CN116360308A - Internal point position control method of positioner servo driver - Google Patents

Internal point position control method of positioner servo driver Download PDF

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Publication number
CN116360308A
CN116360308A CN202310222543.7A CN202310222543A CN116360308A CN 116360308 A CN116360308 A CN 116360308A CN 202310222543 A CN202310222543 A CN 202310222543A CN 116360308 A CN116360308 A CN 116360308A
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number designation
internal
servo driver
designation input
module number
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王刚志
郭可轩
马晓伟
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Hangzhou Zhishan Intelligent Control Technology Co ltd
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Hangzhou Zhishan Intelligent Control Technology Co ltd
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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
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Control Of Position Or Direction (AREA)

Abstract

The invention provides a method for controlling the position of an internal point of a servo driver of a positioner, which solves the problems that the servo driver needs external instruction input and the like, and comprises the following steps: s1: performing internal positioning instruction control; s2: position control is carried out on the position shifter; s3: the positioner servo driver is completed in place. The invention has the advantages of simple structure, good system stability and the like.

Description

Internal point position control method of positioner servo driver
Technical Field
The invention belongs to the technical field of mechanical automation equipment, and particularly relates to a method for controlling the position of an internal point of a servo driver of a positioner.
Background
The position changing machine is special welding auxiliary equipment and is suitable for welding position changing of rotary work so as to obtain ideal processing position and welding speed. The automatic welding machine can be matched with an operating machine and a welding machine to form an automatic welding center, and can also be used for workpiece deflection during manual operation. The traditional position changer control is that a PLC performs track planning operation according to the production process of equipment, as the indexing positions of servo walks on a plurality of pieces of equipment are fixed, only the positions of the servo walks of different production processes are different, the traditional scheme has the following defects: the multiple different indexing positions lead to complex programming of the PLC, the high-speed pulse output port of the common PLC is insufficient, and the control wiring of the servo drive has various influences on the reliability.
In order to solve the defects existing in the prior art, long-term exploration is performed, and various solutions are proposed. For example, chinese patent literature discloses a multi-axis servo motor position reading and decoding system and method based on FPGA [201811389441.X ], which includes a host computer, an FPGA chip, an interface circuit, a servo motor driver, a servo motor encoder. The invention also discloses a multi-axis servo motor position reading and decoding method based on the system, which adopts a plurality of axis signal decoding state machines and a signal transmitting state machine to realize the decoding and transmitting of multi-axis absolute position information, wherein each axis absolute position information decoding corresponds to one signal decoding state machine. The read signal decoding state machine and the signal sending state machine are realized by a hardware circuit, and LabVIEW FPGA design and compiling are adopted.
The scheme solves the problem of servo control accuracy to a certain extent, but the scheme still has a plurality of defects, such as being limited by external PLC pulse, and has poor system structure reliability.
Disclosure of Invention
The invention aims to solve the problems and provide the internal point position control method of the position changer servo driver, which is reasonable in design and can realize position control without external instruction input.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the internal point position control method of the servo driver of the positioner comprises the following steps:
s1: performing internal positioning instruction control;
s2: position control is carried out on the position shifter;
s3: the positioner servo driver is completed in place.
In the above method for controlling the internal point position of the servo driver of the positioner, step S1 is controlled by an internal positioning command based on an I/O signal, or by an internal positioning command based on modbus communication.
In the above-mentioned method for controlling the position of an internal point of a servo driver of a positioner, the internal positioning command control based on I/O signals is adopted, comprising the following steps:
s11: detecting whether an IO trigger rising edge exists, and if so, entering a step S12;
s12: judging whether IO is effective, and importing the IO into the step S13;
s13: and combining the IO to obtain the position serial number.
In the above-mentioned internal point position control method of a positioner servo driver, step S11 starts the motor to reach the corresponding position set by the corresponding "module number designation input" through the rising edge of the "gating input signal" IO, and the specific corresponding formula is as follows:
reaching position=module number designation input 1×2 0 +Module number designation input 2×2 1 +Module number designation input 3×2 2 +Module number designation input 4×2 3 +Module number designation input 5×2 4 。
In the above-mentioned internal point position control method of the positioner servo driver, step S12 is that when the corresponding "module number designation input" IO is valid, the value of the module number designation input is 1, otherwise the value is 0.
In the above-mentioned method for controlling the position of the internal point of the servo driver of the positioner, step S13 sets the position control mode, the position of the corresponding serial number, and the speed, then servo-enables, and sets the "strobe input signal" to be effective at the rising edge.
In the above-mentioned method for controlling the position of an internal point of a servo driver of a positioner, the method for controlling the position of the internal point by using an internal positioning instruction based on modbus communication comprises the following steps:
s14: setting a multi-section position number and setting a triggering condition;
s15: setting a position control mode, a corresponding sequence number position and a speed, and then enabling servo.
In the above-mentioned method for controlling the position of the internal point of the servo driver of the positioner, the position control mode in step S2 includes a relative position mode and an absolute position mode, and if the relative position mode is selected, the PTP is invoked to run to the target point, and if the absolute position mode is selected, the rotational movement is entered.
In the above-described method for controlling the internal point position of a positioner servo drive, the absolute position pattern includes a forward rotational motion, a reverse rotational motion, and a shortest path rotational motion.
In the internal point position control method of the positioner servo driver, the IO state or the modbus point position is output after the completion of the step S3.
Compared with the prior art, the invention has the advantages that: through the built-in point position control function of the servo driver, the system is not limited by external PLC pulse any more, so that the position control without external instruction input is realized, the system cost is reduced, and the system structure is simplified to improve the reliability; the combination corresponding to different control bits can be carried out through the appointed input of different module numbers, so that the control requirement of complex servo indexing point positions is met; the position of the point is adjusted by a plurality of position control modes, so that the control stability of the internal point of the servo drive is ensured.
Drawings
FIG. 1 is a schematic diagram of the method of the present invention;
fig. 2 is a schematic diagram of the overall system of the present invention.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description.
As shown in fig. 1-2, in a method for controlling the position of an internal point of a servo driver of a positioner, the conventional servo driver is controlled in a pulse mode, in which the speed is controlled by pulse arrangement and the position is controlled by the number of pulses. If the servo driver is controlled by a PLC, the cost of the control mode is lower, but when the number of servo shafts is increased, the control difficulty is increased. The control method provided by the application comprises the following steps:
s1: after entering a multi-section control program, internal positioning instruction control is performed;
s2: position control is carried out on the position changer and a position control mode is selected;
s3: and outputting a signal after the position shifter servo driver finishes in place.
Specifically, in step S1, internal positioning instruction control based on I/O signals is adopted, or internal positioning instruction control based on modbus communication is adopted for PLC communication, and in addition to modbus communication, point location control can also be realized by adopting a servo upper computer. Existing communication networks can operate with PLC and I/O using modbus. Modbus, which is commonly used in serial communications, is a master-slave architecture, with a master node and one or more slave nodes on the bus. The main node accesses the sub-node by a specific address, and after the sub-node receives and processes the request, the sub-node returns a response to the main node, so that the servo control is completed.
In depth, the internal positioning instruction control based on the I/O signal comprises the following steps:
s11: detecting whether an IO trigger rising edge exists, and if so, entering a step S12;
s12: judging whether IO is effective, and importing the IO into the step S13;
s13: the position serial number is obtained for the IO combination, and 32 modes are adopted for the 5 IO combinations.
Further, in step S11, the motor is started to reach the corresponding position of the corresponding "module number designating input" through the rising edge of the "gating input signal" IO, and the specific corresponding formula is as follows:
reaching position=module number designation input 1×2 0 +Module number designation input 2×2 1 +Module number designation input 3×2 2 +Module number designation input 4×2 3 +Module number designation input 5×2 4 。
Further, in step S12, when the corresponding "module number designation input" IO is valid, the module number designation input has a value of 1, otherwise, the module number designation input has a value of 0.
For example, when the "module number designation input 3" signal is valid and the "module number designation input 3" signal is valid, it can be calculated that:
reaching position = module number designation input 1×1+ module number designation input 2×2+ module number designation input 3×4+ module number designation input 4×8+ module number designation input 5×16
＝0×1+0×2+1×4+0×8+1×16＝20
The position to be reached is thus obtained as number 20, after which the motor can be brought to the corresponding number 20 position by the "strobe input signal" triggering signal being active.
When the triggered position arrives, the corresponding positioning completion output signal outputs IO, and the positioning completion output IO signal is output through the following table:
Figure BDA0004117384090000051
if the position number 20 is reached, the signals of 'positioning completion output 3' and 'positioning completion output 5' are valid.
In addition, step S13 sets the position control mode, the corresponding sequence number position, and the speed, and then servo-enables, and sets the "strobe input signal" to be active at the rising edge.
Meanwhile, the internal positioning instruction control based on modbus communication comprises the following steps:
s14: setting a multi-section position number and setting a triggering condition;
s15: setting a position control mode, a corresponding sequence number position and a speed, and then enabling servo. And after the position arrives, the modbus positioning outputs a corresponding position number.
It is visible that the position control mode in step S2 includes a relative position mode and an absolute position mode, and the PTP is invoked to run to the target point if the relative position mode is selected, and the rotational movement is entered if the absolute position mode is selected. In the relative position mode, if the current position is 10000 pulses and the target position is 30000 pulses, the relative position is 20000 pulses. In the absolute position mode, if the current position is 10000 pulses and the target position is 20000 pulses, the relative position is 20000 pulses.
It is apparent that the absolute position mode includes forward rotational movement, reverse rotational movement, and shortest path rotational movement. Positive direction operation when configured as 0: always run in the forward direction; when the configuration is 1, the absolute position is controlled to operate in the opposite direction and always operate in the opposite direction; when the configuration is 2, the absolute position controls the shortest path operation, and the operation is performed in the direction closest to the current position.
Preferably, 5 IO states or modbus bits 0-31 bits are output after the completion of the step S3. The point position adjustment of the servo driver is realized by using a closed loop or semi-closed loop control system.
In summary, the principle of this embodiment is as follows: and the built-in point position control function of the servo driver is utilized to replace external PLC pulses, and point position control is performed based on I/O signals or modbus, wherein the I/O signals utilize different IO combinations to definitely reach positions without external instruction input.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Although servo drive, indexer, etc. terms are used more herein, the possibility of using other terms is not precluded. These terms are used merely for convenience in describing and explaining the nature of the invention; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present invention.

Claims (10)

1. The internal point position control method of the servo driver of the positioner is characterized by comprising the following steps of:
s1: performing internal positioning instruction control;
s2: position control is carried out on the position shifter;
s3: the positioner servo driver is completed in place.
2. The method according to claim 1, wherein the step S1 is performed by using an internal positioning command based on I/O signals or an internal positioning command based on modbus communication.
3. The method of controlling the internal point position of a positioner servo driver according to claim 2, wherein the internal positioning command control based on the I/O signal comprises the steps of:
s11: detecting whether an IO trigger rising edge exists, and if so, entering a step S12;
s12: judging whether IO is effective, and importing the IO into the step S13;
s13: and combining the IO to obtain the position serial number.
4. The method for controlling the position of the internal point of the servo driver of the positioner according to claim 3, wherein the step S11 starts the motor to reach the position corresponding to the corresponding "module number designation input" through the rising edge of the "gating input signal" IO, and the specific corresponding formula is as follows:
reaching position=module number designation input 1×2 0 +Module number designation input 2×2 1 +Module number designation input 3×2 2 +Module number designation input 4×2 3 +Module number designation input 5×2 4 。
5. The method according to claim 4, wherein the step S12 is performed when the corresponding "module number designation input" IO is valid, the module number designation input has a value of 1, and otherwise has a value of 0.
6. The method according to claim 5, wherein the step S13 sets the position control mode, the corresponding serial number position, the speed, and then servo enable, and sets the "strobe input signal" to be active.
7. The method of claim 2, wherein the internal position control using modbus communication based internal positioning commands comprises the steps of:
s14: setting a multi-section position number and setting a triggering condition;
s15: setting a position control mode, a corresponding sequence number position and a speed, and then enabling servo.
8. The method according to claim 2, wherein the position control modes in step S2 include a relative position mode and an absolute position mode, wherein the PTP is invoked to run to the target point if the relative position mode is selected, and the rotational movement is entered if the absolute position mode is selected.
9. The method of claim 8, wherein the absolute position pattern comprises a forward rotational motion, a reverse rotational motion, and a shortest path rotational motion.
10. The method for controlling the internal point position of a servo driver of a positioner according to claim 2, wherein the step S3 outputs the IO status or the modbus point position after completion of the positioning.
CN202310222543.7A 2023-03-03 2023-03-03 Internal point position control method of positioner servo driver Pending CN116360308A (en)

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CN202310222543.7A CN116360308A (en) 2023-03-03 2023-03-03 Internal point position control method of positioner servo driver

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Application Number Priority Date Filing Date Title
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