CN106371402A - Method for realizing homing through transmitting origin-point signals by means of communication and corresponding servo driver - Google Patents
Method for realizing homing through transmitting origin-point signals by means of communication and corresponding servo driver Download PDFInfo
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- CN106371402A CN106371402A CN201610862138.1A CN201610862138A CN106371402A CN 106371402 A CN106371402 A CN 106371402A CN 201610862138 A CN201610862138 A CN 201610862138A CN 106371402 A CN106371402 A CN 106371402A
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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
- G05B19/402—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 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
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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
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37404—Orientation of workpiece or tool, surface sensor
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The present invention discloses a method for realizing homing through transmitting origin-point signals by means of communication. The method includes the following steps that: when a servo driver detects origin-point switching signals, the servo driver drives a servo motor to rotate reversely and operate at a pre-determined first speed; when the servo driver detects Z-phase signals, the servo driver judges a distance L between a position to which the servo motor rotates when the falling edge of the origin-point signals is detected to a position to which the servo motor rotates when the Z-phase signals are detected is smaller than or equal to a pre-determined reference distance S; if the distance L is smaller than or equal to the pre-determined reference distance S, the servo driver controls the servo motor to rotate by one turn, and a homing process is terminated; and if the distance L is larger than the pre-determined reference distance S, the servo driver controls the servo motor to stop moving forwards immediately, a homing process is terminated. The invention also discloses a corresponding servo driver. With the method provided by the technical schemes of the invention adopted, the homing accuracy of the servo driver is greatly improved, and manual adjustment of a motor shaft is not required.
Description
Technical field
The present invention relates to the positioning field of servo-driver, more particularly, to a kind of realize communication transmission origin signal return former
Method and corresponding servo-driver.
Background technology
In industrial control field, servo-driver is a kind of controller for controlling servomotor, is mainly used in height
The alignment system of precision, servo-driver is typically controlled to servomotor by position, speed and three kinds of modes of moment, real
Existing high-precision location positioning.In some cases, servomotor drives screw mandrel to rotate, and controls and associates mechanical slide shifting
Dynamic.
And the datum mark of mechanical origin all coordinate systems that are Digit Control Machine Tool, the stability of mechanical origin be Digit Control Machine Tool extremely
Important technical specification, is also the basic guarantee stablizing machining accuracy.In the servosystem that plc controls, typically go back to former side
Method is to return former mode using what origin switch signal (or nearly initial point speed reducing switch) and servo z phase signals combined, shows in such as Fig. 1
Go out existing a kind of time former schematic diagram.Then inventor finds, because origin switch signal is to issue servo by plc,
As shown in Fig. 2 this includes plc sweep time and detection i point time and communication delay time, this time is unfixed, just
It is often that origin signal arrives first, arrives after z phase, if this time is a little elongated once in a while, causes z phase to arrive first, arrive after origin signal,
So return and take a round former meeting more, cause back original position uncertain.So z phase must not be too near to origin switch, at least over
Origin signal reaches the maximum time of servo from plc.
Generally ensure back the accuracy of original position by adjusting the position between z phase and origin switch in prior art,
Make z phase and general half-turn position with a distance from origin switch all over the body: after returning former completing, see the position that back material stopping stops, if be parked in
From initial point closely or from the position of the general circle of initial point it is necessary to unclamp shaft coupling, with the general half-turn of handss rotary electric machine axle, then
Load onto shaft coupling, but this method is cumbersome.
Content of the invention
In view of the deficiencies in the prior art, the present invention provides a kind of communication transmission origin signal of realizing to return former method and accordingly
Servo-driver, servo-driver can be greatly improved and return former precision, and motor shaft need not be manually adjusted.
In order to reach foregoing invention purpose, the one side of the embodiment of the present invention provides a kind of realization communication transmission origin signal
Return former method, comprise the steps:
Servo-driver, when origin switch signal is detected, drives servomotor reversion, and with a predetermined First Speed
Run；
When z phase signals is detected, judge described when origin signal trailing edge is detected to the distance between z phase number l is detected
The benchmark whether being less than or equal to preliminary assay is for apart from s；
If testing result is yes, control servomotor to be rotated further a circle, return former process and terminate；Otherwise, control servo electricity
Machine stops forward, returning former process and terminating immediately.
Wherein, further include the step apart from s for the bioassay standard:
Servo driver drives servomotor is rotated with a second speed, and records and origin signal rising edge is detected to receiving z
The distance between phase signals, using described distance as gauged distance s；
Wherein, described second speed is much smaller than described First Speed.
Wherein, meet following relation between described First Speed and the encoder being arranged on described servomotor:
r>v*t
Wherein, r is encoder resolution, and t is the maximum delay time that true origin signal reaches servo-driver, and v is the
One speed.
Correspondingly, another aspect of the present invention also provides a kind of servo-driver, for realizing communication transmission origin signal
Hui Yuan, comprising:
Origin switch signal detection processing unit, for when origin switch signal is detected, driving servomotor reversion, and with
One predetermined First Speed runs；
Z phase signals detection process unit, for when z phase signals is detected, working as described in judgement and origin signal trailing edge is detected
To detect the distance between z phase number l whether standby less than or equal to the benchmark of preliminary assay apart from s；
Return former processing unit, for when the testing result of described z phase signals detection process unit is for being, then controlling servomotor
It is rotated further a circle, return former process and terminate；Otherwise, servomotor is controlled to stop immediately forward, returning former process and terminating.
Wherein, further include:
Gauged distance determination unit, for driving servomotor to be rotated with a second speed, and is recorded and detects in origin signal
Rise along to receiving the distance between z phase signals, using described distance as gauged distance s；Wherein, described second speed is much smaller than institute
State First Speed.
Wherein, meet following relation between described First Speed and the encoder being arranged on described servomotor:
r>v*t
Wherein, r is encoder resolution, and t is the maximum delay time that true origin signal reaches servo-driver, and v is the
One speed.
Implement the embodiment of the present invention, have the advantages that
Technical scheme provided in an embodiment of the present invention, motor is disposably installed, and without adjusting shaft coupling rotating motor manually again, saves
Gone in prior art to return every time former after complex operations；
In technical scheme provided in an embodiment of the present invention, no matter before receiving back former switching signal, or z is detected afterwards
Phase signals, all can realize back the accuracy of original position, high precision.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is existing a kind of time former schematic diagram；
Fig. 2 is the connection diagram of plc and servo-driver in Fig. 1；
Fig. 3 is that a kind of of present invention offer realizes the main flow signal that communication transmission origin signal returns former one embodiment of method
Figure；
Fig. 4 is the operation principle schematic diagram of Fig. 3.
Specific embodiment
Below in conjunction with the accompanying drawings embodiments of the invention are carried out referring to explanation.
Fig. 3 is that a kind of of present invention offer realizes the main flow that communication transmission origin signal returns former one embodiment of method
Schematic diagram；In this embodiment, the method comprises the steps:
Step s10, servo-driver, when origin switch signal is detected, drives servomotor reversion, and predetermined with one
First Speed runs；
Step s12, when z phase signals is detected, judge described when origin signal trailing edge is detected to detecting between z phase number
Apart from l whether standby less than or equal to the benchmark of preliminary assay apart from s；
Step s14, if testing result is yes, controls servomotor to be rotated further a circle, returns former process and terminate；Otherwise, control
Servomotor processed stops forward, returning former process and terminating immediately.
It is understood that the step that the present invention further includes measured in advance gauged distance s, specifically include:
Servo driver drives servomotor is rotated with a second speed, and records and origin signal rising edge is detected to receiving z
The distance between phase signals, using described distance as gauged distance s；
Wherein, described second speed is much smaller than described First Speed.
Wherein, meet following relation between described First Speed and the encoder being arranged on described servomotor:
r>v*t
Wherein, r is encoder resolution, and t is the maximum delay time that true origin signal reaches servo-driver, and v is the
One speed.
Incorporated by reference to shown in Fig. 4, the operation principle in Fig. 3 is illustrated with a specific example.
As shown in figure 4, arbitrary origin is on the right.
First, motor is turned right with extremely slow speed, and servo writes down " origin signal rising edge " and " z above occurring
The distance between phase " s(gauged distance).This s is that comparison is real, because motor is turned with extremely slow speed (second speed)
Move it is ensured that actual origin signal arrives, detect that sweep time and call duration time pass to t this period of servo, motor through plc
Several pulses will not be walked more.
When needing to carry out back former, the execution steps:
Return former beginning, motor turns right through initial point, now inverts, then detect origin signal trailing edge to the left, motor is to the left
Rotating (finding z phase) speed is v(First Speed), then look for z phase signals.
In one case, if the distance between " origin signal trailing edge " to " the z phase signals occurring below "≤
S, motor is further continued for turning around forward more, returns former completing.Otherwise electric machines test stops forward, returning former completing to z phase immediately.
In another scenario, if origin signal was detected before z phase, due to having time delay, l < s, motor is further continued for
O point (initial point) that turn around, return former completing more forward.If origin signal is detected after z phase, motor may proceed to turn to
Next z phase (o point), now s " > s, motor stops forward, returning former completing immediately.
It is understood that above two situation needs to meet precondition a: s " > s, not so also can turn around more.
S "+s '=r(r is encoder resolution)
S '+s=v*t(t is the maximum delay time that true origin signal reaches servo-driver)
S can be derived from above "=r+s-v*t > s, therefore r > v*t, as long as ensureing r > v*t.
For example, in one example, z speed v=100r/min, encoder resolution r=10000, t < 10000/ (100* are sought
10000/60)=0.6 second=600ms, for this time, plc easily reached, and that is, the precondition of the program is usually to meet
's.
From the aforegoing it can be seen that enforcement embodiments of the invention, motor is disposably installed, without adjusting shaft coupling more manually
Rotating motor.
In this embodiment, this servo-driver be used for realize communication transmission origin signal return former, comprising:
Origin switch signal detection processing unit, for when origin switch signal is detected, driving servomotor reversion, and with
One predetermined First Speed runs；
Z phase signals detection process unit, for when z phase signals is detected, working as described in judgement and origin signal trailing edge is detected
To detect the distance between z phase number l whether standby less than or equal to the benchmark of preliminary assay apart from s；
Return former processing unit, for when the testing result of described z phase signals detection process unit is for being, then controlling servomotor
It is rotated further a circle, return former process and terminate；Otherwise, servomotor is controlled to stop immediately forward, returning former process and terminating.
Further include:
Gauged distance determination unit, for driving servomotor to be rotated with a second speed, and is recorded and detects in origin signal
Rise along to receiving the distance between z phase signals, using described distance as gauged distance s；Wherein, described second speed is much smaller than institute
State First Speed.
Wherein, meet following relation between described First Speed and the encoder being arranged on described servomotor:
r>v*t
Wherein, r is encoder resolution, and t is the maximum delay time that true origin signal reaches servo-driver, and v is the
One speed.
More details are referred to the aforementioned explanation to Fig. 3 and Fig. 4.
Implement the embodiment of the present invention, there is following beneficial effect:
Technical scheme provided in an embodiment of the present invention, motor is disposably installed, and without adjusting shaft coupling rotating motor manually again, saves
Gone in prior art to return every time former after complex operations；
In technical scheme provided in an embodiment of the present invention, no matter before receiving back former switching signal, or z is detected afterwards
Phase signals, all can realize back the accuracy of original position, high precision.
Above disclosed be only present pre-ferred embodiments, certainly the right model of the present invention can not be limited with this
Enclose, the equivalent variations therefore made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (6)
1. a kind of communication transmission origin signal of realizing returns former method it is characterised in that comprising the steps:
Servo-driver, when origin switch signal is detected, drives servomotor reversion, and with a predetermined First Speed
Run；
When z phase signals is detected, judge described when origin signal trailing edge is detected to the distance between z phase number l is detected
The benchmark whether being less than or equal to preliminary assay is for apart from s；
If testing result is yes, control servomotor to be rotated further a circle, return former process and terminate；Otherwise, control servo electricity
Machine stops forward, returning former process and terminating immediately.
2. a kind of communication transmission origin signal of realizing returns former method it is characterised in that wrapping further as claimed in claim 1
Include the step apart from s for the bioassay standard:
Servo driver drives servomotor is rotated with a second speed, and records and origin signal rising edge is detected to receiving z
The distance between phase signals, using described distance as gauged distance s；
Wherein, described second speed is much smaller than described First Speed.
3. a kind of communication transmission origin signal of realizing returns former method it is characterised in that wherein as claimed in claim 2:
Following relation is met between described First Speed and the encoder being arranged on described servomotor:
r>v*t
Wherein, r is encoder resolution, and t is the maximum delay time that true origin signal reaches servo-driver, and v is the
One speed.
4. a kind of servo-driver, returns former it is characterised in that including for realizing communication transmission origin signal:
Origin switch signal detection processing unit, for when origin switch signal is detected, driving servomotor reversion, and with
One predetermined First Speed runs；
Z phase signals detection process unit, for when z phase signals is detected, working as described in judgement and origin signal trailing edge is detected
To detect the distance between z phase number l whether standby less than or equal to the benchmark of preliminary assay apart from s；
Return former processing unit, for when the testing result of described z phase signals detection process unit is for being, then controlling servomotor
It is rotated further a circle, return former process and terminate；Otherwise, servomotor is controlled to stop immediately forward, returning former process and terminating.
5. as claimed in claim 4 a kind of servo-driver it is characterised in that further including:
Gauged distance determination unit, for driving servomotor to be rotated with a second speed, and is recorded and detects in origin signal
Rise along to receiving the distance between z phase signals, using described distance as gauged distance s；Wherein, described second speed is much smaller than institute
State First Speed.
6. as claimed in claim 5 a kind of servo-driver it is characterised in that wherein:
Following relation is met between described First Speed and the encoder being arranged on described servomotor:
r>v*t
Wherein, r is encoder resolution, and t is the maximum delay time that true origin signal reaches servo-driver, and v is the
One speed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610862138.1A CN106371402B (en) | 2016-09-29 | 2016-09-29 | It is a kind of to realize that communication transmission origin signal returns former method and corresponding servo-driver |
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| CN201610862138.1A CN106371402B (en) | 2016-09-29 | 2016-09-29 | It is a kind of to realize that communication transmission origin signal returns former method and corresponding servo-driver |
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| CN106371402B CN106371402B (en) | 2019-03-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107589719A (en) * | 2017-07-21 | 2018-01-16 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of origin apparatus resetting method and device |
| CN109257002A (en) * | 2018-09-30 | 2019-01-22 | 长沙执先智量科技股份有限公司 | A kind of origin detection control method of the reciprocating motion based on servo-drive |
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| CN109257002A (en) * | 2018-09-30 | 2019-01-22 | 长沙执先智量科技股份有限公司 | A kind of origin detection control method of the reciprocating motion based on servo-drive |
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|---|---|
| CN106371402B (en) | 2019-03-29 |
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