CN108021153A - A kind of workbench back to zero control method and system - Google Patents
A kind of workbench back to zero control method and system Download PDFInfo
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- CN108021153A CN108021153A CN201711119159.5A CN201711119159A CN108021153A CN 108021153 A CN108021153 A CN 108021153A CN 201711119159 A CN201711119159 A CN 201711119159A CN 108021153 A CN108021153 A CN 108021153A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The invention discloses a kind of workbench back to zero control method and system, the stroke of workbench is divided into five regions by the present invention according to zero parameter, then the region that the initial position where judging workbench is located at；First control workbench returns to the positive side or negative side of origin sensor range of signal from the region being located at；Workbench is controlled to return to dead-center position from the positive side or negative side of origin sensor range of signal again；Compared with the prior art for scheme, the arbitrary point back to zero of workbench is realized.
Description
Technical field
The present invention relates to workbench control field, especially a kind of workbench back to zero control method and system.
Background technology
ZRNR：Arbitrary point zero point returns instruction
Return speed：The high-speed motion that back to zero starts
Creep speed：Close to the low-speed motion after zero point
Near point signal, zero signal：Working table movement can produce two signal edges by origin sensor range of signal,
One is used as near point signal, and one is used as zero signal.
Positive limit signal：The workbench positive direction signal that positive limit sensor is sent when moving to extreme position.
Negative limit signal：Workbench negative direction bears the signal that limit sensor is sent when moving to extreme position.
Z phase signals：The pulse that fixed position is sent often is enclosed on servo-driver coding disk, is determined for accurate zero point
Position
At present, the workbench on lathe may be in the optional position in stroke after processing tasks are completed, and need at this time
PLC output ZRNR instruction control workbench is wanted to return on lathe, the dead-center position preset according to sensor, is processed as next time
The starting point of task.Since workbench may be in any point position in stroke, and the position of back to zero and default position
It is required that error is within the specific limits, current back to zero motion scheme needs user to control the initial bit set for ensuring workbench manually
In can just realize back to zero in specific region, and the pattern of back to zero is single, and degree of integration is not high enough, it is impossible to tackles under different situations
Accurate back to zero requirement.
The content of the invention
In order to solve the above-mentioned technical problem, the object of the present invention is to provide a kind of workbench back to zero control method and system,
Realize the arbitrary point back to zero of workbench.
The technical solution adopted in the present invention is：A kind of workbench back to zero control method, comprises the following steps：
Obtain zero parameter, the zero parameter include acquiescence back to zero direction, positive limit signal, origin sensor signal,
Negative limit signal, the origin sensor signal include zero signal and near point signal；
The stroke of workbench is divided into by five regions according to the zero parameter, including positive limit area, the positive limit-
Area of origin, area of origin, origin-negative limit area, negative limit area；
The region that initial position where judging the workbench is located at；
The workbench is controlled to return to the positive side or negative side of origin sensor range of signal from the region being located at；
The workbench is controlled to return to dead-center position from the positive side or negative side of the origin sensor range of signal.
Further, the method in the region that the initial position where the judgement workbench is located at includes：
Judge whether to detect positive limit signal, negative limit signal or origin sensor signal, if the determination result is YES,
Then the initial position of the workbench is located at positive limit area, negative limit area or area of origin；Otherwise, the workbench
Initial position is located at the positive limit-area of origin or origin-negative limit area.
Further, the method in the region that the initial position where the judgement workbench is located at further includes：
When the workbench is located at the positive limit-area of origin or origin-negative limit area, control workbench is by silent
Recognize the advance of back to zero direction；
The acquiescence back to zero direction is just, if first detecting positive limit signal, the initial position of the workbench is located at
The positive limit-area of origin；If first detecting origin sensor signal, the initial position of the workbench is located at origin-negative
Limit area；
The acquiescence back to zero direction is negative, if first detecting negative limit signal, the initial position of the workbench is located at
Origin-negative limit area；If first detecting origin sensor signal, the initial position of the workbench be located at the positive limit-
Area of origin.
Further, the zero parameter, which further includes, returns speed and creep speed, described to control the workbench from institute
State the positive side of origin sensor range of signal or negative side returns to the method for dead-center position and includes：
The workbench is controlled to enter origin sensor range of signal with the recurrence speed,
Detect that the zero signal then controls workbench to decelerate to 0,
After controlling the workbench reversely to accelerate to the creep speed,
Then stop when detecting the zero signal again, reach the dead-center position.
Further, the zero parameter, which further includes, returns speed and creep speed, described to control the workbench from institute
State the positive side of origin sensor range of signal or negative side returns to the method for dead-center position and includes：
The workbench is controlled to enter origin sensor range of signal with the recurrence speed,
After detecting that the near point signal then controls workbench to decelerate to creep speed,
Then stop when detecting the zero signal, reach dead-center position.
Another technical solution of the present invention is：A kind of workbench back to zero control system, including：
Be zeroed parameter acquiring unit, and for obtaining the parameter that is zeroed, the zero parameter includes acquiescence back to zero direction, the positive limit
Signal, origin sensor signal, negative limit signal, the origin sensor signal include zero signal and near point signal；
Area division unit, for the stroke of workbench to be divided into five regions according to the zero parameter, including just
Limit area, the positive limit-area of origin, area of origin, origin-negative limit area, negative limit area；
Initial position judging unit, the region being located at for the initial position where judging the workbench；
Rehabilitation control unit, for controlling the workbench to return to origin sensor range of signal from the region being located at
Positive side or negative side；
Back to zero control unit, for controlling the workbench from the positive side or negative side of the origin sensor range of signal
Return to dead-center position.
Further, the initial position judging unit includes：
First position judging unit, for judging whether to detect positive limit signal, negative limit signal or origin sensing
Device signal,
If the determination result is YES, then the initial position of the workbench is located at positive limit area, negative limit area or original
Point region；
Otherwise, the initial position of the workbench is located at the positive limit-area of origin or origin-negative limit area.
Further, the initial position judging unit further includes：
Second place judging unit, for being located at the positive limit-area of origin or origin-anode limit when the workbench
During region, control workbench advances by acquiescence back to zero direction；
The acquiescence back to zero direction is just, if first detecting positive limit signal, the initial position of the workbench is located at
The positive limit-area of origin；If first detecting origin sensor signal, the initial position of the workbench is located at origin-negative
Limit area；
The acquiescence back to zero direction is negative, if first detecting negative limit signal, the initial position of the workbench is located at
Origin-negative limit area；If first detecting origin sensor signal, the initial position of the workbench be located at the positive limit-
Area of origin.
Further, the zero parameter, which further includes recurrence speed and creep speed, the back to zero control unit, includes：
First back to zero control unit, for controlling the workbench to enter origin sensor signal with the recurrence speed
Scope,
Detect that the zero signal then controls workbench to decelerate to 0,
After controlling the workbench reversely to accelerate to the creep speed,
Then stop when detecting the zero signal again, reach the dead-center position.
Further, the zero parameter, which further includes recurrence speed and creep speed, the back to zero control unit, includes：
Second back to zero control unit, for controlling the workbench to enter origin sensor signal with the recurrence speed
Scope,
After detecting that the near point signal then controls workbench to decelerate to creep speed,
Then stop when detecting the zero signal, reach dead-center position.
The beneficial effects of the invention are as follows：
A kind of workbench back to zero control method of the present invention and system, five are divided into according to zero parameter by the stroke of workbench
A region, then the region that initial position where judging workbench is located at；First control workbench is returned to from the region being located at
The positive side or negative side of origin sensor range of signal；Workbench is controlled again from the positive side of origin sensor range of signal or negative
Side returns to dead-center position；Compared with the prior art for scheme, the arbitrary point back to zero of workbench is realized.
Brief description of the drawings
The embodiment of the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is an a kind of specific embodiment method flow diagram of workbench back to zero control method of the present invention；
Fig. 2 is an a kind of specific embodiment region division schematic diagram of workbench back to zero control method of the present invention；
Fig. 3 is a kind of specific implementation using origin rising edge pattern back to zero of workbench back to zero control method of the present invention
Illustrate and be intended to；
Fig. 4 is a kind of specific embodiment using near point signal mode back to zero of workbench back to zero control method of the present invention
Schematic diagram；
Fig. 5 be a kind of workbench back to zero control method of the present invention using origin rising edge pattern from positive limit area back to zero
A specific embodiment schematic diagram；
Fig. 6 be a kind of workbench back to zero control method of the present invention using near point signal mode from positive limit area back to zero
One specific embodiment schematic diagram；
Fig. 7 be a kind of workbench back to zero control method of the present invention using origin rising edge pattern from the positive limit-origin area
One specific embodiment schematic diagram of domain back to zero；
Fig. 8 be a kind of workbench back to zero control method of the present invention using near point signal mode from the positive limit-area of origin
One specific embodiment schematic diagram of back to zero；
Fig. 9 be a kind of workbench back to zero control method of the present invention using origin rising edge pattern from area of origin back to zero
One specific embodiment schematic diagram；
Figure 10 be a kind of workbench back to zero control method of the present invention using near point signal mode from area of origin back to zero
One specific embodiment schematic diagram；
Figure 11 is a kind of being limited using origin rising edge pattern from origin-anode for workbench back to zero control method of the present invention
One specific embodiment schematic diagram of region back to zero；
Figure 12 be a kind of workbench back to zero control method of the present invention using near point signal mode from origin-negative limit region
One specific embodiment schematic diagram of domain back to zero；
Figure 13 is a kind of being returned using origin rising edge pattern from negative limit area for workbench back to zero control method of the present invention
A zero specific embodiment schematic diagram；
Figure 14 be a kind of workbench back to zero control method of the present invention using near point signal mode from negative limit area back to zero
A specific embodiment schematic diagram；
Figure 15 is an a kind of specific embodiment structure chart of workbench back to zero control system of the present invention.
Embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.
Based in existing back to zero control program, there is necessary user, control is located at the initial position for ensuring workbench manually
This technical problem of back to zero can be just realized in specific region, it is not only time-consuming and laborious, and also limitation is strong, and therefore, the present invention carries
Go out a kind of technical solution for solving above-mentioned technical problem, its basic conception is：Believed according to positive and negative limit signal and origin sensor
Number plane of movement (i.e. the stroke of workbench) where workbench is subjected to region division, then obtains workbench position correspondence
Region, then the positive side or negative side for controlling workbench to return to origin sensor range of signal from region eventually pass back to zero
Point position, realizes arbitrary point back to zero, universality is good.
The present invention provides a kind of workbench back to zero control method, and with reference to figure 1, Fig. 1 is a kind of workbench back to zero control of the present invention
One specific embodiment method flow diagram of method processed, comprises the following steps：
A, zero parameter is obtained, zero parameter includes acquiescence back to zero direction, positive limit signal, origin sensor signal, negative
Limit signal, origin sensor signal include zero signal and near point signal；
B, the stroke of workbench is divided into by five regions, including positive limit area, the positive limit-original according to zero parameter
Point region, area of origin, origin-negative limit area, negative limit area；
C, the region that the initial position where judging workbench is located at；
D, selecting back to zero path and paragraph switching, control workbench is returned from the region being located to control working table movement
To the positive side or negative side of origin sensor range of signal；
E, control workbench returns to dead-center position from the positive side or negative side of origin sensor range of signal, specifically, leads to
Cross and detected whether that zero signal judges whether to reach dead-center position, when detecting zero signal, show that workbench has returned
To zero point, otherwise the non-back to zero of workbench, continues step D.
To sum up, workbench back to zero control method proposed by the present invention, not canal table at an arbitrary position, it can be controlled
Back to zero, it is highly practical.
In the present invention, when back to zero controls, the back to zero path that workbench is located at different zones is different, and the present invention also provides two
The different back to zero control model of kind, is respectively origin rising edge pattern and near point signal mode, is provided for every kind of back to zero path
Two kinds of different back to zero patterns, can adapt to the demand of accurate back to zero under different occasions.During actual back to zero control, user passes through
PLC controls the working status of workbench, it is necessary to which the zero parameter that user inputs on PLC includes control before back to zero is controlled
Back to zero necessary be zeroed parameter and optional zero parameter, the necessary parameter that is zeroed are defeated including recurrence speed, creep speed, pulse
Go out port numbers, pulse direction port numbers, origin signal input terminal slogan, back to zero control model and acquiescence back to zero direction, and it is optional
Zero parameter include positive limit signal, negative limit signal, whether limited using the positive limit and anode, whether using Z phase signals, just
Limit signal input terminal slogan, anode limit signal input part slogan and Z phase signals input terminal slogans, in the present solution, carrying out back to zero
During control, workbench need to access origin sensor signal, positive limit signal, negative limit signal and Z phase signals (optional) with
Control workbench back to zero；Pulse output end slogan, the corresponding signal port of pulse direction port numbers are the arteries and veins for controlling motor
Rush signal port；In addition, the origin sensor signal of present invention meaning refers to the signal produced by origin sensor, it is used to help
Workbench returns to dead-center position；And it is this by origin sensor signal control back to zero, its positioning accuracy is low, thus, occurs by Z
Phase signals control workbench to return to zero point, its positioning accuracy is high, suitable for the back to zero control system high to positioning accuracy request.
Further as technical solution is improved, and positive limit signal, origin sensor signal, negative limit signal are used respectively
Signal wire represents that to carry out region division wherein origin sensor signal passes through two letters of zero signal line and near point signal wire
Number line distinguishes range of signal, and usually, for positive limit signal wire in the leftmost side, anode limits signal wire in the rightmost side, origin sensing
Device signal is between positive limit signal wire and anode limit signal wire；And back to zero control model is different, acquiescence back to zero direction is different, phase
The position of Ying Di, near point signal and zero signal line is different, for example, when back to zero control model is origin rising edge pattern, writes from memory
It is negative to recognize back to zero direction, and zero signal line is in the left side of near point signal wire；Back to zero direction is given tacit consent to for just, zero signal line is near point
The right side of signal wire；And when back to zero control model is near point signal mode, acquiescence back to zero direction is negative, then zero signal line exists
The right side of near point signal wire；Back to zero direction is given tacit consent to for just, zero signal line is in the left side of near point signal wire.With reference to figure 2, Fig. 2 is
An a kind of specific embodiment region division schematic diagram of workbench back to zero control method of the present invention, wherein, L1 and L2 pass for origin
Sensor signal line (zero signal line, near point signal wire)；It is 5 regions by the plane of movement region division on workbench：
Region 1：Positive limit area；
Region 2：The positive limit-area of origin；
Region 3：Area of origin；
Region 4：Origin-negative limit area；
Region 5：Negative limit area.
Further as technical solution is improved, with reference to figure 2, when workbench starts back to zero, judge where workbench just
The region that is located at of beginning position, determination methods are：
Judge whether to detect positive limit signal, negative limit signal or origin sensor signal, if the determination result is YES,
Then the initial position of workbench is located at positive limit area (region 1), bears limit area (region 3) or area of origin (region 5)；
Otherwise, the initial position of workbench is located at the positive limit-area of origin (region 2) or origin-negative limit area (region 4)；
When workbench is located at the positive limit-area of origin (region 2) or origin-negative limit area (region 4), control
Workbench advances by acquiescence back to zero direction；
When acquiescence back to zero direction, just, that is, to control workbench, towards positive limit signal movement, if first detecting, the positive limit is believed
Number, then the initial position of workbench is located at the positive limit-area of origin (region 2)；If first detecting origin sensor signal,
The initial position of workbench is located at origin-negative limit area (region 4)；
Acquiescence back to zero direction is negative, that is, controls workbench to limit signal movement towards anode, if first detecting negative limit signal,
Then the initial position of workbench is located at origin-negative limit area (region 4)；If first detecting origin sensor signal, work
The initial position of platform is located at the positive limit-area of origin (region 2).
After the initial position that workbench is judged according to the above method, according to back to zero control model and workbench region
Difference, select different back to zero path clustering workbench to return to the positive side or negative side of origin sensor range of signal, then control
Workbench processed returns to dead-center position, completes the control of workbench back to zero.
Further as technical solution is improved, and controls positive side or negative side of the workbench from origin sensor range of signal
Returning to the control model of dead-center position also has two kinds of origin rising edge pattern and near point signal mode, is specifically described below two kinds and returns
Zero control model controls the difference of back to zero, and first, with reference to figure 3, Fig. 3 is a kind of use of workbench back to zero control method of the present invention
One specific embodiment schematic diagram of origin rising edge pattern back to zero, wherein, acquiescence back to zero direction is negative, and workbench is sensed from origin
The positive side of device range of signal returns to dead-center position：
Control workbench enter origin sensor range of signal to return speed V1, i.e., by zero signal line when；
At this time, detect that zero signal then controls workbench to decelerate to 0,
After control workbench reversely accelerates to creep speed V2,
Then stop when detecting zero signal again, reach the position of dead-center position, i.e. zero signal line.
Above-mentioned back to zero process controls the situation of back to zero for selection origin sensor signal, is controlled if selected for Z phase signals
Back to zero, then after workbench reversely accelerates to creep speed V2, when detecting zero signal again, workbench will not stop, will
Stop immediately after moving forward until detecting Z phase signals, reach dead-center position (Z in such as Fig. 3).
Further as technical solution is improved, and with reference to figure 4, Fig. 4 is a kind of workbench back to zero control method of the present invention
Using a specific embodiment schematic diagram of near point signal mode back to zero, wherein, acquiescence back to zero direction is negative, and workbench is passed from origin
The positive side of sensor signal scope returns to dead-center position：
Control workbench enter origin sensor range of signal to return speed V1, i.e., by near point signal wire when；
At this time, after detecting that near point signal then controls workbench to decelerate to creep speed V2,
Then stop when detecting zero signal, reach the position of dead-center position, i.e. zero signal line.
Similarly, above-mentioned back to zero process controls the situation of back to zero for selection origin sensor signal, if selected for Z phase signals
Control back to zero, then after workbench decelerates to creep speed V2, when detecting zero signal, workbench will not stop, continuing to
Preceding movement reaches dead-center position (Z in such as Fig. 4) up to stopping immediately after detecting Z phase signals.
With reference to figure 2, since the initial position that workbench is located at is different, control workbench returns to origin sensor signal model
The positive side or negative side enclosed, then the path for controlling workbench to return to dead-center position are different, illustrate separately below：
1., the initial position of workbench be located at positive limit area (region 1)
Back to zero control model is origin rising edge pattern, and with reference to figure 5, Fig. 5 is a kind of workbench back to zero controlling party of the present invention
The specific embodiment schematic diagram using origin rising edge pattern from positive limit area back to zero of method, from positive limit area back to zero
Control method is as follows：
1st, accelerated to out of positive limit area and return speed V1；
2nd, after detecting zero signal, 0 is decelerated to；
3 and then reversely accelerate to creep speed V2；
If the 4, there is no Z phase signals, stop after detecting zero signal again, and using this point as zero point；If Z phases
Signal, stops after detecting Z phase signals, and using this point as zero point.
Back to zero control model is near point signal mode, and with reference to figure 6, Fig. 6 is a kind of workbench back to zero control method of the present invention
The specific embodiment schematic diagram using near point signal mode from positive limit area back to zero, from the control of positive limit area back to zero
Method is as follows：
1st, accelerated to out of positive limit area and return speed V1；
2nd, after detecting near point signal, creep speed V2 is decelerated to；
If the 3, there is no Z phase signals, stop after detecting zero signal, and using this point as zero point；If Z believes
Number, stop after detecting Z phase signals, and using this point as zero point.
2., the initial position of workbench be located at the positive limit-area of origin (region 2)
Back to zero control model is origin rising edge pattern, and with reference to figure 7, Fig. 7 is a kind of workbench back to zero controlling party of the present invention
The specific embodiment schematic diagram using origin rising edge pattern from the positive limit-area of origin back to zero of method, from the positive limit-original
The control method of point region back to zero is as follows：
1st, accelerated to from the positive limit-area of origin (region between the i.e. positive limit and zero signal) and return speed V1；
2nd, after detecting zero signal, 0 is decelerated to；
3 and then reversely accelerate to creep speed V2；
If the 4, there is no Z phase signals, stop after detecting zero signal again, and using this point as zero point；If Z phases
Signal, stops after detecting Z phase signals, and using this point as zero point.
Back to zero control model is near point signal mode, and with reference to figure 8, Fig. 8 is a kind of workbench back to zero control method of the present invention
The specific embodiment schematic diagram using near point signal mode from the positive limit-area of origin back to zero, from the positive limit-origin area
The control method of domain back to zero is as follows：
1st, accelerated to from the positive limit-area of origin (region between the i.e. positive limit and near point signal) and return speed V1；
2nd, after detecting near point signal, deceleration creep speed V2；
If the 3, there is no Z phase signals, stop after detecting zero signal, and using this point as zero point；If Z believes
Number, stop after detecting Z phase signals, and using this point as zero point.
3., the initial position of workbench be located at area of origin (region 3)
Back to zero control model is origin rising edge pattern, and with reference to figure 9, Fig. 9 is a kind of workbench back to zero controlling party of the present invention
The specific embodiment schematic diagram using origin rising edge pattern from area of origin back to zero of method, from the control of area of origin back to zero
Method is as follows：
1st, creep speed V2 is reversely accelerated to out of area of origin；
If the 2, there is no Z phase signals, stop after detecting zero signal, and using this point as zero point；If Z believes
Number, stop after detecting Z phase signals, and using this point as zero point.
Back to zero control model is near point signal mode, and with reference to figure 10, Figure 10 is a kind of workbench back to zero controlling party of the present invention
The specific embodiment schematic diagram using near point signal mode from area of origin back to zero of method, from the controlling party of area of origin back to zero
Method is as follows：
1st, creep speed V2 is accelerated to out of area of origin；
If the 2, there is no Z phase signals, stop after detecting zero signal, and using this point as zero point；If Z believes
Number, stop after detecting Z phase signals, and using this point as zero point.
4., the initial position of workbench be located at origin-negative limit area (region 4)
Back to zero control model is origin rising edge pattern, and with reference to figure 11, Figure 11 is a kind of workbench back to zero control of the present invention
The specific embodiment schematic diagram using origin rising edge pattern from origin-negative limit area back to zero of method, from origin-negative
The control method of limit area back to zero is as follows：
1st, from origin-negative limit area (i.e. origin sensor signal to the region born limit signal) towards negative direction
Accelerate to and return speed V1；
2nd, 0 is decelerated to after detecting negative limit signal；
3rd, reversely accelerate to and return speed V1；
4th, after detecting origin edge signal (i.e. near point signal), it is decelerated to creep speed V2；
If the 5, there is no Z phase signals, stop after detecting zero signal, and using this point as zero point；If Z believes
Number, stop after detecting Z phase signals, and using this point as zero point.
Back to zero control model is near point signal mode, and with reference to figure 12, Figure 12 is a kind of workbench back to zero controlling party of the present invention
The specific embodiment schematic diagram using near point signal mode from origin-negative limit area back to zero of method, from origin-anode limit
The control method of region back to zero is as follows：
1st, from origin-negative limit area (i.e. origin sensor signal to the region born limit signal) towards negative direction
Accelerate to and return speed V1；
2nd, 0 is decelerated to after detecting negative limit signal；
3rd, reversely accelerate to and return speed V1；
4th, after detecting near point signal, 0 is decelerated to；
5th, reversely accelerate to and return speed V1；
6th, after detecting near point signal again, it is decelerated to creep speed V2；
If the 7, there is no Z phase signals, stop after detecting zero signal, and using this point as zero point；If Z believes
Number, stop after detecting Z phase signals, and using this point as zero point.
5., the initial position of workbench be located at negative limit area (region 5)
Back to zero control model is origin rising edge pattern, and with reference to figure 13, Figure 13 is a kind of workbench back to zero control of the present invention
The specific embodiment schematic diagram using origin rising edge pattern from negative limit area back to zero of method, from negative limit area back to zero
Control method it is as follows：
1st, speed V1 is returned towards accelerating in positive direction out of negative limit area；
2nd, after detecting edge signal (i.e. near point signal), creep speed V2 is decelerated to；
If the 3, there is no Z phase signals, stop after detecting zero signal again, and using this point as zero point；If Z phases
Signal, stops after detecting Z phase signals, and using this point as zero point.
Back to zero control model is near point signal mode, and with reference to figure 14, Figure 14 is a kind of workbench back to zero controlling party of the present invention
The specific embodiment schematic diagram using near point signal mode from negative limit area back to zero of method, from the control of negative limit area back to zero
Method processed is as follows：
1st, accelerated to out of negative limit area and return speed V1；
2nd, after detecting near point signal, 0 is decelerated to；
3rd, reversely accelerate to and return speed V1；
4th, after detecting near point signal again, it is decelerated to creep speed V2；
If the 5, there is no Z phase signals, stop after detecting zero signal, and using this point as zero point；If Z believes
Number, stop after detecting Z phase signals, and using this point as zero point.
The stroke of workbench is divided into 5 regions by the present invention, judges which region the initial position of workbench is located in,
And back to zero path is both provided for each region, realizes the arbitrary point back to zero on workbench；Carried for every kind of back to zero path
For two kinds of different back to zero patterns, the demand of accurate back to zero under different occasions can adapt to.Compared with existing reset mode, this
Back to zero scheme judges into line home position, so as to provide different back to zero paths and reset mode.The program is utilized on PLC
The back to zero instruction ZRNR of exploitation, can realize the back to zero requirement of most of occasion.
Based on above-mentioned workbench back to zero control system, the present invention also provides a kind of workbench back to zero control system, reference chart
15, Figure 15 be an a kind of specific embodiment structure chart of workbench back to zero control system of the present invention, including：
Be zeroed parameter acquiring unit 151, and for obtaining the parameter that is zeroed, zero parameter includes acquiescence back to zero direction, the positive limit
Signal, origin sensor signal, negative limit signal, origin sensor signal include zero signal and near point signal；
Area division unit 152, for the stroke of workbench to be divided into five regions, including cathode according to zero parameter
Limit region, the positive limit-area of origin, area of origin, origin-negative limit area, negative limit area；
Initial position judging unit 153, the region being located at for the initial position where judging workbench；
Rehabilitation control unit 154, for controlling workbench to return to origin sensor range of signal from the region being located at
Positive side or negative side；
Back to zero control unit 155, for controlling workbench to be returned to from the positive side or negative side of origin sensor range of signal
Dead-center position, specifically, by having detected whether that zero signal judges whether to reach dead-center position, when detecting zero signal
When, surface workbench is to return to zero point, and otherwise the non-back to zero of workbench, rehabilitation control unit 154 continue to control workbench from institute position
In region return to the positive side or negative side of origin sensor range of signal.
Wherein, rehabilitation control unit 155 and back to zero control unit 155 select back to zero path and paragraph switching to control work
Make platform movement.Workbench back to zero control system proposed by the present invention, not canal table at an arbitrary position, its time can be controlled
Zero, it is highly practical.
Further as technical solution is improved, and in the present invention, when back to zero controls, workbench is located at the back to zero of different zones
Path is different, and the present invention also provides two kinds of different back to zero control models, it is respectively origin rising edge pattern and near point signal
Pattern, provides two kinds of different back to zero patterns for every kind of back to zero path, can adapt to the demand of accurate back to zero under different occasions.
During actual back to zero control, user controls the working status of workbench by PLC, and before back to zero is controlled, be zeroed parameter acquiring list
The zero parameter that member obtains includes the necessary zero parameter of control back to zero and optional zero parameter, and necessary zero parameter includes
Return speed, creep speed, pulse output end slogan, pulse direction port numbers, origin signal input terminal slogan, back to zero control mould
Formula and acquiescence back to zero direction, and the parameter that is optionally zeroed includes positive limit signal, negative limit signal, whether uses the positive limit and bear
Whether the limit, use Z phase signals, positive limit signal input port number, anode limit signal input part slogan and Z phase signals input terminals
Slogan,
Further as technical solution is improved, and the region partitioning method of area division unit is with reference to the control of workbench back to zero
The narration of method, repeats no more；Initial position judging unit includes first position judging unit and second place judging unit；
First position judging unit, for judging whether to detect positive limit signal, negative limit signal or origin sensing
Device signal,
If the determination result is YES, then the initial position of workbench is located at positive limit area, negative limit area or origin area
Domain；
Otherwise, the initial position of workbench is located at the positive limit-area of origin or origin-negative limit area.
Second place judging unit, for being located at the positive limit-area of origin or origin-negative limit area when workbench
When, control workbench continues to advance by acquiescence back to zero direction；
Give tacit consent to back to zero direction for just, if first detecting positive limit signal, the initial position of workbench be located at the positive limit-
Area of origin；If first detecting origin sensor signal, the initial position of workbench is located at origin-negative limit area；
It is negative to give tacit consent to back to zero direction, if first detecting negative limit signal, the initial position of workbench is located at origin-bear
Limit area；If first detecting origin sensor signal, the initial position of workbench is located at the positive limit-area of origin.
The course of work on initial position judging unit refer to the judgement of initial position in above-mentioned back to zero control method
The description of method, details are not described herein.
Further as technical solution is improved, and back to zero control unit includes the first back to zero control unit and the second back to zero control
Unit processed, the control model that control workbench returns to dead-center position from the positive side or negative side of origin sensor range of signal also have
Two kinds of origin rising edge pattern and near point signal mode, correspond to the first back to zero control unit and the second back to zero control unit respectively：
With reference to figure 3, wherein, acquiescence back to zero direction is negative, and the positive side of workbench from origin sensor range of signal returns to zero
Point position, the first back to zero control unit enter origin sensor range of signal for controlling workbench to return speed V1,
Detect that zero signal then controls workbench to decelerate to 0,
After control workbench reversely accelerates to creep speed V2,
Then stop when detecting zero signal again, reach dead-center position.
Above-mentioned back to zero process controls the situation of back to zero for selection origin sensor signal, is controlled if selected for Z phase signals
Back to zero, then after workbench reversely accelerates to creep speed V2, when detecting zero signal again, workbench will not stop, will
Stop immediately after moving forward until detecting Z phase signals, reach dead-center position (Z in such as Fig. 3).
With reference to figure 4, wherein, acquiescence back to zero direction is negative, and the positive side of workbench from origin sensor range of signal returns to zero
Point position, the second back to zero control unit enter origin sensor range of signal for controlling workbench to return speed V1,
After detecting that near point signal then controls workbench to decelerate to creep speed V2,
Then stop when detecting zero signal, reach dead-center position.
Similarly, above-mentioned back to zero process controls the situation of back to zero for selection origin sensor signal, if selected for Z phase signals
Control back to zero, then after workbench decelerates to creep speed V2, when detecting zero signal, workbench will not stop, continuing to
Preceding movement reaches dead-center position (Z in such as Fig. 4) up to stopping immediately after detecting Z phase signals.
Since the initial position that workbench is located at is different, control workbench returns to the positive side of origin sensor range of signal
Or negative side, then the path difference for controlling workbench to return to dead-center position, each specific return path in region is schematically illustrate, please join
According to the description in above-mentioned workbench back to zero control method, details are not described herein.
Above is the preferable of the present invention is implemented to be illustrated, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent variations on the premise of without prejudice to spirit of the invention or replace
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of workbench back to zero control method, it is characterised in that comprise the following steps：
Zero parameter is obtained, the zero parameter includes acquiescence back to zero direction, positive limit signal, origin sensor signal, anode
Signal is limited, the origin sensor signal includes zero signal and near point signal；
The stroke of workbench is divided into by five regions, including positive limit area, the positive limit-origin according to the zero parameter
Region, area of origin, origin-negative limit area, negative limit area；
The region that initial position where judging the workbench is located at；
The workbench is controlled to return to the positive side or negative side of origin sensor range of signal from the region being located at；
The workbench is controlled to return to dead-center position from the positive side or negative side of the origin sensor range of signal.
2. workbench back to zero control method according to claim 1, it is characterised in that described to judge the workbench place
The method in region that is located at of initial position include：
Judge whether to detect positive limit signal, negative limit signal or origin sensor signal, if the determination result is YES, then institute
The initial position for stating workbench is located at positive limit area, negative limit area or area of origin；Otherwise, the workbench is initial
Position is located at the positive limit-area of origin or origin-negative limit area.
3. workbench back to zero control method according to claim 2, it is characterised in that described to judge the workbench place
The method in region that is located at of initial position further include：
When the workbench is located at the positive limit-area of origin or origin-negative limit area, control workbench, which is pressed, to be given tacit consent to back
Zero direction advances；
The acquiescence back to zero direction is just, if first detecting positive limit signal, the initial position of the workbench is located at cathode
Limit-area of origin；If first detecting origin sensor signal, the initial position of the workbench is located at origin-anode limit
Region；
The acquiescence back to zero direction is negative, if first detecting negative limit signal, the initial position of the workbench is positioned at original
Point-negative limit area；If first detecting origin sensor signal, the initial position of the workbench is located at the positive limit-original
Point region.
4. workbench back to zero control method according to any one of claims 1 to 3, it is characterised in that the zero parameter
Further include and return speed and creep speed, the control workbench from the positive side of the origin sensor range of signal or
The method that negative side returns to dead-center position includes：
The workbench is controlled to enter origin sensor range of signal with the recurrence speed,
Detect that the zero signal then controls workbench to decelerate to 0,
After controlling the workbench reversely to accelerate to the creep speed,
Then stop when detecting the zero signal again, reach the dead-center position.
5. workbench back to zero control method according to any one of claims 1 to 3, it is characterised in that the zero parameter
Further include and return speed and creep speed, the control workbench from the positive side of the origin sensor range of signal or
The method that negative side returns to dead-center position includes：
The workbench is controlled to enter origin sensor range of signal with the recurrence speed,
After detecting that the near point signal then controls workbench to decelerate to creep speed,
Then stop when detecting the zero signal, reach dead-center position.
A kind of 6. workbench back to zero control system, it is characterised in that including：
Be zeroed parameter acquiring unit, and for obtaining the parameter that is zeroed, the zero parameter includes acquiescence back to zero direction, positive limit letter
Number, origin sensor signal, negative limit signal, the origin sensor signal includes zero signal and near point signal；
Area division unit, for the stroke of workbench to be divided into five regions, including the positive limit according to the zero parameter
Region, the positive limit-area of origin, area of origin, origin-negative limit area, negative limit area；
Initial position judging unit, the region being located at for the initial position where judging the workbench；
Rehabilitation control unit, for controlling the workbench to return to from the region being located at the positive side of origin sensor range of signal
Or negative side；
Back to zero control unit, for controlling the workbench to be returned to from the positive side or negative side of the origin sensor range of signal
Dead-center position.
7. workbench back to zero control system according to claim 6, it is characterised in that the initial position judging unit bag
Include：
First position judging unit, for judging whether to detect positive limit signal, negative limit signal or origin sensor letter
Number,
If the determination result is YES, then the initial position of the workbench is located at positive limit area, negative limit area or origin area
Domain；
Otherwise, the initial position of the workbench is located at the positive limit-area of origin or origin-negative limit area.
8. workbench back to zero control system according to claim 7, it is characterised in that the initial position judging unit is also
Including：
Second place judging unit, for being located at the positive limit-area of origin or origin-negative limit area when the workbench
When, control workbench advances by acquiescence back to zero direction；
The acquiescence back to zero direction is just, if first detecting positive limit signal, the initial position of the workbench is located at cathode
Limit-area of origin；If first detecting origin sensor signal, the initial position of the workbench is located at origin-anode limit
Region；
The acquiescence back to zero direction is negative, if first detecting negative limit signal, the initial position of the workbench is positioned at original
Point-negative limit area；If first detecting origin sensor signal, the initial position of the workbench is located at the positive limit-original
Point region.
9. according to claim 6 to 8 any one of them workbench back to zero control system, it is characterised in that the zero parameter
Further including recurrence speed and creep speed, the back to zero control unit includes：
First back to zero control unit, for controlling the workbench to enter origin sensor signal model with the recurrence speed
Enclose,
Detect that the zero signal then controls workbench to decelerate to 0,
After controlling the workbench reversely to accelerate to the creep speed,
Then stop when detecting the zero signal again, reach the dead-center position.
10. according to claim 6 to 8 any one of them workbench back to zero control system, it is characterised in that the zero parameter
Further including recurrence speed and creep speed, the back to zero control unit includes：
Second back to zero control unit, for controlling the workbench to enter origin sensor signal model with the recurrence speed
Enclose,
After detecting that the near point signal then controls workbench to decelerate to creep speed,
Then stop when detecting the zero signal, reach dead-center position.
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| CN201711119159.5A CN108021153A (en) | 2017-11-13 | 2017-11-13 | A kind of workbench back to zero control method and system |
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| CN110865560A (en) * | 2019-11-06 | 2020-03-06 | 泰德激光惠州有限公司 | Zero-returning motion control method, terminal device and computer readable storage medium |
| CN112720485A (en) * | 2020-12-22 | 2021-04-30 | 深圳市越疆科技有限公司 | Mechanical arm joint zero returning method and device and computer readable storage medium |
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Application publication date: 20180511 |