when performing execution debugging of a motion controller, a sequence control program and a motion program are executed in a simulation mode, and a pseudo feedback that is a pseudo position detection value is calculated inside the motion controller without connecting a servo amplifier. In the simulation mode, the calculated pseudo feedback is displayed on a general-purpose personal computer or the like. The user has verified the time required for one cycle of the cycle operation by executing the created sequence control program and motion program in the simulation mode.

As a technique related to simulation of FA equipment, Patent Document 1 discloses a technique for searching characteristics of a motor to be analyzed from a motor database and analyzing operation characteristics when the target motor is mounted on a predetermined device. .

JP-A-8-16548

However, according to the execution debugging method of executing the motion controller described above in the simulation mode, the user needs to prepare not only the motion program but also the sequence control program, which increases the man-hours required for execution debugging. There was a problem.

The technique of Patent Document 1 relates to a physical simulation of hardware such as a motor, and differs from a technique related to simulation of so-called software processing that simulates a state of motion control of a motion controller. It is not technology that can solve the problem.

The present invention has been made in view of the above, and an object thereof is to obtain a simulation apparatus and a simulation program capable of executing a simulation of a motion program without preparing a sequence control program.

In order to solve the above-described problems and achieve the object, the present invention provides a simulation apparatus for simulating a plurality of motion programs related to cycle operation executed to calculate a command value supplied to a servo motor by a motion controller. A program generating unit configured to generate a sequence control program for starting each of the motion programs based on a start timing set for each of the plurality of motion programs related to cycle operation, and the sequence generated by the program generating unit Each of the motion programs is simulated based on a control program.

The simulation apparatus according to the present invention has an effect that a motion program can be simulated without preparing a sequence control program.

FIG. 1 is a diagram illustrating a functional configuration of a motion controller of an actual machine. FIG. 2 is a diagram illustrating a functional configuration of the simulation apparatus according to the embodiment of the present invention. FIG. 3 is a diagram illustrating an example of a motion program input screen. FIG. 4 is a diagram illustrating an example of a setting condition input screen. FIG. 5 is a diagram illustrating an example of a simulation result output screen. FIG. 6 is a diagram illustrating an example of a generated sequence control program. FIG. 7 is a diagram illustrating a hardware configuration of the simulation apparatus according to the embodiment of this invention. FIG. 8 is a flowchart for explaining the operation for generating the sequence control program.

Hereinafter, embodiments of a simulation apparatus and a simulation program according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment.
First, to help understanding, we will explain the actual motion controller. FIG. 1 is a diagram illustrating a functional configuration of a motion controller of an actual machine.

In FIG. 1, a motion controller 1 is connected to a servo amplifier 4 to which a motor 2 and a position detector 3 for detecting the position of the motor are connected, and a position detection value detected by the position detector 3 is fed back. Then, a position command value for positioning the motor 2 is calculated, and the calculated position command value is supplied to the servo amplifier 4. A plurality of sets including the motor 2, the position detector 3, and the servo amplifier 4 (hereinafter referred to as “servo motor”) may be connected to the motion controller 1. Here, the motion controller 1 calculates a position command value to be supplied to the servo amplifier 4 by using the position detection value detected by the position detector 3 as feedback. A speed detector that detects the detected value is provided, and the motion controller 1 may use the detected speed value as feedback. Further, the motion controller 1 calculates a speed command value using the speed detection value or the position detection value as feedback, and the servo amplifier 4 may drive the motor 2 based on the speed command value.

The motion controller 1 decodes and executes a user-created program 10 comprising a plurality of motion programs created by a user and a sequence control program for operating the programmable controller to start each of the plurality of motion programs, and the user-created program 10 And a motion control software processing unit 11 that calculates a position command value at a fine cycle (hereinafter referred to as a calculation cycle), and a servo amplifier I / F 12 that is a communication interface (I / F) with the servo amplifier 4. Yes.

The motion control software processing unit 11 internally supplies the calculated position command value to the servo amplifier 4 connected to the servo amplifier 4 via the servo amplifier I / F 12 and the calculated position command value to the servo amplifier 4. And a means for switching to a simulation mode, which is a mode for verifying execution of the user-created program 10. Specifically, the motion control software processing unit 11 uses the command calculation unit 13 that calculates the position command value and the position detection value that is the operation execution result of the calculated position command value by the servo motor without using the servo motor. When the simulation mode is set, the command calculation unit 13 transmits the calculated position command value transmission destination and the position command value of the position command value. The transmission source of the position command value used as a feedback value for calculation is set as the pseudo feedback calculation unit 14. On the other hand, when the normal mode is set, the command calculation unit 13 transmits the calculated position command value to the servo amplifier 4 via the servo amplifier I / F 12, and the position detection value of the motor 2 is transmitted to the servo amplifier 4 and the servo. Obtained via the amplifier I / F 12.

The motion controller 1 further includes a communication interface (I / F) 15 with the general-purpose personal computer 5, and the general-purpose personal computer 5 is connected to the communication I / F 15 in the simulation mode. Then, the pseudo position detection value (pseudo feedback value) calculated by the pseudo feedback calculation unit 14 is transmitted to the general-purpose personal computer 5 via the communication I / F 15, and the transmitted position detection value is displayed on the display unit of the general-purpose personal computer 5. The waveform is displayed.

When the user debugs the execution of the motion program, the user-created program 10 is executed in the simulation mode in the motion control software processing unit 11, and the operation of one cycle is observed by looking at the waveform of the pseudo feedback value displayed on the general-purpose personal computer 5. The required time (cycle time) is verified. As described above, conventionally, when verifying the operation of one cycle, the user has to create a motion program and a sequence control program. On the other hand, in the present embodiment, the part necessary for executing the motion program of the sequence control program is automatically generated based on the setting of the start timing of the plurality of motion programs. It is the main feature. In the following description, when expressed as a sequence control program, it is necessary to execute a motion program of this sequence control program, not a sequence control program operated by a programmable controller, unless otherwise specified. I will refer to the part. In addition, the sequence control program is sometimes referred to as an SFC (Sequential Function Chart) program.

FIG. 2 is a diagram for explaining the functional configuration of the simulation apparatus according to the embodiment of the present invention for realizing the above-described features. The simulation apparatus 20 according to the embodiment of the present invention includes a motion control arithmetic processing unit 21, an SFC program generation processing unit 22, and an input / output processing unit 23.

The input / output processing unit 23 receives input of a motion program group D1 including a plurality of motion programs related to cycle operation created by the user and a setting condition D2. In the setting condition D2, the start timing of each motion program in the motion program group D1 and the target cycle time are set. The input / output processing unit 23 generates data for displaying the input screen of the motion program group D1, the input screen of the setting condition D2, and the output screen of the simulation result, and displays each screen on the display unit. .

FIG. 3 is a diagram showing an example of the input screen of the motion program group D1. As shown, two motion programs are input in the input fields 31 and 32, respectively. In each of the input fields 31 and 32, a number for identifying each motion program, a motor axis number, a command type such as linear interpolation / circular interpolation, a target position corresponding to the command, an end point coordinate and a speed command Value is set. The motion program K1 input to the input field 31 is an example of a program for executing incremental linear interpolation control using two axes. The motion program K2 input in the input field 32 is a program example for executing the absolute position type circular interpolation control by two axes.

FIG. 4 is a diagram illustrating an example of an input screen for the setting condition D2. Here, a target cycle time that is a target in one-cycle operation is input to the input field 41, and an identification number of each motion program of the motion program group D1, that is, a motion program to be executed in one-cycle operation is input to the input field 42. The start timing of the motion program K1 is input to the input field 43, and the start timing of the motion program K2 is input to the input field 44. Here, the motion program K1 is set to be executed in parallel (simultaneously) with K2. The motion program K2 is set to be executed 10 seconds after the operation of the motion program K10 is completed. Although not shown here, the start timing of the motion program is set for all the motion programs input in the input field 42.

FIG. 5 is a diagram showing an example of a simulation result output screen. As shown in the figure, the simulation result of the cycle operation of the motion program is displayed in the field 51 as a waveform. Here, the vertical axis is the speed of the motor 2 and the horizontal axis is the elapsed time, but the position detection value of the motor 2, that is, the pseudo feedback value may be the vertical axis. The speed of the motor 2 is obtained by dividing the pseudo feedback value by the calculation cycle. Further, the position command value may be displayed on the vertical axis. Further, the speed command value obtained by dividing the difference between the position command values by the interval time of the calculation cycle may be displayed on the vertical axis. The target cycle time is displayed in the field 52, and the cycle time obtained by the simulation is displayed in the field 53.

Note that the input / output processing unit 23 does not need to display each of the above-described screens on the display unit at the same time, and displays and outputs the same number of screens according to the drawing capability of the display unit. Each screen may be switched as appropriate.

2, the SFC program generation processing unit 22 generates a sequence control program (SFC program) D3 based on the input setting condition D2. FIG. 6 is a diagram illustrating an example of the sequence control program D3 generated by the SFC program generation processing unit 22. As shown in the figure, when the cycle operation is started, the motion program K1 is started, and when the operation of the motion program K1 is completed, the motion programs K2, K3, and K4 are started simultaneously. Note that the sequence control program D3 generated by the SFC program generation processing unit 22 corresponds to a portion necessary for operating the motion program in the entire sequence control program executed by the programmable controller, and thus the programmable controller. Can be used as a base for creating the entire sequence control program to be executed.

The motion control calculation processing unit 21 performs a simulation (simulation) on the motion program included in the motion program group D1 based on the sequence control program D3 generated by the SFC program generation processing unit 22, and includes simulation result data and cycle time. Data D4 is output. More specifically, the motion control arithmetic processing unit 21 calculates a feedback value (pseudo feedback value) as a result of execution of the position command value by the virtual servo motor and the command calculation unit 26 that calculates the position command value. The calculation cycle processing unit 25 including the pseudo feedback value calculation unit 27 and the motion programs included in the motion program group D1 are decoded in the order based on the sequence control program D3, and the calculation cycle processing unit 25 for each calculation cycle based on the decoding result. And a main processing unit 24 for sequentially calculating the position command value and the pseudo feedback value. The motion control calculation processing unit 21 outputs the position command value and the pseudo feedback value as simulation result data for each calculation cycle in response to a command from the main processing unit 24. The main processing unit 24 calculates the cycle time based on the pseudo feedback value included in the simulation result data, and outputs the calculated cycle time. Here, the main processing unit 24 may calculate the cycle time based on the position command value instead of the pseudo feedback value.

The input / output processing unit 23 may acquire the simulation result data output for each calculation cycle in real time and output the waveform on the simulation result output screen, or may periodically sample and output it. It may be.

FIG. 7 is a diagram for explaining the hardware configuration of the simulation apparatus 20. The simulation apparatus 20 has a computer configuration of a general-purpose personal computer including a CPU (Central Processing Unit) 61, a ROM (Read Only Memory) 62, a RAM (Random Access Memory) 63, a display unit 64, and an input unit 65. . The CPU 61, ROM 62, RAM 63, display unit 64, and input unit 65 are connected to each other via a bus line.

The CPU 61 executes a simulation program 66 that simulates the motion controller without requiring the user to input a sequence control program. The display unit 64 is a display device such as a liquid crystal monitor, and displays output information for the user such as an operation screen (that is, each screen data generated by the input / output processing unit 23) based on an instruction from the CPU 61. The input unit 65 includes a mouse and a keyboard, and inputs an operation of the simulation apparatus 20 from a user. The operation information input to the input unit 65 is sent to the CPU 61.

The simulation program 66 is stored in the ROM 62 and loaded into the RAM 63 via the bus line. The CPU 61 executes a simulation program 66 loaded in the RAM 63. Specifically, in the simulation apparatus 20, the CPU 61 reads out the simulation program 66 from the ROM 62 and develops it in the program storage area in the RAM 63 in accordance with an instruction input from the input unit 65 by the user, and executes various processes. The motion program group D1 and the setting condition D2 are input by the input unit 65. Note that the motion program group D1 and the setting condition D2 may be input via an external storage device by an operation of the input unit 65 by the user. The CPU 61 executes various processes based on the input motion program group D1 and setting conditions D2, and a data storage area in which work data such as simulation result data and calculated cycle time generated in the various processes is formed in the RAM 63. Temporarily memorize it. The CPU 61 outputs the generated sequence control program D3 to a program storage area in the RAM 63 or an external storage device. The simulation program 66 may be stored in a storage device such as DISK. The simulation program 66 may be loaded into a storage device such as DISK.

The simulation program 66 executed by the simulation apparatus 20 of the present embodiment includes the above-described units (motion control calculation processing unit 21, SFC program generation processing unit 22, and input / output processing unit 23). The above units are loaded on the main storage device, and the motion control arithmetic processing unit 21, the SFC program generation processing unit 22, and the input / output processing unit 23 are generated on the main storage device.

It should be noted that the simulation program 66 executed by the simulation apparatus 20 of the present embodiment may be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network. Further, the simulation program 66 executed by the simulation apparatus 20 of the present embodiment may be configured to be provided or distributed via a network such as the Internet. Further, the simulation program 66 of the present embodiment may be configured to be incorporated in advance in a ROM or the like and provided to the simulation apparatus 20 of the present embodiment.

Next, an operation in which the simulation apparatus 20 according to the present embodiment generates the sequence control program D3 will be described. FIG. 8 is a flowchart for explaining the operation. Note that parts of the sequence control program to be generated are shown on the right side of the flowchart.

First, the SFC program generation processing unit 22 creates a parallel processing SFC program part so as to simultaneously start a plurality of motion programs set to operate in parallel under the setting condition D2 (step S1). The figure to which the code | symbol 71 shown on the right of the processing flow of step S1 is attached | subjected is an example of a parallel processing SFC program part. According to the parallel processing SFC program portion 71, three motion programs are operated in parallel.

Next, the SFC program generation processing unit 22 creates a continuous SFC program part for starting (executing) the motion program after the operation of the other motion program is completed (step S2). The figure to which the code | symbol 72 shown on the right of the processing flow of step S2 is attached | subjected is an example of a continuous SFC program part.

Then, the SFC program generation processing unit 22 creates a conditional start SFC program part for starting the operation after the waiting condition is established (step S3), and the operation is ended. Note that the waiting condition is a predetermined condition after the operation of another motion program is completed, such as setting the start timing of the motion program K2 input in the input field 44 of the setting condition input screen shown in FIG. It is possible to set a condition for waiting until the time elapses or a condition for waiting until a predetermined device state satisfies a predetermined condition. When setting a waiting condition related to the state of a predetermined device, the user creates a sequence control program for operating the predetermined device, and the created sequence is stored in the motion control arithmetic processing unit 21 during simulation. The control program is operated separately from the sequence control program D3 generated by the SFC program generation processing unit 22. The figure to which the code | symbol 73 shown to the right of step S3 was attached | subjected is an example of a conditional start SFC program part.

By the above operation, the SFC program generation processing unit 22 can generate the sequence control program D3 from the start timing set for each motion program in the setting condition D2. The motion control arithmetic processing unit 21 simulates individual motion programs included in the motion program group D1 based on the sequence control program D3.

As described above, according to the present embodiment, based on the start timing set for each of a plurality of motion programs related to cycle operation, a sequence control program for starting each motion program is generated, Since each motion program is configured to be simulated based on the generated sequence control program, the motion program can be simulated without preparing the sequence control program.

In the present embodiment, the command calculation unit 26 has been described as calculating the position command value. However, when the assumed servo motor is a type that requires the speed command value as the command value, the speed command value is set. You may make it calculate. Further, when the assumed servo motor has a speed detector instead of the position detector 3, the pseudo feedback calculation unit 27 calculates a speed detection value as a pseudo feedback value, and the command calculation unit 26 calculates. The command value may be calculated by feeding back the detected speed value.

As described above, the simulation apparatus and simulation program according to the present invention are suitable for application to a simulation apparatus and simulation program for simulating the control of a motion controller.

DESCRIPTION OF SYMBOLS 1 Motion controller 2 Motor 3 Position detector 4 Servo amplifier 5 General-purpose personal computer 10 User creation program 11 Motion control software processing part 12 Servo amplifier I / F
13 Command Calculation Unit 14 Pseudo Feedback Calculation Unit 15 Communication I / F
20 Simulation device 21 Motion control calculation processing unit 22 SFC program generation processing unit 23 Input / output processing unit 24 Main processing unit 25 Calculation cycle processing unit 26 Command calculation unit 27 Pseudo feedback

value calculation units

31, 32, 41 to 44 Input fields 51 to 53 Field 61 CPU
62 ROM
63 RAM
64 Display unit 65 Input unit 66 Simulation program 71 to 73 SFC program part

Claims

In a simulation device that simulates a plurality of motion programs related to cycle operation executed to calculate a command value supplied to a servo motor by a motion controller,
Program generation means for generating a sequence control program for starting each of the motion programs based on a start timing set for each of the plurality of motion programs related to the cycle operation,
A simulation apparatus characterized by simulating each of the motion programs based on a sequence control program generated by the program generation means.
The simulation according to claim 1, wherein the simulation is to calculate a command value supplied to the servomotor and a feedback value as a result of execution of the command value by the servomotor for each command cycle. apparatus.
3. The simulation apparatus according to claim 2, wherein the command value is a position command value or a speed command value, and the feedback value is a position detection value or a speed detection value.
In a simulation program that causes a computer to execute a simulation of a plurality of motion programs related to cycle operation executed to calculate a command value supplied to a servo motor by a motion controller,
On the computer,
Generating a sequence control program for starting each of the motion programs based on the start timing set for each of the plurality of motion programs related to the cycle operation;
A procedure for simulating the respective motion programs based on the generated sequence control program;
A simulation program characterized by executing