CN105137918A - Method for controlling stepping motor to drive numerical control sliding table by PLC - Google Patents
Method for controlling stepping motor to drive numerical control sliding table by PLC Download PDFInfo
- Publication number
- CN105137918A CN105137918A CN201510594993.4A CN201510594993A CN105137918A CN 105137918 A CN105137918 A CN 105137918A CN 201510594993 A CN201510594993 A CN 201510594993A CN 105137918 A CN105137918 A CN 105137918A
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- plc
- control
- stepper motor
- sliding table
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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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
-
- 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
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34216—Programmable motion controller
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- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention relates to a method for controlling a stepping motor to drive a numerical control sliding table by a PLC. The method comprises a machine tool, the numerical control sliding table, a gear Z1, a gear Z2, and a PLC controller, the numerical control sliding table and the PLC are arranged on the machine tool, the numerical control sliding table is connected with the PLC via a signal line, the numerical control sliding table comprises a programmable controller, a ring pulse distributor, a stepping motor drive, the stepping motor, a sliding table, and a servo transmission mechanism, the programmable controller is connected with the ring pulse distributor via the signal line, and the ring pulse distributor is connected with the stepping motor drive via a power driving circuit. The controller is advantaged by high reliability, simple instruction, convenient interface installation, and is applicable to industrial automatic control, an open-loop servo mechanism of the stepping motor controlled by the controller is applicable to the control of the numerical control sliding table of an automatic production line of combined machine tools, and a numerical control system of the unit can be saved so that 70-90% of the cost of a control system of the unit is reduced.
Description
Technical field
The present invention relates to the method and technology field of the motor driving numerically controlled slide unit of PLC control step, particularly relate to the method for the motor driving numerically controlled slide unit of a kind of PLC control step.
Background technology
In combination numerical control machine tool automation line, due to the difference of machining precision, the setting of slide unit is also different, generally arranges three kinds of slide units:
1, hydraulic pressure moving platform, large for cutting output, in the roughing operation that requirement on machining accuracy is lower;
2, mechanical skid plateform, medium for cutting output, have in the semi-finishing operation of certain requirement on machining accuracy;
3, nc sliding table, little for cutting output, in the finishing step that requirement on machining accuracy is very high.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, providing the method for the motor driving numerically controlled slide unit of a kind of PLC control step.
The present invention is achieved through the following technical solutions: the method for the motor driving numerically controlled slide unit of a kind of PLC control step, comprise lathe, nc sliding table, gear Z1, gear Z2 and PLC, described nc sliding table and PLC are arranged on lathe, described nc sliding table is connected with PLC by signal wire, described nc sliding table comprises Programmable Logic Controller, go in ring pulsqe distributor, stepper motor driver, stepper motor, slide unit and servo-operated mechanism, described Programmable Logic Controller is connected with belt pulsqe distributor by signal wire, described belt pulsqe distributor is connected with stepper motor driver by power driving circuit, described stepper motor driver is connected with stepper motor, described stepper motor is connected with servo-operated mechanism, described servo-operated mechanism connects gear Z1 and gear Z2 is set, described gear Z1 cooperatively interacts with gear Z2 and is connected, described gear Z1 and gear Z2 is connected with screw mandrel, the described gear train that takes is connected with slide unit through screw mandrel with gear Z2 by gear Z1, described Programmable Logic Controller is connected with PLC by signal wire.
As preferably, described PLC is by being interconnected with Programmable Logic Controller, and described PLC carries out Stroke Control by control step drive and control of electric machine operating numerical control slide unit, speed of feed controls and direction of feed control operation; Described Programmable Logic Controller inside is provided with Stroke Control program, speed of feed control program and direction of feed control program;
Stroke Control: the stroke of nc sliding table then adopts digital control realization, and the stroke due to slide unit is proportional to the total angle of rotation of stepper motor, as long as the total angle of rotation of control step motor, and the total angle of rotation of stepper motor is proportional to inputted gating pulse number; Therefore can determine according to the displacement of servo control mechanism the pulse number that PLC exports: n=DL/d
The displacement (mm) of DL-servo control mechanism in formula,
The pulse equivalency (mm/ pulse) of d-servo control mechanism
Speed of feed controls: the speed of feed of servo control mechanism depends on the rotating speed of stepper motor, and the rotating speed of stepper motor depends on the pulsed frequency of input; Therefore according to the speed of feed of this procedure calls, the pulsed frequency that its PLC exports can be determined: f=Vf/60d(Hz) speed of feed (mm/min) of Vf-servo control mechanism in formula;
Direction of feed controls: the course changing control of direction of feed control and stepper motor; Turning to of stepper motor can change its rotating direction by the power-up sequence changing each winding of stepper motor, and the output order that the direction control signal that also can be exported by PLC changes hardware ring distributor realizes.
As preferably, described PLC is provided with display screen and control knob.
As preferably, described PLC is provided with pilot lamp and alarm.
As preferably, described PLC is provided with Puled input/output interface.
As preferably, described nc sliding table is provided with several I/O interfaces.
PLC of the present invention has highly versatile, reliability is high, order set is simple, it is simple and convenient and easy to study to programme, be easy to series of advantages such as grasping, volume is little, maintenance job is few, on-the-spot interface is easy for installation, is therefore widely used in industry automatic control.And the nc sliding table that the stepper motor open loop servo control mechanism that it controls is applied on building-block machine automatic assembly line controls, the digital control system can saving this unit makes the control system cost of this unit reduce by 70 ~ 90%, even only take 3 ~ 5 I/O interfaces of transfer matic control module PLC and the internal memory of <1KB, in large-scale transfer matic, the cost of control system can be made to decline more remarkable;
Gear Z1, Z2 in servo-operated mechanism of the present invention should take the gap measure that disappears, and avoid producing reverse dead band or machining precision being declined; Lead screw transmission pair then should, according to the requirement on machining accuracy of this unit, determine whether to select ball screw assembly.Adopt ball screw assembly, have that transmission efficiency is high, system stiffness good, transmission accuracy is high, the advantage of long service life, but cost is higher and can not self-locking.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings;
Fig. 1 is nc sliding table structural representation of the present invention;
Fig. 2 is PLC control program schematic diagram of the present invention;
Fig. 3 is that servomotor of the present invention adopts software ring distributor to carry out hardware loop phase sequence distribution schematic diagram;
Fig. 4 is that servomotor of the present invention adopts software ring distributor to carry out software ring phase sequence distribution schematic diagram.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention; Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
As Figure 1-4, the present invention relates to the method for the motor driving numerically controlled slide unit of a kind of PLC control step, comprise lathe, nc sliding table, gear Z1, gear Z2 and PLC, described nc sliding table and PLC are arranged on lathe, described nc sliding table is connected with PLC by signal wire, described nc sliding table comprises Programmable Logic Controller, go in ring pulsqe distributor, stepper motor driver, stepper motor, slide unit and servo-operated mechanism, described Programmable Logic Controller is connected with belt pulsqe distributor by signal wire, described belt pulsqe distributor is connected with stepper motor driver by power driving circuit, described stepper motor driver is connected with stepper motor, described stepper motor is connected with servo-operated mechanism, described servo-operated mechanism connects gear Z1 and gear Z2 is set, described gear Z1 cooperatively interacts with gear Z2 and is connected, described gear Z1 and gear Z2 is connected with screw mandrel, the described gear train that takes is connected with slide unit through screw mandrel with gear Z2 by gear Z1, described Programmable Logic Controller is connected with PLC by signal wire.
Described PLC is by being interconnected with Programmable Logic Controller, and described PLC carries out Stroke Control by control step drive and control of electric machine operating numerical control slide unit, speed of feed controls and direction of feed control operation; Described Programmable Logic Controller inside is provided with Stroke Control program, speed of feed control program and direction of feed control program;
Stroke Control: the stroke of nc sliding table then adopts digital control realization, and the stroke due to slide unit is proportional to the total angle of rotation of stepper motor, as long as the total angle of rotation of control step motor, and the total angle of rotation of stepper motor is proportional to inputted gating pulse number; Therefore can determine according to the displacement of servo control mechanism the pulse number that PLC exports: n=DL/d
The displacement (mm) of DL-servo control mechanism in formula,
The pulse equivalency (mm/ pulse) of d-servo control mechanism
Speed of feed controls: the speed of feed of servo control mechanism depends on the rotating speed of stepper motor, and the rotating speed of stepper motor depends on the pulsed frequency of input; Therefore according to the speed of feed of this procedure calls, the pulsed frequency that its PLC exports can be determined: f=Vf/60d(Hz) speed of feed (mm/min) of Vf-servo control mechanism in formula;
Direction of feed controls: the course changing control of direction of feed control and stepper motor; Turning to of stepper motor can change its rotating direction by the power-up sequence changing each winding of stepper motor, and the output order that the direction control signal that also can be exported by PLC changes hardware ring distributor realizes.
Described PLC is provided with display screen and control knob.
Described PLC is provided with pilot lamp and alarm.
Described PLC is provided with Puled input/output interface.
Described nc sliding table is provided with several I/O interfaces.
PLC of the present invention has highly versatile, reliability is high, order set is simple, it is simple and convenient and easy to study to programme, be easy to series of advantages such as grasping, volume is little, maintenance job is few, on-the-spot interface is easy for installation, is therefore widely used in industry automatic control.And the nc sliding table that the stepper motor open loop servo control mechanism that it controls is applied on building-block machine automatic assembly line controls, the digital control system can saving this unit makes the control system cost of this unit reduce by 70 ~ 90%, even only take 3 ~ 5 I/O interfaces of transfer matic control module PLC and the internal memory of <1KB, in large-scale transfer matic, the cost of control system can be made to decline more remarkable.
Gear Z1, Z2 in servo-operated mechanism should take the gap measure that disappears, and avoid producing reverse dead band or machining precision being declined; Lead screw transmission pair then should, according to the requirement on machining accuracy of this unit, determine whether to select ball screw assembly.Adopt ball screw assembly, have that transmission efficiency is high, system stiffness good, transmission accuracy is high, the advantage of long service life, but cost is higher and can not self-locking.
In sum, the PLC control method of nc sliding table of the present invention:
Stroke Control: the Stroke Control of general hydraulic pressure moving platform and mechanical skid plateform utilizes position or pressure transducer (travel switch/dead buting iron) to realize; The stroke of nc sliding table then adopts digital control realization.From the structure of nc sliding table, the stroke of slide unit is proportional to the total angle of rotation of stepper motor, as long as the total angle of rotation of therefore control step motor.Inputted gating pulse number is proportional to by the principle of work of stepper motor and the total angle of rotation of the known stepper motor of characteristic; Therefore can determine according to the displacement of servo control mechanism the pulse number that PLC exports.Speed of feed controls: the speed of feed of servo control mechanism depends on the rotating speed of stepper motor, and the rotating speed of stepper motor depends on the pulsed frequency of input; Therefore according to the speed of feed of this procedure calls, the pulsed frequency that its PLC exports can be determined.Direction of feed controls: the course changing control of direction of feed control and stepper motor.The turning to of stepper motor can change it by the power-up sequence changing stepper motor each winding and turn to; If three-phase stepper motor power-up sequence is A-AB-B-BC-C-CA-A ... time stepper motor rotate forward; When winding presses A-AC-C-CB-B-BA-A ... stepper motor reversion during order energising.The output order of the direction control signal change hardware ring distributor that therefore can be exported by PLC is realized, or changes through programming the power-up sequence realization that the order exporting pulse changes stepper motor winding.
As shown in Figure 2: pulsed frequency can by the timing constant gating pulse cycle of timer, and pulse sum controls then to arrange an impulse meter C10.When umber of pulse reaches setting value, counter C10 action break impulse generator loop, makes it quit work.The stepper motor no pulse of servo control mechanism just shuts down when inputting, and servo actuator is located.When the velocity of displacement of servo actuator requires higher, can with the High speed pulse generator in PLC.The frequency of different its high-speed pulses of PLC can reach 4000 ~ 6000Hz.
The standardized element that the present invention uses all can be commercially, shaped piece all can carry out customized according to instructions with the record of accompanying drawing, the concrete connected mode of each part all adopts the conventional means such as bolt, rivet, welding ripe in prior art, machinery, part and equipment all adopt in prior art, conventional model, add that circuit connects and adopt connected mode conventional in prior art, be not described in detail in this.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. the method for the motor driving numerically controlled slide unit of PLC control step, it is characterized in that, comprise lathe, nc sliding table, gear Z1, gear Z2 and PLC, described nc sliding table and PLC are arranged on lathe, described nc sliding table is connected with PLC by signal wire, described nc sliding table comprises Programmable Logic Controller, go in ring pulsqe distributor, stepper motor driver, stepper motor, slide unit and servo-operated mechanism, described Programmable Logic Controller is connected with belt pulsqe distributor by signal wire, described belt pulsqe distributor is connected with stepper motor driver by power driving circuit, described stepper motor driver is connected with stepper motor, described stepper motor is connected with servo-operated mechanism, described servo-operated mechanism connects gear Z1 and gear Z2 is set, described gear Z1 cooperatively interacts with gear Z2 and is connected, described gear Z1 and gear Z2 is connected with screw mandrel, the described gear train that takes is connected with slide unit through screw mandrel with gear Z2 by gear Z1, described Programmable Logic Controller is connected with PLC by signal wire.
2. the method for the motor driving numerically controlled slide unit of a kind of PLC control step according to claim 1, it is characterized in that, described PLC is by being interconnected with Programmable Logic Controller, and described PLC carries out Stroke Control by control step drive and control of electric machine operating numerical control slide unit, speed of feed controls and direction of feed control operation; Described Programmable Logic Controller inside is provided with Stroke Control program, speed of feed control program and direction of feed control program;
Stroke Control: the stroke of nc sliding table then adopts digital control realization, and the stroke due to slide unit is proportional to the total angle of rotation of stepper motor, as long as the total angle of rotation of control step motor, and the total angle of rotation of stepper motor is proportional to inputted gating pulse number; Therefore can determine according to the displacement of servo control mechanism the pulse number that PLC exports: n=DL/d
The displacement (mm) of DL-servo control mechanism in formula,
The pulse equivalency (mm/ pulse) of d-servo control mechanism
Speed of feed controls: the speed of feed of servo control mechanism depends on the rotating speed of stepper motor, and the rotating speed of stepper motor depends on the pulsed frequency of input; Therefore according to the speed of feed of this procedure calls, the pulsed frequency that its PLC exports can be determined: f=Vf/60d(Hz) speed of feed (mm/min) of Vf-servo control mechanism in formula;
Direction of feed controls: the course changing control of direction of feed control and stepper motor; Turning to of stepper motor can change its rotating direction by the power-up sequence changing each winding of stepper motor, and the output order that the direction control signal that also can be exported by PLC changes hardware ring distributor realizes.
3. the method for the motor driving numerically controlled slide unit of a kind of PLC control step according to claim 1, is characterized in that, described PLC is provided with display screen and control knob.
4. the method for the motor driving numerically controlled slide unit of a kind of PLC control step according to claim 1, is characterized in that, described PLC is provided with pilot lamp and alarm.
5. the method for the motor driving numerically controlled slide unit of a kind of PLC control step according to claim 1, is characterized in that, described PLC is provided with Puled input/output interface.
6. the method for the motor driving numerically controlled slide unit of a kind of PLC control step according to claim 1, is characterized in that, described nc sliding table is provided with several I/O interfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510594993.4A CN105137918A (en) | 2015-09-18 | 2015-09-18 | Method for controlling stepping motor to drive numerical control sliding table by PLC |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510594993.4A CN105137918A (en) | 2015-09-18 | 2015-09-18 | Method for controlling stepping motor to drive numerical control sliding table by PLC |
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| Publication Number | Publication Date |
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| CN105137918A true CN105137918A (en) | 2015-12-09 |
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| CN201510594993.4A Pending CN105137918A (en) | 2015-09-18 | 2015-09-18 | Method for controlling stepping motor to drive numerical control sliding table by PLC |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105915133A (en) * | 2016-04-19 | 2016-08-31 | 深圳星火自动化科技有限公司 | Stepping motor driver and random subdivision algorithm therefor |
| CN113251981A (en) * | 2021-04-15 | 2021-08-13 | 首钢集团有限公司 | Method and device for drawing steel coil contour uplift degree curve |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201201080Y (en) * | 2008-06-20 | 2009-03-04 | 重庆工学院 | Self-tapping apparatus |
| JP2011150648A (en) * | 2010-01-25 | 2011-08-04 | Makino Milling Mach Co Ltd | Machine tool control device |
| CN203579412U (en) * | 2013-12-03 | 2014-05-07 | 青岛丰光精密机械股份有限公司 | Precise grinding machining device |
-
2015
- 2015-09-18 CN CN201510594993.4A patent/CN105137918A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201201080Y (en) * | 2008-06-20 | 2009-03-04 | 重庆工学院 | Self-tapping apparatus |
| JP2011150648A (en) * | 2010-01-25 | 2011-08-04 | Makino Milling Mach Co Ltd | Machine tool control device |
| CN203579412U (en) * | 2013-12-03 | 2014-05-07 | 青岛丰光精密机械股份有限公司 | Precise grinding machining device |
Non-Patent Citations (1)
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| 雷登峰 赵孟文: "《步进电机的可编程控制器控制》", 《科技信息 机械与电子》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105915133A (en) * | 2016-04-19 | 2016-08-31 | 深圳星火自动化科技有限公司 | Stepping motor driver and random subdivision algorithm therefor |
| CN105915133B (en) * | 2016-04-19 | 2019-04-12 | 深圳星火自动化科技有限公司 | Stepper motor driver and its any divided method |
| CN113251981A (en) * | 2021-04-15 | 2021-08-13 | 首钢集团有限公司 | Method and device for drawing steel coil contour uplift degree curve |
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