CN108663951A - Actuator control system, robot and press-working apparatus - Google Patents
Actuator control system, robot and press-working apparatus Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The present invention provides a kind of load that can reduce controller and the actuator control system of the delay of response time for inhibiting actuator.A kind of actuator control system of present invention offer, robot and press-working apparatus, control system have：Actuator；Controller generates and sends the first control instruction in the control instruction of the driving for controlling actuator；I/O instruction devices send I/O data；And amplifier, it is previously stored with the second control instruction, second control instruction is the control instruction other than the first control instruction in control instruction, and it is corresponding with I/O data, amplifier controls the driving of actuator according to the first control instruction received from controller, and the driving of actuator is controlled according to the second control instruction corresponding with the I/O data received from I/O instruction devices.Thereby, it is possible to reduce the load of controller and inhibit actuator response time delay.
Description
Technical field
The present invention relates to a kind of technical field of industrial control more particularly to actuator control system, robot and punching presses to add
Tooling is set.
Background technology
With advances in technology and the improvement of people's living standards, present many industries need the accurate operation of robot
To complete the processing of device.
It is understood that robot is made of multiple arms, each arm corresponds to an actuator, by actuator come actuating arm
Complete corresponding movement.Such as include the angle of arm rotation, flexible length etc..
The control instruction generated by controller is generally sent to amplifier, amplifier according to the control instruction received come
The driving for controlling actuator, completes the action of corresponding arm.In addition, increasing along with the quantity of amplifier and actuator, control
Device processed has to generate multiple control instructions to control the driving of multiple actuators, and therefore, not only the load of controller becomes
Weight, and the processing time delay of controller, as a result lead to the response time delay of actuator.
Invention content
In order to solve above-mentioned technical task existing in the prior art, the present invention, which provides, a kind of can reduce the negative of controller
Lotus and inhibit actuator response time delay actuator control system, robot and press-working apparatus.
Actuator control system provided by the invention, has：Actuator；Controller generates and sends for controlling
State the first control instruction in the control instruction of the driving of actuator；
I/O instruction devices send I/O data；And amplifier, it is previously stored with the second control instruction, second control
System instruction is the control instruction other than above-mentioned first control instruction in above-mentioned control instruction, and corresponding with above-mentioned I/O data, on
Amplifier is stated according to above-mentioned first control instruction received from above controller to control the driving of above-mentioned actuator, and root
The drive of above-mentioned actuator is controlled according to above-mentioned second control instruction corresponding with the I/O data received from above-mentioned I/O instruction devices
It is dynamic.
Actuator control system according to the present invention controls the driving of above-mentioned actuator according to control instruction, and
Above-mentioned actuator is controlled according to above-mentioned second control instruction corresponding with the I/O data received from above-mentioned I/O instruction devices
Driving.
Preferably, above-mentioned actuator control system has：Multiple above-mentioned amplifiers；And it is corresponding respectively with above-mentioned amplifier
Multiple above-mentioned actuators of ground setting, each above-mentioned amplifier receive identical above-mentioned first control from above controller respectively and refer to
Enable, and receive identical I/O data from above-mentioned I/O instruction devices respectively, to pair with the above-mentioned actuator that is respectively arranged in correspondence with
Driving controlled.
Preferably, above-mentioned actuator control system has：Multiple above-mentioned amplifiers；And it is corresponding respectively with above-mentioned amplifier
Multiple above-mentioned actuators of ground setting, each above-mentioned amplifier receive identical above-mentioned first control from above controller respectively and refer to
Enable, and respectively different I/O data received from above-mentioned I/O instruction devices, to pair with the above-mentioned actuator that is respectively arranged in correspondence with
Driving controlled.In these cases, pair of the above-mentioned I/O data and above-mentioned second control instruction in each above-mentioned amplifier
Should be related to can be mutually identical, can also be mutually different.
Preferably, the above-mentioned first or above-mentioned second control instruction and the action of above-mentioned actuator are one-to-one, alternatively, above-mentioned
The action of first or above-mentioned second control instruction and above-mentioned actuator is multi-to-multi.
Preferably, the sampling period of above controller is longer than the sampling period of above-mentioned amplifier.In addition, have sensor,
Testing result is sent to I/O instruction devices by the sensor, and I/O instruction devices send the I/O data based on above-mentioned testing result.
Preferably, above-mentioned actuator control system can be applied to robot, and robot has：Actuator control system；
And the arm acted by above-mentioned actuator.
Preferably, above-mentioned actuator control system can be applied to press-working apparatus, and press-working apparatus has actuating
It device control system and is acted by the driving of above-mentioned actuator, the stamping die of punch process is carried out to workpiece.
Preferably, above controller and above-mentioned I/O instruction devices integrate.
Compared with prior art, the present invention at least has the following advantages that：
The control instruction that the driving of processing control actuator is shared using controller and I/O instruction devices-amplifier, because
This can reduce the load of controller.With can reduce controller load correspondingly, the processing time of controller can be inhibited
Delay therefore as a result can inhibit the delay of the response time of actuator.Also, pass through I/O instruction devices and amplifier
It combines to handle the second control instruction, as a result, compared with the case where generating the second control instruction using amplifier, place can be shortened
Manage the time.As a result, compared with the case where generating the second control instruction using amplifier, the response of actuator can be further suppressed
The delay of time.
Description of the drawings
In order to more clearly be illustrated to embodiments herein or technical solution in the prior art, hereinafter, simply
Introduce the attached drawing for needing to be used in the description of embodiment or the prior art, it is therefore apparent that the attached drawing in following description is only
It is that several embodiments recorded in the application to those skilled in the art can be before without paying creative contribution
It puts and further obtains other accompanying drawings according to these attached drawings.
Fig. 1 is the schematic diagram of the embodiment 1 of actuator control system provided by the present invention.
Fig. 2 is the schematic diagram of the details for the connection structure example for showing I/O instruction devices 300 and amplifier AMP.
Fig. 3 is the schematic diagram of the actuator control system as comparative example.
Fig. 4 is the schematic diagram of the embodiment 2 of actuator control system provided by the present invention.
Fig. 5 is the signal of the details for the connection structure example for showing I/O instruction devices 300 and amplifier AMP1 and AMP2
Figure.
Fig. 6 is the details for other connection structure examples for showing I/O instruction devices 301 and amplifier AMP1 and AMP2
Schematic diagram.
Fig. 7 is the schematic diagram of the application examples 1 of actuator control system provided by the present invention.
Fig. 8 is the schematic diagram of the application examples 2 of actuator control system provided by the present invention.
Drawing reference numeral explanation：
100、100a、100b：Sensor；200：Controller；300、301：I/O instruction devices；AMP、AMP1、AMP2：First
Amplifier；M、M1、M2：Actuator；5：Robot；500、501、502：Arm；6：Fixed station；7：Press-working apparatus；700：On
Mould；701：Lower die.
Specific implementation mode
In order to make those skilled in the art more fully understand the solution of the present invention, hereinafter, in conjunction in the embodiment of the present invention
Attached drawing the technical solution in the embodiment of the present invention illustrated.Certainly, the embodiment described only this hair
Bright section Example is not whole embodiments.Those skilled in the art are according to an embodiment of the invention without paying wound
The property made every other embodiment acquired under the premise of contributing also all is under the jurisdiction of protection scope of the present invention.
Embodiment 1
Fig. 1 is the schematic diagram of the embodiment 1 of actuator control system provided by the present invention.
The actuator control system that the present embodiment is provided includes sensor 100, controller 200, I/O instruction devices 300, extremely
Few 1 amplifier AMP and at least one actuator M.Actuator M is, for example, servo motor or linear motor.
Sensor 100 is constituted such as by pressure sensor or limit sensors, is connect with I/O instruction devices 300.Sensor
Testing result is sent to I/O instruction devices 300 by 100.In addition, in the present embodiment, the not required structure of sensor 100 can
To omit.
Controller 200 is for example made of programmable logic controller (PLC) (PLC).Controller 200 is connect with amplifier AMP.Control
Device 200 processed is instructed according to the input from input unit (not shown), generates the control instruction of the driving for controlling actuator M
In the first control instruction and by its to amplifier AMP send.First control instruction be, for example, with the speed control of actuator M,
Moment of torsion control, the relevant instruction of position control etc..
I/O instruction devices 300 are for example made of relay group.I/O instruction devices 300 connect with sensor 100 and amplifier AMP
It connects, I/O data is sent to amplifier AMP according to the testing result of sensor 100.Fig. 2 is to show I/O instruction devices 300 and amplification
The schematic diagram of the details of the connection structure example of device AMP.I/O instruction devices 300 have No. 1~No. 5 I/O interfaces, amplifier
AMP also has No. 1~No. 5 AMP interfaces, is connected with each other between the interface of identical number.In addition, I/O interfaces shown in Fig. 2 and
Quantity, the number of AMP interfaces are an examples, and it's not limited to that.I/O data are to indicate the letter of on/off (ON/OFF)
Number, it can be " 0 "/" 1 " signal or the electric signal of high level/low level (HI/LOW), can also be other signals.
Amplifier AMP is connect with controller 200, I/O instruction devices 300 and actuator M.In the present embodiment, actuator M
It is correspondingly arranged one to one with amplifier AMP.Amplifier AMP includes being previously stored with parameter list and the second control in control instruction
Make the memory of instruction.For example, parameter list is as shown in table 1.
Table 1
Second control instruction shown in table 1 is the control instruction other than the first control instruction, for example, A=actuators M is quiet
Only, B=actuators M is run, and C=actuators M is rotated by 90 ° to the right, D=actuators M to 120 degree of anticlockwise, E=actuators M to
Left-handed turnback etc..In addition, in table 1, the second control instruction is all different, but can also be all or part of identical.
In this way, the parameter list is to indicate that the I/O data from I/O instruction devices 300 refer to the second control in control instruction
The table of the correspondence of order.Amplifier AMP is previously stored with the parameter list and the second control instruction.That is, advance in amplifier AMP
It is stored with the second control instruction corresponding with I/O data.
Amplifier AMP controls the driving of actuator M according to the first control instruction received from controller 200.Also,
Amplifier AMP determines the second control corresponding with the I/O data received from I/O instruction devices 300 with reference to the parameter list in memory
System instruction.In the case of table 1, it is to connect the I/O numbers of (ON) corresponding second to control that amplifier AMP, which is determined with I/O data,
Instruct A.Amplifier AMP reads the second control instruction A having determined that from memory, and is controlled according to the second control instruction A
The driving of actuator M.In this way, amplifier AMP controls actuator M according to the first control instruction received from controller 200
Driving, and actuator M is controlled according to the second control instruction corresponding with the I/O data received from I/O instruction devices 300
Driving.
Here, in order to enable being readily appreciated that the effect of the actuator control system recorded in the embodiment of the present application,
Comparative example is enumerated to illustrate.Hereinafter, with reference to Fig. 3, comparative example is illustrated.Fig. 3 is the actuator control system in comparative example
Schematic diagram.
The actuator control system that comparative example is provided includes sensor 100, controller 200a, amplifier AMPa and cause
Dynamic device M.Sensor 100 and actuator M are same as Fig. 1, and and the description is omitted.
Controller 200a is connect with sensor 100 and amplifier AMPa.Controller 200a is according to from (not shown) defeated
Input instruction and/or the testing result of sensor 100 for entering device, generate whole controls of the driving for controlling actuator M
System instruction (the first and second control instruction for being equivalent to Fig. 1) is simultaneously sent to amplifier AMPa.
Amplifier AMPa is connect with controller 200a and actuator M.Amplifier AMPa is received according to from controller 200a
To control instruction control the driving of actuator M.
In a comparative example, as described above, control instruction all carries out generation processing in controller 200a.On the other hand, exist
In the present embodiment, as illustrated using Fig. 1, in controller 200, only to a part for control instruction, (the first control refers to
Enable) generation processing is carried out, remaining control instruction (the second control instruction) is stored in advance in AMP.
In this way, in the present embodiment, to share being handled using controller 200 and I/O instruction device 300- amplifiers AMP
Therefore control instruction compared with the comparative example of Fig. 2, can reduce the load of controller 200.With can reduce controller 200
This case that load correspondingly, the delay of the processing time of controller 200 can be inhibited, therefore, as a result, actuator can be inhibited
The delay of the response time of M.
Also, in the present embodiment, referred to handle the second control by the combination of I/O instruction devices 300 and amplifier AMP
It enables, as a result, compared with the case where generating the second control instruction using amplifier AMP, when can shorten the processing of amplifier AMP
Between.As a result, compared with the case where generating the second control instruction using amplifier AMP, it can further suppress and refer to the second control
Enable the delay of the response time of relevant actuator M.
In the above description, the sampling period of controller 200 and amplifier AMP is not referred to specially, but may be constructed
The sampling period of device 200 is longer than amplifier AMP in order to control.In this case, the delay of the response time of actuator M can be inhibited
Effect it is more notable.
Embodiment 2
In the present embodiment 2, to have multiple amplifiers to actuator control system with centered on the difference of embodiment 1
And the configuration example of actuator illustrates.Fig. 4 is the signal of the embodiment 2 of actuator control system provided by the present invention
Figure.
The actuator control system that the present embodiment is provided includes sensor 100, controller 200, I/O instruction devices 300, puts
Big device AMP1, amplifier AMP2, actuator M1 and actuator M2.
Controller 200 is connect with amplifier AMP1 and AMP2.Controller 200 is generated for controlling actuator M1 and M2
Driving control instruction in the first control instruction and sent respectively to amplifier AMP1 and AMP2.To amplifier AMP1 with
And the first control instruction that AMP2 is sent respectively may be the same or different.
I/O instruction devices 300 are connect with sensor 100, amplifier AMP1 and AMP2, to amplifier AMP1 and AMP2 points
Identical I/O data (data of the testing result based on sensor 100) are not sent.Fig. 5 is to show I/O instruction devices 300 and put
The schematic diagram of the details of the connection structure example of big device AMP1 and AMP2.Amplifier AMP1 and AMP2 have No. 1 respectively
~No. 5 AMP interfaces, in the example of fig. 5, AMP interfaces are connected with the I/O interfaces of identical number.I/O instruction devices 300 are to putting
Big device AMP1 and AMP2 send identical I/O data.In addition, the quantity of I/O interfaces shown in fig. 5 and AMP interfaces, number
It is an example, it's not limited to that.
Amplifier AMP1 is the same as the actuator being arranged in correspondence with controller 200, I/O instruction devices 300 and amplifier AMP1
M1 connections.Amplifier AMP2 is the same as the actuator M2 being arranged in correspondence with controller 200, I/O instruction devices 300 and amplifier AMP2
Connection.Amplifier AMP1 and AMP2 respectively include being previously stored with depositing for parameter list and the second control instruction in control instruction
Reservoir.For example, the parameter list of amplifier AMP1 and AMP2 are tables as shown in Table 1, it is identical table.Amplifier AMP1 and
The parameter list of AMP2 can be different.That is, the correspondence of the I/O data and the second control instruction in amplifier AMP1 and AMP2
Can be mutually identical, it can also be mutually different.
Amplifier AMP1 and AMP2 according to the first control instruction received from controller 200 come control actuator M1 with
And the driving of M2.Also, amplifier AMP1 and AMP2 be with reference to the parameter list in respective memory, determine respectively with from I/O
Corresponding second control instruction of identical I/O data that instruction device 300 receives.In this way, amplifier AMP1 and AMP2 according to
Corresponding with the identical I/O data received from I/O instruction devices 300 the second control instruction controls actuator M1 and M2
Driving.
In this way, actuator control system can also have multiple amplifiers and actuator.Have multiple amplifiers with
And in the case of actuator, the generation processing for carrying out more control instructions is needed in the controller, therefore described in embodiment 1
Effect it is more notable.
In the present embodiment 2, have 2 amplifiers and 2 actuators, but not limited to this.Can also have 3 with
On amplifier and 3 or more actuators.Also, it in the above description, is arranged in correspondence with 1 actuator with 1 amplifier,
But 2 or more actuators can also be set relative to 1 amplifier.
Embodiment 3
In the present embodiment 3, to be sent to different amplifiers to I/O instruction devices from centered on the difference of embodiment 2
The case where different I/O data, illustrates.Fig. 6 is other companies for showing I/O instruction devices 301 with amplifier AMP1 and AMP2
Connect the schematic diagram of the details of configuration example.
I/O instruction devices 301 are connect with amplifier AMP1 and AMP2, and send different I/O data respectively to them.I/
O instruction devices 301 have No. 1~No. 10 I/O interfaces.Amplifier AMP1 and AMP2 have No. 1~No. 5 AMP interfaces respectively,
In the example of fig. 6, the AMP interfaces of No. 1 of amplifier AMP1~No. 5 and the I/O interfaces of identical number connect, amplifier AMP2
No. 1~No. 5 AMP interfaces connect with No. 6~No. 10 I/O interfaces.I/O instruction devices 301 are to amplifier AMP1 and AMP2
Different I/O data are sent respectively.In addition, the quantity of I/O interfaces shown in fig. 6 and AMP interfaces, number are an examples,
It's not limited to that.
For example, the parameter list of amplifier AMP1 and AMP2 are table as shown in Table 1, it is identical table.But amplifier
The I/O interface indexes of the parameter list of AMP2 are 6~No. 10.In addition, the parameter list of amplifier AMP1 and AMP2 can be different.
That is, the I/O data in amplifier AMP1 and AMP2 can be mutually identical with the correspondence of the second control instruction, it can also phase
It is mutually different.
Amplifier AMP1 and AMP2 according to the first control instruction received from controller 200 come control actuator M1 with
And the driving of M2.Also, amplifier AMP1 and AMP2 be with reference to the parameter list in respective memory, determine respectively with from I/O
Corresponding second control instruction of identical I/O data that instruction device 301 receives.In this way, amplifier AMP1 and AMP2 according to
Corresponding with the identical I/O data received from I/O instruction devices 301 the second control instruction controls actuator M1 and M2
Driving.
In this way, I/O instruction devices can also send different I/O data to different amplifiers.
In addition, in the above embodiment, the action of the first and second control instruction and actuator is one-to-one.Example
Such as, to be rotated by 90 ° to the right, action corresponding with another control instruction is to left-handed for action corresponding with a control instruction
Turn 120 degree.But it's not limited to that.The action of first and second control instruction and actuator can be multi-to-multi.It is controlling
In the case that system instruction is multi-to-multi with action, amplifier can be stored with new parameter list.
Embodiment 4
In example 4, the application examples of actuator control system is illustrated.Fig. 7 is actuating provided by the present invention
The schematic diagram of the application examples 1 of device control system.Application examples 1 is the actuator control system application that will illustrate in embodiment 2 or 3
In the example of robot.
As shown in fig. 7, robot 5 has the actuator control system illustrated in embodiment 2 or 3 and arm 500~502.
Fixed station 6 is fixed in one end of arm 500, and the other end is connect via actuator M2 with one end of arm 501.Arm 501 is by actuator
The driving of M2 is acted, and the other end of arm 501 is connect via actuator M1 with one end of arm 502.Arm 502 is by actuator M1
Driving acted, the other end of arm 502 is provided with manipulator not shown in the figure etc..Sensor 100 is by sensor
100a and 100b is constituted, and is disposed on pressure sensor or limit sensors of actuator M1 and M2 etc..
Amplifier AMP1 and AMP2 according to the first control instruction received from controller 200 come control actuator M1 with
And the driving of M2.Also, amplifier AMP1 and AMP2 be with reference to the parameter list in respective memory, determine respectively with from I/O
Corresponding second control instruction of I/O data that instruction device 300 receives.Amplifier AMP1 and AMP2 is according to determined
Two control instructions control the driving of actuator M1 and M2.By the control of the actuator control system, robot 5 is into action
Make.Due to the use of the actuator control system of the delay for the response time that can inhibit actuator M, therefore, as a result can improve
The action response of robot.
In addition, in the figure 7, the Liang Zhou robots to having 3 arms 500~502 are illustrated, but are not limited to
This.Actuator control system can also be applied to the robot of two axis or more.As long as actuator control system is corresponding with the number of axle
Ground has amplifier and actuator.For example, if six-joint robot, then have 6 amplifiers and 6 actuators.
Fig. 8 is the schematic diagram of the application examples 2 of actuator control system provided by the present invention.Application examples 2 is by embodiment 1
The middle actuator control system illustrated is applied to the example of press-working apparatus.
As shown in figure 8, press-working apparatus 7 have the actuator control system that illustrated in embodiment 1 and stamping die (on
Mould 700 and lower die 701).Stamping die is to carry out action by actuator M to carry out the mold of punch process to workpiece W.Specifically
For, upper mold 700 is configured at across position opposed with lower die 701 workpiece W.It is connected with actuator M in upper mold 700, the upper mold
700 are acted and (are risen or fallen) by the driving of actuator M.Upper mold 700 is provided with protrusion 700a, is set in lower die 701
It is equipped with the recess portion 701a to match with the shape of protrusion 700a.Engaged with lower die 701 by upper mold 700, workpiece W is stamping
At shape corresponding with protrusion 700a and recess portion 701a.Sensor 100 is disposed on the pressure sensor of recess portion 701a.
Amplifier AMP controls the driving of actuator M according to the first control instruction received from controller 200.For example,
In the case where detecting the pressure of regulation or more by sensor 100, controller 200 controls the driving of actuator M and makes
Mould 700 rises.Also, the I/O that amplifier AMP is determined with received from I/O instruction devices 300 with reference to the parameter list in memory
Corresponding second control instruction of data.Amplifier AMP controls the drive of actuator M according to the second control instruction determined
It is dynamic.For example, during detecting the pressure lower than authorized pressure by sensor 100, amplifier AMP control actuators M's
It drives and upper mold 700 is made to decline.By the control of the actuator control system, press-working apparatus 7 is acted.Due to the use of
It can inhibit the actuator control system of the delay of the response time of actuator M, therefore, as a result can improve press-working apparatus
Action response.
In addition, in fig. 8, actuator M is connected in upper mold 700, upper mold 700 is acted by the driving of actuator M, but
It's not limited to that.Actuator M can be connected in lower die 701, lower die 701 is acted by the driving of actuator M, can also
Actuator M is set in upper mold 700 and 701 both sides of lower die, is acted respectively.
Furthermore it is possible to understand, be formed as the knot that controller is separately arranged with I/O instruction devices in Examples 1 to 4
Structure, but can also integrate.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art
Member, without departing from the scope of the technical proposal of the invention, all using the methods and technical content of the disclosure above to the present invention
Technical solution makes many possible changes and modifications, or is revised as the equivalent embodiment of equivalent variations.Therefore, it is every without departing from
The content of technical solution of the present invention, according to the technical essence of the invention any simple modification made to the above embodiment, equivalent
Variation and modification, still fall within technical solution of the present invention protection in the range of.
Claims (10)
1. a kind of actuator control system, which is characterized in that have：
Actuator；
Controller generates and sends the first control instruction in the control instruction of the driving for controlling the actuator；
I/O instruction devices send I/O data；And
Amplifier is previously stored with the second control instruction, which is described first in the control instruction
Control instruction other than control instruction, and it is corresponding with the I/O data,
The amplifier controls the driving of the actuator according to first control instruction received from the controller,
And the actuator is controlled according to corresponding second control instruction of the I/O data received from the I/O instruction devices
Driving.
2. actuator control system according to claim 1, which is characterized in that
The actuator control system has：
Multiple amplifiers；And
The multiple actuators being correspondingly arranged respectively with the amplifier,
Each amplifier receives first control instruction from the controller respectively, and is connect respectively from the I/O instruction devices
Identical I/O data are received, the driving for the actuator being respectively arranged in correspondence with is controlled.
3. actuator control system according to claim 1, which is characterized in that
The actuator control system has：
Multiple amplifiers；And
The multiple actuators being respectively correspondingly arranged with the amplifier,
Each amplifier receives first control instruction from the controller respectively, and is received respectively from the I/O instruction devices
From different I/O data, pair controlled with the driving of the actuator being respectively arranged in correspondence with.
4. actuator control system according to claim 2 or 3, which is characterized in that
I/O data in each amplifier and the correspondence of second control instruction are mutually identical or mutually not
Together.
5. actuator control system according to claim 1, which is characterized in that
The action of first control instruction or second control instruction and the actuator be it is one-to-one,
Alternatively,
The action of first control instruction or second control instruction and the actuator is multi-to-multi.
6. actuator control system according to claim 1, which is characterized in that
The sampling period of the controller is longer than the sampling period of the amplifier.
7. actuator control system according to claim 1, which is characterized in that further include sensor, which will examine
It surveys result and is sent to the I/O instruction devices,
The I/O instruction devices send the I/O data based on the testing result.
8. actuator control system according to claim 1, which is characterized in that
The controller and the I/O instruction devices integrate.
9. a kind of robot, which is characterized in that have：
Actuator control system described in claim 1；And
By the arm of the actuator acted.
10. a kind of press-working apparatus, which is characterized in that have：
Actuator control system described in claim 1；And
It is acted by the driving of the actuator, the stamping die of punch process is carried out to workpiece.
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| CN201710193722.7A CN108663951B (en) | 2017-03-28 | 2017-03-28 | Actuator control system, robot, and press working device |
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| CN201710193722.7A CN108663951B (en) | 2017-03-28 | 2017-03-28 | Actuator control system, robot, and press working device |
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| CN108663951B CN108663951B (en) | 2021-08-27 |
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Citations (15)
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| CN1476963A (en) * | 2002-06-17 | 2004-02-25 | ������������ʽ���� | Distributed control system and method |
| CN2779461Y (en) * | 2004-12-27 | 2006-05-10 | 浙江卧龙科技股份有限公司 | Multi-servo motor controller of winding machine |
| CN201233529Y (en) * | 2008-06-20 | 2009-05-06 | 台州腾宇铜业有限公司 | Control system for digital control lathe |
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