CN114221497A - Method for recording position of motor in power failure - Google Patents
Method for recording position of motor in power failure Download PDFInfo
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- CN114221497A CN114221497A CN202111346623.0A CN202111346623A CN114221497A CN 114221497 A CN114221497 A CN 114221497A CN 202111346623 A CN202111346623 A CN 202111346623A CN 114221497 A CN114221497 A CN 114221497A
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 239000000725 suspension Substances 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000009776 industrial production Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/35—Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The scheme relates to a method for recording the position of a motor during power failure. The method comprises the following steps: searching a motor needing to be powered off and remembering the position value in each motor; establishing an REAL type variable for a motor needing to be powered off and remember a position value in a PLC controller, and setting the REAL type variable as a power-off maintaining type variable; when the power is not cut off, assigning a power-off keeping variable corresponding to the motor needing to be powered off and remember the position value as a real-time position value variable of the motor; when the power is cut off, the power-off keeping variable remembers the real-time position value variable of the motor; after the power is on, the PLC judges and protects the position of the motor according to the real-time position value variable of the motor. Need not to add the battery on the driver, the encoder of motor connects extra power and can carry out the position outage and preserve, through setting REAL type variable into outage maintenance type variable, can remember the REAL-time position value variable of motor when the outage to protect the motor, simplified the control mode of motor through the form of software, thereby saved the cost.
Description
Technical Field
The invention relates to the technical field of automatic manufacturing, in particular to a method for recording the position of a motor during power failure.
Background
The motor is an electromagnetic device for realizing electric energy conversion or transmission according to an electromagnetic induction law. The motor is mainly used for generating driving torque and is used as a power source of electric appliances or various machines. In the existing automatic industrial production process, a motor is often required to be used for carrying, processing and other work, and the position of the motor is read in real time and applied in real time through an encoder under normal conditions. However, when the problem cannot be handled or the production is required to be finished without a subsequent production plan, the whole equipment needs to be powered off, when the motor is restarted again, the current position is defaulted to be the zero point, position judgment is largely used for protecting the mechanism in an automatic program so as to protect the mechanism, and the default zero resetting of the power-off restart can cause the judgment to be invalid. Therefore, batteries are added to motors needing position power-off maintaining, research and development cost of equipment is undoubtedly added if most motors of the whole machine need to be added with batteries, and a group of power lines need to be additionally connected to an encoder, so that wiring difficulty is increased.
Therefore, the conventional method for recording the position of the power-off motor has the problem of high cost.
Disclosure of Invention
Therefore, in order to solve the technical problem, the method for recording the position of the motor during power failure is provided, and the cost for recording the position of the power failure motor can be reduced.
A method of recording the position of a motor on power-off, the method comprising:
searching a motor needing to be powered off and remembering the position value in each motor;
establishing an REAL type variable for the motor needing to be powered off and remember the position value in the PLC, and setting the REAL type variable as a power-off maintaining type variable;
when the power is not cut off, assigning the power-off keeping variable corresponding to the motor needing to be power-off and remembering the position value as a real-time position value variable of the motor;
when the power is cut off, the power-off maintaining variable remembers a real-time position value variable of the motor;
after the power is on, the PLC controller judges and protects the position of the motor according to the real-time position value variable of the motor.
In one embodiment, the creating a REAL-type variable for the motor requiring power-off remembering position values inside the PLC controller includes:
the PLC acquires the number of the motors needing to be powered off and remembering the position values;
and respectively creating an REAL type variable for each motor needing to be powered off and remembering the position value in the PLC according to the number of the motors.
In one embodiment, assigning the power-off hold variable corresponding to the motor requiring power-off remembering of the position value as a real-time position value variable of the motor includes:
the PLC searches for a driver corresponding to the motor needing to be powered off and remember the position value;
reading a real-time feedback value of the motor needing to be powered off and remembering the position value from the driver;
and the PLC acquires the variable corresponding to the real-time feedback value, assigns the variable corresponding to the real-time feedback value to the outage holding variable, and obtains the real-time position value variable.
In one embodiment, before the power-off maintaining variable remembers the real-time position value variable of the motor when the power is off, the method further comprises:
and the PLC acquires an operation program containing the power-off holding variable and places the operation program in the PLC for continuous operation.
In one embodiment, the method further comprises:
the PLC creates a travel variable and compares the travel variable with a real-time position value variable of the motor to obtain a comparison result;
and controlling the motor which needs to be powered off and memorize the position value to move according to the comparison result.
In one embodiment, the comparing the stroke variable with the real-time position value variable of the motor to obtain a comparison result includes:
the PLC acquires the running stroke of the motor needing to be powered off and remember the position value according to the stroke variable;
the PLC writes the running stroke into a control program corresponding to the motor needing to be powered off and remembering the position value; the stroke variable comprises an upper limit and a lower limit of the running stroke;
and comparing the real-time position value variable of the motor with the upper limit and the lower limit of the running stroke through the control program to obtain a comparison result.
In one embodiment, the controlling the motor movement requiring the power-off remembering position value according to the comparison result includes:
and when the comparison result is that the real-time position value variable of the motor exceeds the upper limit and the lower limit of the running stroke, the control program transmits the comparison result to the PLC, and the PLC controls the motor needing to be powered off and remembering the position value to stop moving.
In one embodiment, the method further comprises:
when the comparison result shows that the real-time position value variable of the motor exceeds the upper limit and the lower limit of the running stroke, the control program outputs a stop mark and carries out alarm prompt;
and when the comparison result shows that the real-time position value variable of the motor does not exceed the upper limit and the lower limit of the running stroke, resetting the suspension mark by the control program, and removing the alarm prompt.
In one embodiment, the method further comprises:
the PLC controller creates a variable stroke variable and replaces the stroke variable with the variable stroke variable;
comparing the variable stroke variable with the stroke variable to obtain a comparison result;
and controlling the motor which needs to be powered off and memorize the position value to move according to the comparison result.
In one embodiment, the controlling the motor movement requiring the power-off remembering position value according to the comparison result includes:
when the comparison result shows that the upper limit and the lower limit of the variable stroke variable are not smaller than the upper limit and the lower limit of the stroke variable, the PLC outputs an alarm prompt and controls the motor needing to be powered off and remember the position value to stop moving
According to the method for recording the position of the motor during power failure, the motor needing to be powered off and remembering the position value is searched in each motor; establishing an REAL type variable for the motor needing to be powered off and remember the position value in the PLC, and setting the REAL type variable as a power-off maintaining type variable; when the power is not cut off, assigning the power-off keeping variable corresponding to the motor needing to be power-off and remembering the position value as a real-time position value variable of the motor; when the power is cut off, the power-off maintaining variable remembers a real-time position value variable of the motor; after the power is on, the PLC controller judges and protects the position of the motor according to the real-time position value variable of the motor. The position can be saved in a power-off state by connecting the encoder of the motor with an additional power supply without adding a battery on the driver, so that the hardware cost is saved; the REAL type variable is set to be the power-off maintaining type variable, the REAL-time position value of the motor can be recorded, the REAL-time position value variable of the motor is remembered when the power is off, the motor is protected, the control mode of the motor is simplified through the form of software, and therefore the cost is saved.
Drawings
FIG. 1 is a flow chart illustrating a method for recording a position of a motor during a power failure in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a method for recording a position of a motor at power-off, comprising the steps of:
and step 102, searching for motors needing to be powered off and remembering position values in all the motors.
In the automatic industrial production, often can use the motor to carry, work such as processing, under same work scene, often can use many motors to carry out work simultaneously. When a power failure condition occurs, the whole working process is generally powered off, the current position is defaulted to be zero when the motor is not in the original state when the motor is restarted again, the mechanism is protected by using a large number of position judgments in order to protect the mechanism in an automatic program, and the defaults to zero when the power failure is restarted can cause the judgments to be invalid. These motors therefore belong to the group of motors that need to be de-energized to remember the position values.
And 104, creating an REAL type variable for a motor needing to be powered off and remember the position value in the PLC, and setting the REAL type variable as a power-off maintaining type variable.
A REAL-time position maintaining variable, namely an REAL type variable can be established in all the axes in the PLC controller. The PCL controllers can set all the created REAL type variables as power-off hold type variables, so that all the PCL controllers can realize power-off save memory of the data of the variables.
And 106, when the power is not cut off, assigning the power-off keeping variable corresponding to the motor needing to be power-off and remembering the position value as a real-time position value variable of the motor.
When the motor is not powered off, the motor which needs to be powered off to remember the position value can continuously work, and at the moment, the PLC can assign the power-off keeping variable which corresponds to the motor which needs to be powered off to remember the position value to the real-time position value variable of the motor.
And 108, in the power-off process, memorizing the real-time position value variable of the motor by the power-off maintaining variable.
When the motor is powered off, the power-off maintaining variable can remember the current real-time position value variable of the motor.
And step 110, after the motor is powered on, the PLC judges and protects the position of the motor according to the real-time position value variable of the motor.
After the motor is electrified again, the PLC controller interrupts the electricity keeping variable to remember that the real-time position value variable of the corresponding motor is the current position value variable of the motor. The PLC controller can judge and protect the position of the motor by using the real-time position value variable of the motor.
In the embodiment, motors needing to be powered off and remembering position values are searched in all the motors; establishing an REAL type variable for a motor needing to be powered off and remember a position value in a PLC controller, and setting the REAL type variable as a power-off maintaining type variable; when the power is not cut off, assigning a power-off keeping variable corresponding to the motor needing to be powered off and remember the position value as a real-time position value variable of the motor; when the power is cut off, the power-off keeping variable remembers the real-time position value variable of the motor; after the power is on, the PLC judges and protects the position of the motor according to the real-time position value variable of the motor. The position can be saved in a power-off state by connecting the encoder of the motor with an additional power supply without adding a battery on the driver, so that the hardware cost is saved; the REAL type variable is set to be the power-off maintaining type variable, the REAL-time position value of the motor can be recorded, the REAL-time position value variable of the motor is remembered when the power is off, the motor is protected, the control mode of the motor is simplified through the form of software, and therefore the cost is saved.
In one embodiment, the provided method for recording the position of the motor during power failure may further include a process of creating a variable, where the specific process includes: the PLC acquires the number of motors of the motor which needs to be powered off and remember the position value; according to the number of the motors, an REAL type variable is respectively created in the PLC controller for each motor which needs to be powered off and position values are memorized.
The PLC controller may create a variable for each motor that requires a power down to remember a position value. Specifically, the PLC controller can acquire the number of motors of the motors needing to be powered off and remembering the position values, and each motor needing to be powered off and remembering the position values in the PLC controller can create an REAL type variable respectively.
In an embodiment, the method for recording the position of the motor during power failure may further include a process of assigning a value to the variable, where the specific process includes: the PLC searches a driver corresponding to a motor needing to be powered off and remember the position value; reading a real-time feedback value of a motor needing to be powered off and remember a position value from a driver; and the PLC acquires the variable corresponding to the real-time feedback value, assigns the variable corresponding to the real-time feedback value to the outage holding variable and obtains the real-time position value variable.
In one embodiment, the method for recording the position of the motor during power failure may further include a process of ensuring that the program is always running in the PLC controller, where the process includes: the PLC controller obtains an operation program containing a power-off holding variable and places the operation program in the PLC controller for continuous operation.
In one embodiment, the method for recording the position of the motor during power failure may further include a process of controlling the movement of the motor, where the process includes: the PLC creates a stroke variable and compares the stroke variable with a real-time position value variable of the motor to obtain a comparison result; and controlling the motor movement needing to be powered off and remembering the position value according to the comparison result.
In one embodiment, the method for recording the position of the motor during power failure may further include a process of controlling the movement of the motor according to the stroke variable, where the process includes: the PLC acquires the running stroke of the motor which needs to be powered off and remember the position value according to the stroke variable; the PLC writes the running stroke into a control program corresponding to the motor needing to be powered off and remember the position value; the stroke variable comprises an upper limit and a lower limit of the running stroke; and comparing the real-time position value variable of the motor with the upper limit and the lower limit of the running stroke through a control program to obtain a comparison result.
In one embodiment, the method for recording the position of the motor during power failure may further include a process of controlling the movement of the motor according to the comparison result, where the process includes: and when the comparison result is that the real-time position value variable of the motor exceeds the upper limit and the lower limit of the running stroke, the control program transmits the comparison result to the PLC, and the PLC controls the motor needing to be powered off and remembering the position value to stop moving.
In another embodiment, the method for recording the position of the motor during power failure may further include a process of controlling the movement of the motor according to the comparison result, where the process includes: when the comparison result shows that the real-time position value variable of the motor exceeds the upper limit and the lower limit of the running stroke, the control program outputs a stop mark and carries out alarm prompt; and when the comparison result shows that the real-time position value variable of the motor does not exceed the upper limit and the lower limit of the running stroke, the control program resets the stop mark and removes the alarm prompt.
In one embodiment, the method for recording the position of the motor during power failure further comprises a process of controlling the movement of the motor according to the variable stroke variable, wherein the process comprises the following steps: the PLC controller creates a variable stroke variable and replaces the stroke variable with the variable stroke variable; comparing the variable stroke variable with the stroke variable to obtain a comparison result; and controlling the motor movement needing to be powered off and remembering the position value according to the comparison result.
In another embodiment, the method for recording the position of the motor during power failure may further include a process of controlling the movement of the motor according to the comparison result, where the process includes: and when the comparison result shows that the upper limit and the lower limit of the variable stroke variable are not less than the upper limit and the lower limit of the variable stroke variable, the PLC outputs an alarm prompt and controls the motor which needs to be powered off and remember the position value to stop moving.
It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the above-described flowcharts may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or the stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least a portion of the sub-steps or stages of other steps.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of recording the position of a motor when power is removed, the method comprising:
searching a motor needing to be powered off and remembering the position value in each motor;
establishing an REAL type variable for the motor needing to be powered off and remember the position value in the PLC, and setting the REAL type variable as a power-off maintaining type variable;
when the power is not cut off, assigning the power-off keeping variable corresponding to the motor needing to be power-off and remembering the position value as a real-time position value variable of the motor;
when the power is cut off, the power-off maintaining variable remembers a real-time position value variable of the motor;
after the power is on, the PLC controller judges and protects the position of the motor according to the real-time position value variable of the motor.
2. The method for recording the position of the motor during power failure according to claim 1, wherein the step of creating REAL type variables for the motor needing power failure to remember the position value inside the PLC controller comprises the following steps:
the PLC acquires the number of the motors needing to be powered off and remembering the position values;
and respectively creating an REAL type variable for each motor needing to be powered off and remembering the position value in the PLC according to the number of the motors.
3. The method for recording the position of the motor during the power failure according to claim 1, wherein the assigning the power failure keeping variable corresponding to the motor requiring the power failure to remember the position value as a real-time position value variable of the motor comprises:
the PLC searches for a driver corresponding to the motor needing to be powered off and remember the position value;
reading a real-time feedback value of the motor needing to be powered off and remembering the position value from the driver;
and the PLC acquires the variable corresponding to the real-time feedback value, assigns the variable corresponding to the real-time feedback value to the outage holding variable, and obtains the real-time position value variable.
4. The method of claim 1, wherein before the power outage hold type variable remembers the real-time position value variable of the motor at the time of power outage, the method further comprises:
and the PLC acquires an operation program containing the power-off holding variable and places the operation program in the PLC for continuous operation.
5. The method of claim 1, further comprising:
the PLC creates a travel variable and compares the travel variable with a real-time position value variable of the motor to obtain a comparison result;
and controlling the motor which needs to be powered off and memorize the position value to move according to the comparison result.
6. The method for recording the position of the motor during the power failure according to claim 5, wherein the comparing the stroke variable with the real-time position value variable of the motor to obtain the comparison result comprises:
the PLC acquires the running stroke of the motor needing to be powered off and remember the position value according to the stroke variable;
the PLC writes the running stroke into a control program corresponding to the motor needing to be powered off and remembering the position value; the stroke variable comprises an upper limit and a lower limit of the running stroke;
and comparing the real-time position value variable of the motor with the upper limit and the lower limit of the running stroke through the control program to obtain a comparison result.
7. The method for recording the position of the motor during the power failure according to claim 6, wherein the controlling the movement of the motor requiring the power failure to remember the position value according to the comparison result comprises:
and when the comparison result is that the real-time position value variable of the motor exceeds the upper limit and the lower limit of the running stroke, the control program transmits the comparison result to the PLC, and the PLC controls the motor needing to be powered off and remembering the position value to stop moving.
8. The method of recording the position of a motor at power outage of claim 7, further comprising:
when the comparison result shows that the real-time position value variable of the motor exceeds the upper limit and the lower limit of the running stroke, the control program outputs a stop mark and carries out alarm prompt;
and when the comparison result shows that the real-time position value variable of the motor does not exceed the upper limit and the lower limit of the running stroke, resetting the suspension mark by the control program, and removing the alarm prompt.
9. The method of claim 5, further comprising:
the PLC controller creates a variable stroke variable and replaces the stroke variable with the variable stroke variable;
comparing the variable stroke variable with the stroke variable to obtain a comparison result;
and controlling the motor which needs to be powered off and memorize the position value to move according to the comparison result.
10. The method for recording the position of the motor during the power failure according to claim 9, wherein the controlling the movement of the motor requiring the power failure to remember the position value according to the comparison result comprises:
and when the comparison result shows that the upper limit and the lower limit of the variable stroke variable are not less than the upper limit and the lower limit of the stroke variable, the PLC outputs an alarm prompt and controls the motor which needs to be powered off and remember the position value to stop moving.
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| CN114221497B (en) | 2024-06-25 |
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