CN105045197B - Programmable controller and control method - Google Patents
Programmable controller and control method Download PDFInfo
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- CN105045197B CN105045197B CN201510031084.XA CN201510031084A CN105045197B CN 105045197 B CN105045197 B CN 105045197B CN 201510031084 A CN201510031084 A CN 201510031084A CN 105045197 B CN105045197 B CN 105045197B
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 224
- 238000002360 preparation method Methods 0.000 claims abstract description 107
- 238000012360 testing method Methods 0.000 claims description 9
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 5
- 238000007689 inspection Methods 0.000 abstract description 29
- 238000012790 confirmation Methods 0.000 abstract description 7
- 238000004891 communication Methods 0.000 description 57
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 101100408455 Arabidopsis thaliana PLC7 gene Proteins 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Multiple Motors (AREA)
- Programmable Controllers (AREA)
- Control Of Position Or Direction (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The present invention provides a kind of programmable controller and control method for playing dynamic deviation reducing motor.Control unit is when controlling the driving of multiple motors, after at least part processing in intensively executing preparation processing related with multiple motors, executes remaining preparation to each motor and handles and exports processing.More specifically, before the output processing of each motor, order execution condition confirmation related with whole motors or command parameter inspection related with whole motors are intensively executed.Later, remaining preparation is executed to each motor and handles and exports processing.
Description
Technical field
The present invention relates to a kind of programmable controller and control methods.
Background technology
In the past using the programmable controller for the external mechanicals such as motor to be carried out with sequential control.Programmable controller base
Carry out in control program and by exporting defined pulse to motor the location control (for example, patent document 1) of motor.
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 11-65620 bulletins
However, in pervious programmable controller, when carrying out location control to multiple motors, simultaneously based on command parameter
It is the output mode (the frequency error factor table of train of pulse) that each motor makes pulse by operation.Later, it is based on its output mode
And export pulse.Therefore, the duration only related with the inspection of command parameter or operation etc., the pulse of each motor output is opened
Begin periodically to laten.Therefore, even if multiple electric motor startings is made to will produce deviation if starting in timing simultaneously.
Invention content
The present invention be conceived to it is this complete the problems of in the prior art, its purpose is to provide a kind of reductions
Programmable controller, control method and the control program of electric motor starting deviation.
The programmable controller to solve the above problems, it includes executing use to be constituted it in a manner of it can be connect with multiple motors
In the output section of the control unit and output signal of the control for driving each motor；Aforementioned control unit uses CPU；Aforementioned control unit structure
Become：After executing for the pre-prepd preparation processing of driving motor, being executed based on described prepare in advance will be used for
The signal of driving motor is exported to the output processing of aforementioned output section；The major function of aforementioned control unit is：To multiple motors
Driving when being controlled, it is right after at least part processing in concentrative implementation preparation processing related with multiple motors
Each motor executes remaining preparation and handles and exports processing.
According to this constitution, each motor, and execute the case where whole preparations related with motor handles and exports processing
Compare, with handled in output between performed preparation handle the relevant time and shorten, therefore can reduce for each motor
The interval (rise dynamic deviation) that starts of signal output.
In above-mentioned programmable controller, when controlling the driving of multiple motors, aforementioned control unit, which is concentrated, to be held
A part in capable preparation processing, parameter testing processing when can also be driving motor.
According to this constitution, being handled by intensively executing the parameter testing unrelated with output processing in advance, it may not be necessary to
The inspection processing is carried out between output processing related with each motor, therefore the interval that output starts can be reduced.
In above-mentioned programmable controller, when controlling the driving of multiple motors, aforementioned control unit, which is concentrated, to be held
A part in capable preparation processing can also be to determine the output mode of the signal for driving motor based on aforementioned parameters
Decision processing.
According to this constitution, pass through in advance intensively execute with output processing it is unrelated decision processing, it may not be necessary to it is each
The decision processing is carried out between the related output processing of motor, therefore the interval that output starts can be reduced.
In above-mentioned programmable controller, aforementioned control unit can also collect when controlling the driving of multiple motors
After executing whole preparation processing related with multiple motors middlely, output processing is executed to each motor.
According to this constitution, by first carrying out in advance and at the relevant whole preparation of multiple motors unrelated with processing is exported
Reason, it may not be necessary to be prepared processing between the related output processing of each motor, therefore can reduce between output beginning
Every.
In above-mentioned programmable controller, aforementioned control unit is configured to：When controlling the driving of multiple motors,
After intensively executing preparation processing related with multiple motors, it is consecutively carried out output processing related with multiple motors；
When being consecutively carried out output processing, it can also forbid preferentially being inserted into other processing.
According to this constitution, due to interrupt processing, thus it is used for interrupt processing between starting to the output of the signal of each motor
Time lengthening.
In above-mentioned programmable controller, aforementioned control unit can also be configured to：It is controlled to the driving of multiple motors
When processed, the input for executing the warning order for preparing processing is cause, whole preparation processing is first carried out in advance, for holding
The input of the output order of row output processing is cause, and output processing is executed to each motor.
According to this constitution, first carrying out preparation processing in advance, using the input of output order as cause, prepare processing being not inserted into
In the case of be consecutively carried out each motor output processing, therefore can shorten from output order be input to electric motor starting when
Between.
The control method to solve the above problems is in the PLC technology constituted in a manner of it can be connect with multiple motors
Performed control method in device, the programmable controller include carry out the control for driving each motor control unit and
The output section of output signal；Aforementioned control unit uses CPU；The major function of aforementioned control unit is：It is used for driving motor executing
Pre-prepd preparation processing after, will be exported to aforementioned for the signal of driving motor based on described prepare in advance to execute
The output of output section is handled, when controlling the driving of multiple motors, intensively executed in aforementioned control unit with it is multiple
After at least part processing in the related preparation processing of motor, remaining preparation is executed to each motor and is handled and exported
Reason.
According to this constitution, each motor, and fully execute preparation related with the motor and handle and export processing
Situation is compared, with handled in output between performed preparation handle the relevant time and tail off, therefore can reduce and be directed to
The interval (playing dynamic deviation) that the signal output of each motor starts.
In above-mentioned control method, when controlling the driving of multiple motors, the concentrative implementation in aforementioned control unit
Preparation processing in a part, when can also be driving motor parameter testing processing.
According to this constitution, being handled by intensively executing the parameter testing unrelated with output processing in advance, it may not be necessary to
The inspection processing is carried out between output processing related with each motor, therefore the interval that output starts can be reduced.
In above-mentioned control method, when controlling the driving of multiple motors, the concentrative implementation in aforementioned control unit
Preparation processing in a part, can also be the output mode that the signal for driving motor is determined based on aforementioned parameters
Decision is handled.
According to this constitution, pass through in advance intensively execute with output processing it is unrelated decision processing, it may not be necessary to it is each
The decision processing is carried out between the related output processing of motor, therefore the interval that output starts can be reduced.
In above-mentioned control method, when being controlled the driving of multiple motors in aforementioned control unit, it can also collect
After executing whole preparation processing related with multiple motors middlely, output processing is executed to each motor.
According to this constitution, passing through intensively execution and the relevant all preparations of the multiple motors unrelated with output processing in advance
Processing, it may not be necessary to be prepared processing between the related output processing of each motor, therefore can reduce between output starts
Every.
In above-mentioned control method, when being controlled the driving of multiple motors in aforementioned control unit, intensively holding
After row pair preparation processing related with multiple motors, it is consecutively carried out output processing related with multiple motors, continuously
When executing output processing, it can also forbid preferentially being inserted into other processing.
According to this constitution, due to interrupt processing, for interrupt processing between starting for the output of the signal of each motor
Time lengthening.
In above-mentioned control method, when can also be controlled the driving of multiple motors in aforementioned control unit, with
It is cause in executing the input for the warning order for preparing processing, first carries out whole preparation processing in advance, while defeated for executing
The input for going out the output order of processing is cause, and output processing is executed to each motor.
According to this constitution, first carrying out preparation processing in advance, using the input of output order as cause, can be not inserted at preparation
Be consecutively carried out in the case of reason each motor output processing, therefore can shorten from output order be input to electric motor starting when
Between.
Another programmable controller to solve the above problems is constituted its feature in a manner of it can be connect with multiple motors
Be, including carry out the control unit of control for driving each motor, output signal output section；The control unit is configured to：
After executing execution for the pre-prepd preparation processing of driving motor, being executed based on described prepare in advance will be used to drive
The signal of dynamic motor is exported to the output processing of the output section；The control unit is controlled to the driving of multiple motors
When, in the case where being not inserted into output processing halfway, intensively execute at least one in preparation processing related with multiple motors
After part is handled, in the case where there is remaining preparation to handle, remaining preparation is executed to each motor and is handled and exported
Reason unceasingly executes output processing in the case of no remaining preparation processing to each motor.
Invention effect
According to the present invention it is possible to reduce the dynamic deviation of motor.
Description of the drawings
Fig. 1 is the block diagram of programmable controller.
Fig. 2 is to show that preparation handles and exports the time diagram of the flow of processing.
Fig. 3 is to show that preparation handles and exports the time diagram of the flow of processing.
Fig. 4 is to show that preparation handles and exports the time diagram of the flow of processing.
Fig. 5 is to show that preparation handles and exports the time diagram of the flow of processing.
Specific implementation mode
(first embodiment)
In the following, the programmable controller (PLC) to present embodiment is illustrated.
As shown in fig. 1, PLC10 includes：The control being made of the CPU etc. for executing various processing based on various information
Portion 11, the storage part 12 being made of the RAM or ROM etc. for storing various information or control program.PLC10 includes pulse output section
13, which generates and exports the pulse of control motor 15.In addition, control unit 11 can also be unable to simultaneously perform it is more
The device of a processing can be realized with cheap CPU etc..Specifically, 1 CPU (central processing unit, center are used
Arithmetic unit).
In pulse output section 13, as external device (ED), it is provided with multiple output ports 14 that can be connect with motor 15.
By the way that motor 15 to be connect with output port 14, and communication channel CH is formed between each output port 14 and motor 15.Pulse
Output section 13 is configured to, can be to 15 output motor control pulse (signal) of motor via the communication channel CH.It is connected
Motor 15 be stepper motor or servo motor etc., be configured to the pulse for input with it is ladder-like successively by fixed angle turn
It is dynamic.
In the following description, the first output port 14a will be connected to and export the motor 15 of pulse as first motor
15a, using the communication channel CH between the first output port 14a and first motor 15a as first communication channel CH0.Equally
Ground regard the motor 15 for being connected to second output terminal mouth 14b and output pulse as the second motor 15b, will be in second output terminal mouth
Communication channel CH between 14b and the second motor 15b is as the second communication channel CH1.Similarly, third output end will be connected to
Mouth 14c and the conduct third motor 15c of motor 15 for exporting pulse, will be between third output port 14c and third motor 15c
Communication channel CH is as third communication channel CH2.
Then, the control for making motor 15 work is illustrated.
Initially, 1 motor 15 is only connected；(first motor 15a is connected to the case where just controlling the motor 15
The case where one output port 14a) it is illustrated.
First, control unit 11 is read in based on the control program being stored in storage part 12 for controlling first motor 15a
Order or its execution condition etc., and confirmed (confirmation of order execution condition).
Then, control unit 11 carries out command parameter inspection.In command parameter inspection, it should be held based on control program to check
Capable order (rotation order etc.), when executing the order as the parameter of the information for carrying out subtleer setting (initial velocity,
Most high speed, Acceleration and deceleration time, amount of movement etc.) it is whether normal.For example, when controlling first motor 15a, checks whether and deposit
In unreasonable operation or unreasonable order.
Then, control unit 11 is checked to the state of first motor 15a and (carries out channel status inspection).So-called first electricity
The inspection of the state of machine 15a, refer to for example whether first motor 15a is checked at work, or for first electricity
Whether it is abnormal and is checked in machine 15a.The state of each motor 15 is stored in storage part 12.
Then, control unit 11 makes the positioning table (carrying out channel positioning table to make) of first motor 15a.First motor 15a
Positioning table refer to for determining the table of impulse waveform (output mode of signal) (the frequency error factor table of train of pulse), can be based on
The positioning table and generate pulse.In other words, the positioning table of first motor 15a is the output mode for determining pulse
Table.
That is, control unit 11 be based on for exectorial parameter (initial velocity, most high speed, Acceleration and deceleration time, amount of movement etc.) and
Operation and produce for by be suitble to the parameter in a manner of make first motor 15a rotate the positioning table (frequency error factor of train of pulse
Table).Control unit 11 can be based on the positioning table, control first motor 15a.In addition, in order not to damage motor 15, in electricity
When the starting of machine 15 and when stopping, it is necessary to being run with low speed.That is, usually slowly accelerate after so that motor 15 is started,
It is run later with fixed speed.Later, slowly slow down, into the feed speed control for exercising its stopping.Positioning table is to be based on this
Kind situation is simultaneously made by operation.
Later, control unit 11 is in a manner of being exported the pulse to pulse output section 13 based on made positioning table
It is controlled and (carries out pulse export permit).
Pulse output section 13 generates pulse based on positioning table as a result, via the first output port 14a by made arteries and veins
Punching is sequentially output to first motor 15a.Therefore, first motor 15a starts to start based on pulse.
In addition, the confirmation of order execution condition, command parameter inspection, channel status inspection, channel positioning table making, being need not
The processing for carrying out the signal output between motor 15 is to execute to handle for the pre-prepd preparation of driving motor.Output
Processing is will to be used to drive electricity based on (status checkout of motor 15 or parameter testing and the making for positioning table) is prepared in advance
The signal of machine is exported to the processing of pulse output section 13.Command parameter inspection is to prepare a part for processing, when being driving motor
Parameter testing processing.It is the part for preparing processing that channel positioning table, which makes, is the defeated of the signal for determining to be used for driving motor
Go out the decision processing of pattern.
Then, the case where being based on Fig. 2, being controlled 3 motors 15 for 3 motors 15 of connection is said
It is bright.That is, first motor 15a is just connected to the first output port 14a, the second motor 15b is connected to second output terminal mouth
14b, the case where third motor 15c is connected to third output port 14c, are illustrated.
First, control unit 11 is confirmed based on the control program being stored in storage part 12 for being controlled to each motor 15
The order of system executes condition (confirmation of order execution condition).At this point, intensively confirming related with 3 motors 15 being connect
Order executes condition.
Then, control unit 11 carries out command parameter inspection.At this point, intensively carrying out related with 3 motors 15 being connect
Command parameter inspection.That is, intensively carrying out the inspection of the order and parameter for controlling 3 motors 15.
Then, control unit 11 individually carries out the control to each connected motor 15 according to pre-determined sequence.
In present embodiment, control (channel CH0 fortune related with the first motor 15a of first communication channel CH0 is connected to initially is executed
It calculates, start).Then, execute it is related with the second motor 15b of the second communication channel CH1 is connected to control (channel CH1 operations,
It starts).Finally, executing control related with the third motor 15c for being connected to third communication channel CH2, (channel CH2 operations rise
It is dynamic).
If being described in more detail, control unit 11 is carrying out control related with the first motor 15a of first communication channel CH0
When, the state of the first motor 15a to being connected to first communication channel CH0 first is checked (channel CH0 status checkouts).So
Afterwards, parameter of the control unit 11 based on first motor 15a is produced by operation and is connected to the of first communication channel CH0
The positioning table of one motor 15a (channel CH0 positioning tables make).Later, control unit 11 is with based on made first motor 15a
Positioning table the mode that the pulse of first motor 15a is exported to pulse output section 13 controlled to (channel CH0 pulses export
License).
As a result, positioning table of the pulse output section 13 based on made first motor 15a and generate pulse, and via
Made pulse is sequentially output to the first motor 15a for being connected to first communication channel CH0 by one output port 14a.Then,
The first motor 15a for being connected to first communication channel CH0 starts to start based on the pulse.
Then, control unit 11 carries out control related with the second motor 15b of the second communication channel CH1 is connected in sequence
System.At this point, being checked (channel CH1 status checkouts) the state of the second motor 15b first.Then, control unit 11 is based on the
The parameter of two motor 15b and the positioning table (channel CH1 positioning table make) for producing the second motor 15b.Later, control unit
11 are exported the pulse of the second motor 15b to pulse output section 13 with the positioning table based on the second made motor 15b
Mode controlled (channel CH1 pulses export permit).
As a result, positioning table of the pulse output section 13 based on the second made motor 15b and generate pulse, and via
Made pulse is sequentially output to the second motor 15b for being connected to the second communication channel CH1 by two output port 14b.As a result,
The the second motor 15b for being connected to the second communication channel CH1 starts to start based on the pulse.
Then, control unit 11 carries out control related with the third motor 15c of third communication channel CH2 in sequence.This
When, the state of the third motor 15c of third communication channel CH2 is checked (channel CH2 status checkouts) first.Then, it controls
Parameter of the portion 11 processed based on third motor 15c and the positioning table of the third motor 15c that produces third communication channel CH2
(channel CH2 positioning tables make).Later, control unit 11 with based on made positioning table by the third of third communication channel CH2
The mode that the pulse of motor 15c is exported to pulse output section 13 is controlled (channel CH2 pulses export permit).
As a result, positioning table of the pulse output section 13 based on made third motor 15c and generate pulse, and via
Made pulse is sequentially output to the third motor 15c for being connected to third communication channel CH2 by three output port 14c.Then,
The third motor 15c for being connected to third communication channel CH2 starts to start based on the pulse.
In this way, each motor 15 output processing before, intensively carry out need not carry out with outside communication (signal it is defeated
Enter and export) preparation processing at least part, order in particular for being controlled whole motors 15 executes
Condition confirms or command parameter inspection related with whole motors 15.
Therefore, as shown in figures 2 and 5, preparation related with the motor 15 is fully executed with to each motor 15
The case where handling and exporting processing (Fig. 5) compares, and intensively carries out the part in preparation processing related with multiple motors
(Fig. 2) can shorten the interval (playing dynamic deviation) that the output of the pulse in each motor 15 starts.
If being described in more detail, the slave channel CH0 pulses export permit in Fig. 2 is until channel CH1 pulse export permits
It is spaced T21, with the slave channel CH0 pulses export permit in Fig. 5 compared with the interval T51 of channel CH1 pulse export permits,
Without command parameter inspection, therefore shorten the corresponding time.
Slave channel CH1 pulses export permit in Fig. 2 until channel CH2 pulse export permits interval T22, and in Fig. 5
Slave channel CH1 pulses export permit compare until the interval T52 of channel CH2 pulse export permits, without command parameter
It checks, therefore shortens the corresponding time.
Similarly, the slave channel CH0 pulses export permit in Fig. 2 until channel CH2 pulse export permits interval T23,
With the slave channel CH0 pulses export permit in Fig. 5 compared with the interval T53 of channel CH2 pulse export permits, without 2
Secondary command parameter inspection, therefore shorten the corresponding time.
Such as above detailed description, present embodiment has effect below.
(1) control unit 11 intensively execute related with multiple motors 15 when controlling the driving of multiple motors 15
Preparation processing at least part processing, then to each motor 15 execute it is remaining preparation handle and export processing.More
Specifically, control unit 11, when controlling the driving of multiple motors 15, in order to make and between output processing it is performed
The preparation processing relevant time shortens, and preparation processing related with multiple motors 15 is intensively executed before any output processing
In at least part processing, then to each motor 15 execute it is remaining preparation handle and export processing.Therefore, with to each
Motor 15 fully executed compared with the case where preparation related with the motor 15 handles and exports processing (Fig. 5), intensively
The part (order execution condition confirms and command parameter inspection) (Fig. 2) carried out in preparation processing related with multiple motors can
To shorten the interval (playing dynamic deviation) that the output of the pulse in each motor 15 starts.
(2) when controlling the driving of multiple motors 15, one in the preparation processing of 11 concentrative implementations of control unit
Parameter testing processing (command parameter inspection) when part is driving motor 15.In this way, by intensively executing and exporting in advance
Handle unrelated inspection processing, it may not be necessary to the inspection processing is carried out between 15 related output of each motor processing, because
This can reduce the interval that output starts.
(3) change the sequence of processing and intensively execute preparation processing, even therefore multiple processing cannot be carried out at the same time
Cheap CPU can also realize control unit 11.I.e., it is possible to be realized using 1 general CPU, so as to reduce cost.
(second embodiment)
Then, the second embodiment that the present invention is embodied is illustrated.In addition, for first embodiment phase
Same composition encloses symbol same as the first embodiment, omission or simple detail explanation and diagram.
In the present embodiment, 3 motors 15 are connected.The case where just controlling 3 motors 15 is illustrated.
As shown in Figure 3, first, control unit 11 is confirmed based on the control program being stored in storage part 12 for each
The order or execute condition (confirmation of order execution condition) that motor 15 is controlled.At this point, intensively confirming and connect 3
The related order of motor 15 or execution condition.
Then, control unit 11 carries out command parameter inspection.At this point, intensively carrying out related with 3 motors 15 being connect
Command parameter inspection.That is, intensively carrying out the inspection of the order and parameter for being controlled 3 motors 15.
Then, control unit 11 is individually carried out according to pre-determined sequence in addition to the output processing for exporting pulse
Processing, that is, remaining preparation processing.In the present embodiment, it initially executes and is connected to the first of first communication channel CH0
The related remaining preparation processing (channel CH0 operations) of motor 15a.Then, execute and be connected to the of the second communication channel CH1
The related remaining preparation processing (channel CH1 operations) of two motor 15b.Finally, execute and be connected to third communication channel CH2's
The related controls (channel CH2 operations) of third motor 15c.
If being described in more detail, control unit 11 is when carrying out remaining preparation processing related with first motor 15a, first
The state of first motor 15a to being connected to first communication channel CH0 is checked (channel CH0 status checkouts).Then, it controls
Parameter of the portion 11 based on first motor 15a simultaneously produces the first motor for being connected to first communication channel CH0 by operation
The positioning table of 15a (channel CH0 positioning tables make).
Then, control unit 11 is right first when carrying out remaining preparation processing related with the second motor 15b in sequence
The state for being connected to the second motor 15b of the second communication channel CH1 is checked (channel CH1 status checkouts).Then, control unit
11 parameters based on the second motor 15b simultaneously produce the second motor 15b for being connected to the second communication channel CH1 by operation
Positioning table (channel CH1 positioning table make).
Then, control unit 11 when carrying out remaining preparation processing related with third motor 15c in sequence, first to even
The state for being connected to the third motor 15c of third communication channel CH2 is checked (channel CH2 status checkouts).Then, control unit 11
Parameter based on third motor 15c simultaneously produces the third motor 15c's for being connected to third communication channel CH2 by operation
Position table (channel CH2 positioning tables make).
After executing remaining preparation processing respectively to each motor 15, control unit 11 is individual according to pre-determined sequence
Ground carries out the output for exporting pulse and handles (channel CH0~CH2 is started).In the present embodiment, it initially executes and connect
To the related output processing of first motor 15a of first communication channel CH0.Then, execute and be connected to the second communication channel CH1
The second motor 15b related output processing, finally execute related with the third motor 15c for being connected to third communication channel CH2
Output processing.
That is, control unit 11 is exported the pulse of first motor 15a with the positioning table based on made first motor 15a
Mode to pulse output section 13 is controlled (channel CH0 pulses export permit).In this way, pulse output section 13 is based on made
First motor 15a positioning table and generate pulse, and made pulse is sequentially output via the first output port 14a
To the first motor 15a for being connected to first communication channel CH0.Then, it is connected to the first motor 15a of first communication channel CH0
Start to start based on the pulse.
Then, control unit 11 is defeated by the pulse of the second motor 15b with the positioning table based on the second made motor 15b
The mode gone out to pulse output section 13 is controlled (channel CH1 pulses export permit).Pulse output section 13 is based on made as a result,
The positioning table for the second motor 15b being used as and generate pulse, and it is via second output terminal mouth 14b that made pulse is defeated successively
Go out to the second motor 15b for being connected to the second communication channel CH1.Then, it is connected to the second motor of the second communication channel CH1
15b starts to start based on the pulse.
Finally, control unit 11 is defeated by the pulse of third motor 15c with the positioning table based on made third motor 15c
The mode gone out to pulse output section 13 is controlled (channel CH2 pulses export permit).In this way, pulse output section 13 is based on made
The positioning table for the third motor 15c being used as and generate pulse, and it is via third output port 14c that made pulse is defeated successively
Go out the third motor 15c that value is connected to third communication channel CH2.Then, it is connected to the third motor of third communication channel CH2
15c starts to start based on the pulse.
In addition, present embodiment is configured to：It is continuously carrying out between 15 related output of each motor processing, in forbidding
Disconnected processing.
In this way, each motor 15 output processing before intensively carry out need not carry out with outside communication (signal it is defeated
Enter and export) positioning table preparation processing at least part, it is true that the order of in particular whole motor 15 executes condition
Recognize or command parameter inspection related with whole motors 15.In addition, each motor 15 output processing before, intensively into
The making of the status checkout of capable multiple motors 15 or the positioning table of multiple motors 15.That is, with as possible not output processing between
Being inserted into need not carry out, with the mode of the preparation processing of external communication (outputting and inputting for signal), intensively executing in advance.
Therefore, as shown in Figure 3 and Figure 5, preparation related with the motor 15 is fully executed with to each motor 15
The case where handling and exporting processing (Fig. 5) compares, and intensively carrying out preparation processing (Fig. 3) related with multiple motors can contract
The interval (playing dynamic deviation) that pulse output in short each motor 15 starts.
If being described in more detail, the slave channel CH0 pulses export permit in Fig. 3 is until channel CH1 pulse export permits
It is spaced T31, with the slave channel CH0 pulses export permit in Fig. 5 compared with the interval T51 of channel CH1 pulse export permits,
It is handled without preparation, therefore shortens the corresponding time.
Slave channel CH1 pulses export permit in Fig. 3 until channel CH2 pulse export permits interval T32, and in Fig. 5
Slave channel CH1 pulses export permit compare until the interval T52 of channel CH2 pulse export permits, handled without preparation,
Therefore shorten the corresponding time.
Similarly, the slave channel CH0 pulses export permit in Fig. 3 until channel CH2 pulse export permits interval T33,
With the slave channel CH0 pulses export permit in Fig. 5 compared with the interval T53 of channel CH2 pulse export permits, without 2
A preparation processing, therefore shorten the corresponding time.
Such as above detailed description, present embodiment have with (1) in first embodiment~(3) same effect,
There is effect below simultaneously.
(4) when controlling the driving of multiple motors 15, in control unit 11 in the preparation processing of concentrative implementation
A part is to determine the decision processing of the output mode (positioning table) of the signal for driving motor 15 based on parameter.In this way,
It is handled by intensively executing the decision unrelated with output processing in advance, it may not be necessary to be handled in output related with each motor 15
Between carry out the decision processing, therefore can reduce output start interval.It is thereby possible to reduce the pulse to each motor 15
The interval started is exported, so as to reduce the dynamic deviation of each motor 15.
(5) between being consecutively carried out output processing related with each motor 15, forbid preferential insertion process.Therefore, may be used
Make the time by separated situation to avoid other processing are preferentially inserted between starting to the pulse of each motor 15 output.
(third embodiment)
Then, the third embodiment that the present invention is embodied is illustrated.In addition, for same with first embodiment
The composition of sample encloses symbol same as the first embodiment, omits or simple its is described in detail and diagram.
In the present embodiment, it is said for 3 motors 15 of connection and the case where control 3 motors 15
It is bright.In the present embodiment, it is divided at the preparation processing and the output for exporting pulse of the positioning table for making motor 15
Reason；It is configured to execute using other orders.That is, being configured to：Change and execute cause, even if to receive for executing standard
The warning order of standby processing does not execute output processing yet.Then, it is configured to：Even if receiving for executing the defeated of output processing
Go out order, does not also execute preparation processing.In the following, being described in detail.
As shown in Figure 4, first, control unit 11 is confirmed based on the control program being stored in storage part 12 for each
The order or execute condition (confirmation of order execution condition) that motor 15 is controlled.3 motors for intensively confirming and being connect
15 related orders or execution condition.
At this point, control unit 11, indicates that the input for preparing the warning order that processing executes as cause, is joined into line command to confirm
Number checks.At this point, intensively progress and 3 motors, the 15 related command parameter inspection being connect.That is, being intensively used for
The inspection of the order and parameters that controlled 3 motors 15.
Then, control unit 11 is individually carried out according to pre-determined sequence in addition to the output processing for exporting pulse
Processing, that is, remaining preparation processing.In the present embodiment, it initially executes and is connected to the first of first communication channel CH0
The related remaining preparation processing (channel CH0 operations) of motor 15a.Then, execute and be connected to the of the second communication channel CH1
The related remaining preparation processing (channel CH1 operations) of two motor 15b.Finally, execute and be connected to third communication channel CH2's
The related controls (channel CH2 operations) of third motor 15c.If fully terminating these controls, tied based on warning order
Beam processing.In addition, these controls are identical as second embodiment, therefore detailed description will be omitted.
Then, control unit 11, based on the control program being stored in storage part 12 confirm for each motor 15 into
Row control order or execute condition when, using confirm indicates output processing execution output order input as cause, according to
Pre-determined sequence individually carries out the output for exporting pulse and handles (channel CH0~CH2 is started).In present embodiment
In, initially execute output processing related with the first motor 15a of first communication channel CH0 is connected to.Then, it executes and connect
To the related output processing of the second motor 15b of the second communication channel CH1.Finally, execute and be connected to third communication channel CH2
Third motor 15c related output processing.In addition, these output processing are identical as second embodiment, therefore omit detailed
Explanation.
In this way, before the output processing of each motor 15, intensively carry out need not carrying out that (signal enters with the communication of outside
Output) positioning table preparation processing at least part, the in particular order for being controlled whole motors 15
Or execute the confirmation of condition or command parameter inspection related with whole motors 15.Before the output processing of each motor 15,
Intensively carry out the making of the status checkout of multiple motors 15 or the positioning table of multiple motors 15.That is, with as possible at output
It is not inserted into the mode that need not be carried out with the preparation processing of external communication (outputting and inputting for signal) between reason, and concentrates in advance
Ground executes.Therefore, as shown in Figures 4 and 5, fully executed at preparation related with the motor 15 with to each motor 15
The case where reason is handled with output (Fig. 5) compares, and intensively carrying out preparation processing (Fig. 4) related with multiple motors can shorten
The interval (playing dynamic deviation) that pulse output in each motor 15 starts.
If being described in more detail, the slave channel CH0 pulses export permit in Fig. 4 is until channel CH1 pulse export permits
It is spaced T41, with the slave channel CH0 pulses export permit in Fig. 5 compared with the interval T51 of channel CH1 pulse export permits,
It is handled without preparation, therefore shortens the corresponding time.
In addition, the interval T42 of slave channel CH1 pulses export permit in Fig. 4 until channel CH2 pulse export permits, with
Slave channel CH1 pulses export permit in Fig. 5 compares until the interval T52 of channel CH2 pulse export permits, without preparing
Processing, therefore shorten the corresponding time.
Similarly, the slave channel CH0 pulses export permit in Fig. 4 until channel CH2 pulse export permits interval T43,
With the slave channel CH0 pulses export permit in Fig. 5 compared with the interval T53 of channel CH2 pulse export permits, without 2
A preparation processing, therefore shorten the corresponding time.
Using the input of warning order as cause, preparation processing is first carried out in advance, using the input of output order as cause, is not being inserted
The output processing of each motor 15 is unceasingly executed in the case of entering preparation processing.Thus, it is possible to shorten from the defeated of dry output order
Enter the time until motor 15 starts.
That is, in Fig. 4, the interval T44 until channel CH0 pulse export permits is confirmed from order execution condition, and in Fig. 3
Confirm from order execution condition and compare until the interval T34 of channel CH0 pulse export permits, handled without preparation, because
This shortens the corresponding time.
Such as above detailed description, present embodiment has (1)~(3) of first embodiment, second embodiment
(4), the effect of (5), while there is effect below.
(6) control unit 11, when controlling the driving of multiple motors 15, for executing the preparation life for preparing processing
The input of order is cause, and the preparation for being determined concentrative implementation, which is handled, carries out concentrative implementation.Then, control unit 11, for
The input for executing the output order of output processing is cause, and output processing is executed to each motor 15.In this way, first carrying out preparation in advance
Processing, in the case where being not inserted into preparation processing, is consecutively carried out the output of each motor 15 using the input of output order as cause
Processing.Thus, it is possible to shorten the time started from the input of output order until motor 15.
In addition, the above embodiment can be embodied as such as following other embodiment (other examples).In above-mentioned implementation
In mode, the quantity of output port 14, the quantity of communication channel CH, the quantity of motor 15 can also arbitrarily change.
In the above-described embodiment, the status checkout of motor is included among preparation processing, but can also be included in output
Among processing.
In above-mentioned second embodiment and third embodiment, the laggard of motor status inspection is being carried out to each motor
The making of row positioning table, but the system of positioning table can also be intensively carried out while with intensively actuating motor status checkout
Make.
In the above-described embodiment, the content for preparing processing, if not output in the pulse of driving motor 15
Hold, can also arbitrarily change, add.
In the above-described embodiment, the signal for driving motor 15 may not be pulse signal.
In the above-described embodiment, the part in the preparation processing of advance concentrative implementation can also be changed arbitrarily.
In the above-described 3rd embodiment, using the input of output order as cause, it is only consecutively carried out output processing, but
The part in preparation processing can be executed.
[explanation of symbol]
10 ... programmable controllers (PLC), 11 ... control units, 12 ... storage parts, 13 ... pulse output sections, 14 ... output ends
Mouth, the first output ports of 14a~14c ...~third output port, 15 ... motors, 15a~15c ... first motors~third electricity
Machine, CH0~CH2 ... first communication channels~third communication channel.
Claims (13)
1. a kind of programmable controller is constituted in a manner of it can be connect with multiple motors,
It is characterized in that,
Output section including the control unit and output signal that carry out the control for driving each motor；
The control unit uses CPU,
The control unit is configured to：After executing for the pre-prepd preparation processing of driving motor, based on described advance
Prepare and execute will for the signal of driving motor export to the output section output processing；
The control unit is intensively executing preparation related with multiple motors when controlling the driving of multiple motors
After at least part of processing in processing, remaining preparation is executed to each motor and handles and exports processing.
2. programmable controller according to claim 1, which is characterized in that when controlling the driving of multiple motors,
Parameter testing processing when a part in the preparation processing of control unit institute concentrative implementation is driving motor.
3. programmable controller according to claim 2, which is characterized in that controlled to the driving of multiple motors
When, the part in the preparation processing of control unit institute concentrative implementation is to determine based on the parameter for driving motor
The decision of the output mode of the signal of driving is handled.
4. the programmable controller according to any one of claim 1 to claim 3, which is characterized in that the control
Portion, when controlling the driving of multiple motors, after intensively executing whole preparation processing related with multiple motors,
Output processing is executed to each motor.
5. the programmable controller according to any one of claim 1 to claim 3, which is characterized in that the control
Portion is configured to：When controlling the driving of multiple motors, preparation processing related with multiple motors is intensively being executed
Afterwards, it is consecutively carried out output processing related with multiple motors；
When being consecutively carried out output processing, forbid preferentially being inserted into other processing.
6. the programmable controller according to any one of claim 1 to claim 3, which is characterized in that the control
Portion is configured to：When controlling the driving of multiple motors, the input for executing the warning order for preparing processing is
Cause first carries out whole preparation processing in advance, is cause for executing the input of output order of output processing, to each motor
Execute output processing.
It is being constituted in a manner of it can be connect with multiple motors including carry out for driving 7. a kind of control method
Performed control method in the control unit of the control of each motor and the programmable controller of the output section of output signal；
It is characterized in that,
The control unit uses CPU；
After executing the pre-prepd preparation processing for driving motor in the control unit, based on described prepare in advance
Executing will export for the signal of driving motor to the output processing of the output section；
When controlling the driving of multiple motors, preparation related with multiple motors is intensively executed in the control unit
After at least part processing in processing, remaining preparation is executed to each motor and handles and exports processing.
8. control method according to claim 7, which is characterized in that when controlling the driving of multiple motors,
Parameter testing processing when a part in the control unit in the preparation processing of concentrative implementation is driving motor.
9. control method according to claim 8, which is characterized in that when controlling the driving of multiple motors,
A part in the control unit in the preparation processing of concentrative implementation is to determine the letter for driving motor based on the parameter
Number output mode decision processing.
10. the control method according to any one of claim 7 to claim 9, which is characterized in that in the control unit
In when controlling the driving of multiple motors, it is right after intensively executing whole preparations related with multiple motors and handling
Each motor executes output processing.
11. the control method according to any one of claim 7 to claim 9, which is characterized in that in the control unit
In when controlling the driving of multiple motors, after intensively executing preparation related with multiple motors and handling, continuously
Execute output processing related with multiple motors；
When being consecutively carried out output processing, forbid preferentially being inserted into other processing.
12. the control method according to any one of claim 7 to claim 9, which is characterized in that in the control unit
In when controlling the driving of multiple motors, the input for executing the warning order for preparing processing is cause, is held in advance
The whole preparation processing of row is cause for executing the input of output order of output processing, output is executed to each motor
Processing.
13. a kind of programmable controller is constituted in a manner of it can be connect with multiple motors
It is characterized in that,
Including carrying out the control unit of the control for driving each motor, the output section of output signal；
The control unit is configured to：After executing execution for the pre-prepd preparation processing of driving motor, based on described
It prepares in advance and executes the output that will be exported for the signal of driving motor to the output section and handle；
The control unit, in the case where being not inserted into output processing halfway, is concentrated when controlling the driving of multiple motors
After ground executes at least part processing in preparation processing related with multiple motors, there is the case where remaining preparation is handled
Under, remaining preparation is executed to each motor and handles and exports processing, in the case of no remaining preparation processing, to each
Motor unceasingly executes output processing.
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| JP2014093418A JP2015210751A (en) | 2014-04-30 | 2014-04-30 | Programmable controller, control method and control program |
| JP2014-093418 | 2014-04-30 |
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| CN1540468A (en) * | 2003-04-21 | 2004-10-27 | 发那科株式会社 | Numerical value controller |
| CN101169638A (en) * | 2006-10-27 | 2008-04-30 | 发那科株式会社 | Digital controller |
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| CN103403631A (en) * | 2011-03-15 | 2013-11-20 | 欧姆龙株式会社 | CPU of PLC, system program for PLC, and recording medium storing system program for PLC |
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| JP2015210751A (en) | 2015-11-24 |
| CN105045197A (en) | 2015-11-11 |
| TW201541208A (en) | 2015-11-01 |
| TWI567514B (en) | 2017-01-21 |
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Effective date of registration: 20241001 Address after: Japan's Osaka kamato city characters really 1006 times Patentee after: Panasonic electromechanical Co.,Ltd. Country or region after: Japan Address before: Aichi Prefecture, Japan, the spring well city, Niu Shan Ting 2431 times 1 Patentee before: PANASONIC INDUSTRIAL DEVICES SUNX CO.,LTD. Country or region before: Japan |