CN106662855A - Method for setting synchronous control of positioning control device, program, and control setting device for positioning control device - Google Patents
Method for setting synchronous control of positioning control device, program, and control setting device for positioning control device Download PDFInfo
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- CN106662855A CN106662855A CN201580036689.6A CN201580036689A CN106662855A CN 106662855 A CN106662855 A CN 106662855A CN 201580036689 A CN201580036689 A CN 201580036689A CN 106662855 A CN106662855 A CN 106662855A
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- Prior art keywords
- control device
- control
- software module
- position control
- program
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
-
- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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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
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23136—Display all subsystems, select one and display screen corresponding to subsystem
-
- 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
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23258—GUI graphical user interface, icon, function bloc editor, labview
Abstract
The objective of the present invention is to obtain a method for setting the synchronous control of a positioning control device with which it is possible to achieve excellent performance and ease of use in a simple configuration. The present invention is a method for setting the synchronous control of a positioning control device in which the connectivity relationship among a plurality of operation software modules constituting the control program of the positioning control device is set on the basis of input from the outside and is graphically displayed on a display screen, at least one of the plurality of operation software modules being able to be changed using a program language.
Description
Technical field
The present invention relates to the Synchronization Control establishing method of position control device, make computer perform the Synchronization Control setting side
The program of method and the control setting device of position control device.
Background technology
Currently, it is known that following position control devices, i.e. GUI (Graphical User Interface) is passed through by user
Action (function) to multiple mechanical parts is controlled.
For example, in patent document 1, " to obtain the positioning that programming directly can be simulated and implemented to mechanical mechanism
For the purpose of device ", following positioner and its program display method are disclosed, the positioner " has：Motor, it is to control
Object processed is driven；And controller, the drive of the above-mentioned motor that its execution makes above-mentioned control object synchronous and positioned
Dynamic control, controller noted above has：Drive software module, it is synchronous with the acquirement of above-mentioned motor and generate, output position information,
The positional information is the benchmark for being driven control；Transmission software module, it carries out computing, operation result is made to input information
Export for powertrain information；And output software module, it carries out computing to input information, using operation result as above-mentioned electronic
The drive control of machine is instructed and exported, and the positioner is arbitrarily combined to above-mentioned software module ".According to patent document 1
Disclosed technology, is configured by each action software module to positioner, sets respective parameter such that it is able to
Simple structure realizes the setting of the synchronizing control of between centers, wherein, the positioner is pair machine gone out with graphic software platform
The corresponding action software module of tool part is combined and constitutes.
Patent document 1：Japanese Unexamined Patent Publication 5-73147 publication
The content of the invention
But, according to above-mentioned prior art, in order to realize the function of complexity or carry out the action of complexity, need huge
Action software module corresponding to the mechanical part of the parameter of quantity, needs and the function equal number to be realized.In addition, root
According to the requirement of user, pair action software module corresponding with mechanical part is also needed to sometimes to be carried out self-defined and dispatches from the factory.Therefore,
There are problems that being difficult to complexity action this.
The present invention is exactly to propose in view of the foregoing, its object is to obtain can to realize with simple structure excellent
The control setting device of the position control device of function and high operability, Synchronization Control establishing method and perform computer
The program of the Synchronization Control establishing method.
In order to solve above-mentioned problem, purpose is realized, the present invention is a kind of Synchronization Control establishing method of position control device,
It is based on from outside input, and the connection to constituting multiple action software modules of the control program of position control device is closed
System is set, and is graphically shown on picture, the feature of the Synchronization Control establishing method of the position control device
It is that at least one of the plurality of action software module can be changed by program language.
The effect of invention
The control setting device of position control device involved in the present invention, Synchronization Control establishing method and make calculating
Machine performs the program of the Synchronization Control establishing method, can realize following position control device, i.e. the position control device energy
It is enough that excellent function and high operability are realized with simple structure.
Description of the drawings
Fig. 1 is the figure for representing hardware configuration, and the hardware configuration is used to realize the position control device involved by embodiment
Synchronization Control establishing method.
Fig. 2 is in the control setting device for represent the position control device involved by embodiment, controls journey to constituting
The figure of one example of the picture that the annexation of multiple action software modules of sequence is shown.
Fig. 3 is represented in the Synchronization Control establishing method of the position control device involved by embodiment, by with machine
Programming language corresponding to the corresponding action software module of tool part and the figure of definition example made.
Fig. 4 is represented in the Synchronization Control establishing method of the position control device involved by embodiment, by with machine
Programming language corresponding to the corresponding action software module of tool part and the figure of self-defined example made.
Fig. 5 is in the control setting device for represent the position control device involved by embodiment, controls journey to constituting
The figure of one example of the display picture that the annexation of multiple action software modules of sequence is shown.
Specific embodiment
Below, the Synchronization Control setting side based on accompanying drawing, to the position control device involved by embodiments of the present invention
The control setting device of method, program and position control device is described in detail.Additionally, the present invention is not limited to this embodiment party
Formula.
Embodiment 1
Fig. 1 is the figure for representing hardware configuration, and the hardware configuration is used to realize the location control dress involved by present embodiment
The Synchronization Control establishing method put.Position control device 10 shown in Fig. 1 is the position control device as following, i.e. energy
It is enough based on setting to aforementioned annexation from outside input, with motion controller 12, servo amplifier 13a,
13b, 13c, 13d, the position control device 10 is by the servo electricity to being connected with servo amplifier 13a, 13b, 13c, 13d respectively
Motivation 14a, 14b, 14c, 14d synchronize control, so as to be controlled object X-axis 15a, control object Y-axis 15b and control
The positioning of object Z axis 15c.For the structure of control setting device 11 that the Synchronization Control for carrying out position control device 10 sets and uses
Become, the establishment of the control program for carrying out position control device 10 and the instrument of editor are installed, the control setting device 11 has
Have：CPU (Central Processing Unit) 17, it is processed data；Memory 18, its storage data；Display part
19, it can enter to the annexation figure of multiple action software modules of the control program of composition position control device 10
Row shows；Input interface 20, it is connected with mouse or keyboard and is transfused to data；And communication interface 16, it carries out data
Relative to the input and output of motion controller 12.Control setting device 11 is usually used all-purpose computer.
Fig. 2 be represent position control device involved by present embodiment it is control setting device, to constituting control journey
The figure of one example of the picture that the annexation of multiple action software modules of sequence is shown.Involved by present embodiment
Action of the position control device via drive mechanism to control object is controlled, and the drive mechanism is pair and multiple mechanical parts
Obtained from corresponding action software module is combined.
In addition, as shown in Fig. 2 in the present embodiment, the display part that has to control setting device or with positioning
Control device is wired or display device of wireless connection, graphically shows the multiple Machinery Ministries included with drive mechanism
The corresponding action software module of part be drive software module 21,24, transmission software module 22,23, output software module 25 with
And link software module 26.By controlling setting device, to equivalent to the drive software module 21,24, phase for driving mechanical part
When the transmission software module 22 in gearing part, 23, equivalent to output mechanical part output software module 25 and phase
When being shown in the link software module 26 for linking mechanical part, can graphically to the connection of above-mentioned action software module
Relation is set.
Fig. 3 is represented in the Synchronization Control establishing method of the position control device involved by present embodiment, by with
Programming language corresponding to the corresponding action software module of mechanical part and the figure of definition example made, in position control device
Control setting device display part, be shown in shown in Fig. 2 to constituting the company of the multiple action software modules of control program
The different picture of picture that the relation of connecing is shown or window, either use corresponding dynamic in same picture or window
Make balloon frame of neighbouring setting of software module etc. to be shown respectively for each action software module.Fig. 4 is represented and Fig. 3
Define the figure of the corresponding self-defined example of example.
In the drive software module 21 shown in Fig. 2, nominally, the variable of the currency by representing axle
" VirtualServoMotor [1] ", is defined as shown in Figure 3 to output.Here, " [1] " represents axle numbering, shows
Go out following situations, i.e. select one, the i.e. drive software module axle 1 existed in multiple drive software modules.Such as Fig. 4 institutes
Show, if using smooth function Smoothing, output can be made relative to the change of input " VirtualServoMotor [1] "
It is dynamic and smoothly varying.Additionally, smooth function Smoothing is predefined function, one example is to obtain parameter
Time averaging function.In method in the past like that only using GUI, in the case where exporting using function to input, need
Figure that will be corresponding with the function applied, but if with the program language pair action software mould corresponding with each mechanical part
Block is defined, then can easily enter the application of line function.
Transmission software module 22 shown in Fig. 2 is equivalent to gear.In transmission software module 22, by would indicate that gear ratio
The variable " GearNumerator [1] " of molecule is multiplied with the pulse Input from input shaft side, divided by expression gear ratio denominator
Variable " GearDenominator [1] ", so as to as shown in Figure 3 to output be defined.Here, each gear is divided respectively
Than molecule and gear ratio denominator, " [1] " is the numeral being determined to gear to selective gear.If as Fig. 4, entering to be about to gear
The result of ratio is temporary transient to substitute into variable " gear ", to variable " gear " using the self-defined of smooth function Smoothing, then can make
Output is smoothly varying relative to the variation of gear ratio.
Transmission software module 23 shown in Fig. 2 is equivalent to differential gearing.Transmission software module 23 is by the top from figure
Pulse input Input [2] of the auxiliary input side of left in figure is deducted in pulse input Input [1] of primary input side, it is obtained
Difference, so as to as shown in Figure 3 to output be defined.Here, carry out as shown in Figure 4 following self-defined, i.e. will
Variable ratio [1] is multiplied with pulse input Input [2] from auxiliary input side, with the pulse input being input into from primary input side
Input [1] is added.
Drive software module 24 shown in Fig. 2 produces the input pulse corresponding with the input from synchronization encoders.Drive
Dynamic software module 24 according to represent synchronization encoders variable " SynchronousEncoder [1] ", as shown in Figure 3 to defeated
Go out to be defined.Here, " [1] " represents the numbering of the synchronization encoders being connected with drive software module 24, illustrates following feelings
Condition, i.e. select the 1st synchronization encoders existed in multiple synchronization encoders.If as Fig. 4, being customized for energy
Enough by the program statement " IF " of expression selection branch, " ELSE " and variable " selectsignal " by the synchronization for being used
Encoder selection is " SynchronousEncoder [1] " or " SynchronousEncoder [2] ", then can pass through variable
" selectsignal " and the synchronization encoders to being used are selected.
Output software module 25 shown in Fig. 2 is equivalent to cam.Output software module 25 to cam by being defined
" Cam ", represent cam variable " CamSelect [1] " and input " Input " and as shown in Figure 3 to export be defined.
Here, " [1] " represents cam numbering, represents following situations, i.e. the 1st cam is selected among multiple cams.If picture
Fig. 4 like that, is calculated output using following input values, then can suppress what is exported caused by the variation institute due to input value
Change, wherein, the input value for being adopted is the input value " Input " of current period and the input value in previous cycle
The mean value (will with divided by obtained from 2 be worth) of " PrevInput ".
Link software module 26 shown in Fig. 2 is equivalent to clutch.Link software module 26 by the link to clutch
" DirectClutch " that be defined, variable " signal [1] " and input " Input " and as shown in Figure 3 to export into
Row definition, decides whether into joining line according to variable " signal [1] ".Additionally, here, not to linking software module 26
Action carries out self-defined, but it is also possible to which the action to linking software module 26 is also carried out self-defined.
As described above, the Synchronization Control establishing method of the position control device of present embodiment is by by with ST languages
The action software module that the program language pair of Yan Wei representatives is corresponding with each mechanical part is defined, enabling fitted by user
It is local to it is defined go out each action software module changed (self-defined) such that it is able to add excellent to position control device
Function, and realize high operability.That is, by make it possible to drive software module 21 to being made by program language, 24, pass
The definition of the action of dynamic software module 22,23 and output software module 25 carries out setting change such that it is able to improve user side
Convenience.
In addition, for the action software module corresponding with mechanical part, by with program language to each mechanical part
Function is defined and is provided, in addition, special function is also provided in addition to the common general purpose function in program language,
There is more excellent function so as to make position control device.
In addition it is possible to the action software module after will be self-defined is continued to use as template.In addition, by increasing by journey
The function that sequence language definition goes out such that it is able to realize more multi-functional.In addition, by using GUI and program language simultaneously, so as to
Enough operatively carry out location control using the advantage height of the two.
Additionally, not to made by language drive software module 21,24, transmission software module 22,23, export it is soft
In the case that the definition of part module 25 and the action for linking software module 26 carries out setting change, it is also possible to not to display picture
On program language setting screen shown and only shown the control interface realized by GUI.As described above, by control
It is set to not show in the case of program language is not utilized in the control of object processed such that it is able to prevent the display picture for being operated
Face becomes numerous and diverse, prevents the decline of operability.
In addition, if so that the link software module corresponding with the linking portion of each mechanical part also can be by program word
Speech is defined, then can be in the overall Synchronization Control setting of the drive mechanism consisted of the combination of multiple mechanical parts
Excellent function is added, and realizes high operability.In addition, the control program of the drive mechanism entirety shown in Fig. 2 can be realized
Issue and continue to use.
Embodiment 2
Fig. 5 is of the display picture of the control setting device for representing the position control device involved by present embodiment
The figure of example.Figure 5 illustrates and move into the template that lays out the corresponding control program of device.Figure 5 illustrates as action
It is software module, roller equivalent to the portion that lays out to lay out software module 27 and move into software module equivalent to the roller in the portion that moves into
28.By by set gear ratio RollGearNumerator [i]/RollGearDenominator [i] and from each transmission
Software module input pulse input be multiplied, and further with change roller diameter RollDiameter [i] and pi pi ()
It is multiplied such that it is able to be controlled in view of roller girth.
As illustrated by present embodiment, required synchronizing control during by making it possible to enable in device
Setting is selected as template such that it is able to which the device for improving user enables efficiency.In addition, that as illustrated by present embodiment
Sample, by make it possible to it is defined go out the application definition of position control device issue, so as to user is compared with the past
Being capable of shortening device enabling time.
Additionally, self-defined illustrated by above-mentioned embodiment 1,2 is an example, the present invention is not limited to this, it is also possible to
Using other functions or program statement.
Additionally, the present invention is not limited to the Synchronization Control setting of the position control device illustrated by above-mentioned embodiment 1,2
Method, make computer perform present embodiment illustrated by position control device Synchronization Control establishing method control program,
And the control setting device of the establishment and editor for carrying out the control program is also contained in the present invention.
Additionally, to the Synchronization Control establishing method and location control of position control device in above-mentioned embodiment 1,2
The control setting device of device is illustrated, but the present invention is not limited to this, performs computer and involved in the present invention determines
The program of the Synchronization Control establishing method of level control device is also contained in the present invention.
The representation illustrated in embodiment of above be present disclosure an example, additionally it is possible to other
Known technology is combined, in the scope of the purport without departing from the present invention, additionally it is possible to which a part for structure is omitted, become
More.
Industrial applicibility
As described above, position control device involved in the present invention is useful for the drive mechanism of the action for requiring complexity
's.
The explanation of label
11 control setting devices, 12 motion controllers, 13a, 13b, 13c, 13d servo amplifier, 14a, 14b, 14c, 14d
Servomotor, 15a control object X-axis, 15b control object Y-axis, 15c control object Z axis, 16 communication interfaces, 17CPU, 18 deposit
Reservoir, 19 display parts, 20 input interfaces, 21,24 drive software modules, 22,23 transmission software modules, 25 output software modules,
26 link software module, and 27 lay out software module, and 28 move into software module.
Claims (7)
1. the Synchronization Control establishing method of a kind of position control device, it is based on from outside input to constituting location control
The annexation of multiple action software modules of the control program of device is set, and is graphically shown on picture
Show,
The Synchronization Control establishing method of the position control device is characterised by,
At least one of the plurality of action software module can be changed by program language.
2. the Synchronization Control establishing method of position control device according to claim 1, it is characterised in that
In the case of the change of the action software module for not carrying out being made by described program language, will be passed through
Described program language and the picture of the change of the action software module made are set to not show.
3. the Synchronization Control establishing method of a kind of position control device, it is characterised in that
The control that the Synchronization Control establishing method of the position control device described in usage right requirement 1 or 2 can be created that
Program is selected as template.
4. a kind of program, it is characterised in that
Computer perform claim is set to require the Synchronization Control establishing method of the position control device any one of 1 to 3.
5. the control setting device of a kind of position control device, it is characterised in that
The control setting device of the position control device has can be moved to the multiple of control program for constituting position control device
The display part for being shown with making the annexation figure of software module, the control setting device of the position control device can
The annexation is set based on the input from outside,
The position control device control setting device be characterised by,
At least one of the plurality of action software module can be changed by program language.
6. the control setting device of position control device according to claim 5, it is characterised in that
In the case of the change of the action software module for not carrying out being made by described program language, by the display
The picture of the change of the action software module that the carrying out in portion is made by described program language is set to not show.
7. the control setting device of a kind of position control device, it is characterised in that
The control program that usage right can be required the controlling setting device of position control device described in 5 or 6 and set out
Selected as template.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JPPCT/JP2014/067943 | 2014-07-04 | ||
| PCT/JP2014/067943 WO2016002076A1 (en) | 2014-07-04 | 2014-07-04 | Synchronization control setting method for positioning control device |
| PCT/JP2015/069177 WO2016002898A1 (en) | 2014-07-04 | 2015-07-02 | Method for setting synchronous control of positioning control device; program; and control setting device for positioning control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106662855A true CN106662855A (en) | 2017-05-10 |
| CN106662855B CN106662855B (en) | 2018-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580036689.6A Active CN106662855B (en) | 2014-07-04 | 2015-07-02 | The Synchronization Control setting method of position control device and the control setting device of position control device |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP6075908B2 (en) |
| KR (1) | KR101748547B1 (en) |
| CN (1) | CN106662855B (en) |
| TW (1) | TWI578129B (en) |
| WO (2) | WO2016002076A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113597584A (en) * | 2019-03-25 | 2021-11-02 | 三菱电机株式会社 | Display support program, computer-readable storage medium storing the program, display support method, and display support system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112021007868T5 (en) * | 2021-06-23 | 2024-04-04 | Mitsubishi Electric Corporation | PROGRAMMING ASSISTANCE APPARATUS, PROGRAMMING ASSISTANCE METHOD, PROGRAMMING ASSISTANCE PROGRAM AND MEMORY-PROGRAMMABLE CONTROLLER |
| WO2023105723A1 (en) * | 2021-12-09 | 2023-06-15 | ファナック株式会社 | Control device that controls extended function of robot or machine tool and user interface device |
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| WO2013111325A1 (en) * | 2012-01-27 | 2013-08-01 | 三菱電機株式会社 | Display method of synchronization control program which drive controls multi-axle synchronization control device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113597584A (en) * | 2019-03-25 | 2021-11-02 | 三菱电机株式会社 | Display support program, computer-readable storage medium storing the program, display support method, and display support system |
| CN113597584B (en) * | 2019-03-25 | 2022-10-28 | 三菱电机株式会社 | Display support program, computer-readable storage medium storing the program, display support method, and display support system |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101748547B1 (en) | 2017-06-16 |
| CN106662855B (en) | 2018-06-22 |
| JPWO2016002898A1 (en) | 2017-04-27 |
| KR20170007488A (en) | 2017-01-18 |
| TW201606468A (en) | 2016-02-16 |
| JP6075908B2 (en) | 2017-02-08 |
| WO2016002076A1 (en) | 2016-01-07 |
| WO2016002898A1 (en) | 2016-01-07 |
| TWI578129B (en) | 2017-04-11 |
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