CN1812250A - Control unit of stepping motor and sartorius using the same - Google Patents
Control unit of stepping motor and sartorius using the same Download PDFInfo
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- CN1812250A CN1812250A CN 200610004674 CN200610004674A CN1812250A CN 1812250 A CN1812250 A CN 1812250A CN 200610004674 CN200610004674 CN 200610004674 CN 200610004674 A CN200610004674 A CN 200610004674A CN 1812250 A CN1812250 A CN 1812250A
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Abstract
The subject of the invention is to easily adjust a velocity mode of a stepping motor when the stepping motor drives driven parts such as a sewing machine and the like to prevent maladjustment, vibration and the like. When drive is tested, the drive pulse number which is provided to the stepping motor and time series data of a practical rotation angle of the motor at present are collected and then a picture display is made out in a chart mode. The output time of each drive pulse is also displayed together, which can be changed.
Description
(1) technical field
The present invention relates to a kind of stepping motor control apparatus, especially relate at the control device of the velocity mode that stepping motor velocity mode is according to the rules carried out easily to adjust when ormal weight rotation or straight line move its benchmark and use the sewing machine of this device.
(2) background technology
Stepping motor also can be described as pulse motor, be a kind of be rotated with the proportional angle of the number of drive pulses of control device output or straight line move (following will rotate with straight line move both lump together to move show) motor.Therefore, control device can control control rate and amount of movement by open loop under the situation that does not detect the actual amount of movement of pulse motor.This open loop control is compared simply with the FEEDBACK CONTROL that amount of movement with reality feeds back to control device, so most of industrial equipment employing stepping motor is as power source.
Can bring into play excellent function for the translational speed that makes stepping motor and the control of displacement, must make the number of drive pulses of stepping motor control apparatus output remain consistent with the mobile step number of stepping motor reality.The inconsistent state of mobile step number of this number of drive pulses and reality is called imbalance.In the stepping motor that adopts open loop control to move,, then, will continue number of drive pulses and the actual inconsistent state of mobile step number as long as do not implement the special control of repairing in case become the imbalance state.If this state occurs, then can not correct control displacement.
This imbalance takes place when anxious acceleration of stepping motor or anxious the deceleration.When anxious acceleration or anxious the deceleration, this acceleration or deceleration are fast more, just driving torque that more need be big.The driving torque that takes place at stepping motor can not satisfy the occasion of the needed driving torque of load, and the stepping shift action can not be followed the trail of driving pulse and become the imbalance state.Even do not become the imbalance state, in the occasion that sufficient driving torque can not take place, vibration often also can take place and be difficult to control normally.
Be used for preventing that this imbalance of driving of stepping motor and the motion of vibration from having some kinds at present.For example, there is the special permission application of a kind of Japan to disclose No. 64932 disclosed motion of communique in 2004.In this motion, the stepping that is used to detect stepping motor reality is installed moves several pulse signals and send the formula position detector.Carrying out making after the computing its difference according to the difference that instruction step number and the stepping that is detected by position detector is moved number is that FEEDBACK CONTROL is carried out in zero requirement.This is a kind ofly to adjust so that the size of described difference is controlled at the motion in the suitable scope all the time by the time to the driving pulse that offers stepping motor.This method is for preventing that imbalance and vibration have effect, but must adopt on the basis of FEEDBACK CONTROL, carries out difference with command value and value of feedback again and maintains control in the suitable scope all the time.Therefore, have the complicated problem of control circuit, a kind of easy imbalance of can not saying so, vibration prevent method.
Apply for openly putting down in 6 years No. 38596 communique to also have a kind of motion in Japan's special permission.In this motion, the lag or lead state of the real electrical machinery position of the increase and decrease change tendency of stepping motor load and the relative location of instruction is at that time come the speed of control command pulse as parameter.For example, when the hysteresis of the real electrical machinery position of rotation of the location of instruction at that time was the hysteresis of generation peak torque relatively, tendency then can not be carried out speedup if load is in increase.Otherwise, then carry out speedup if load is in to reduce to be inclined to.Thus, carry out effective speedup control according to load increase and decrease change tendency, thereby can run up.But, in this motion, not only need the increase and decrease change tendency of detection load, but also will carry out speed control according to this detected value, also exist the problem that must carry out complicated control.
Apply for disclosing in 2004 No. 32939 communique to also have another kind of motion in Japan's special permission.This motion is the stepping motor driving method about the pallet that drives printer, particularly can adapt to because of using for a long time the driving stability that the timeliness variation takes place to be purpose with realization.In this method, have unit and the always reciprocal unit that drives number of times of storage that the reciprocal driving number of times of pallet is counted, adjust the driving curve of stepping motor according to total back and forth driving number of times.Especially it is characterized in that,, vibrate thereby control toning by adjusting from quickening to travel to preceding 1 excitation time that goes on foot of constant speed according to the above-mentioned always reciprocal number of times that drives.But, in this motion, need according to always back and forth driving number of times to driving the data which kind of degree correction curve carries out, exist these data to generate very difficult problem.
(3) summary of the invention
The object of the present invention is to provide and a kind ofly make stepping motor acceleration and deceleration pattern according to the rules carry out in the stepping motor control apparatus that ormal weight moves, can easily adjust as the control device of the acceleration and deceleration pattern of benchmark and use the sewing machine of this control device.
The present invention relates to the stepping motor control apparatus that according to the rules velocity mode comes the drive controlling stepping motor.Stepping motor control apparatus of the present invention is characterized in that, has: but the display part of display text and figure; Detect the test section of the actual anglec of rotation of stepping motor output shaft; To offer the rotate instruction value of stepping motor and the numerical value that read in by the actual anglec of rotation that test section detects reads in portion according to velocity mode in each stipulated time; The actual anglec of rotation of reading in according to this numerical value portion of reading in, in display part, show the effluxion curve of the actual anglec of rotation and offer the display control unit of each output time of the driving pulse of described stepping motor; Accept the velocity mode changing unit of the driving pulse output time put down in writing in change indication that the user seeing the driving pulse output time that the display part data presented is carried out, the change velocity mode.
If adopt said structure, the user can confirm the effluxion of the actual anglec of rotation of stepping motor in display part, can easily confirm whether to have taken place imbalance and vibration.And, when confirming to have taken place can confirm problematic output time, thereby change this output time when unusual in display frame.Can under the situation that does not adopt complex control apparatus, control method, easily velocity mode be altered to the pattern of lacking of proper care and vibrating does not take place.Even the occasion of imbalance and vibration does not take place, when the pattern that is judged as acceleration, slow down is improper, also can indicate the change of output time, easily velocity mode is altered to best pattern.
In display part,, can also demonstrate the maximum etc. of difference of mark, rotate instruction value and the actual anglec of rotation of each driving pulse output time of expression in order to see clearly the interpulse time interval of effluxion curve, adjacent driven of rotate instruction value.Like this, just can further easily carry out the correction of velocity mode.
Stepping motor control apparatus of the present invention can make the stepping motor of the driving mechanism action of sewing machine carry out the control device of drive controlling with opposing.In the sewing machine that has adopted stepping motor control apparatus of the present invention, the user can easily adjust to optimum state with acceleration, the speed-down action of making the driving mechanism in the action.Thus, having can be smoothly and correctly make the advantage of operation.
(4) description of drawings
Fig. 1 is the outside drawing of the electronics round end button holing sewing machine 1 of one embodiment of the invention.
Fig. 2 is the end view of the body of sewing machine 1 shown in Figure 1.
Fig. 3 is the block diagram of the control system of sewing machine 1.
Fig. 4 is the example of the velocity mode data of regulation driving pulse output time.
Fig. 5 is the example of velocity mode.
The control flow chart that Fig. 6 uses for the change velocity mode.
Fig. 7 is the example of the time series data of number of drive pulses aggregate value and rolling counters forward value.
Fig. 8 is for carrying out the example that picture shows with the time series data of Fig. 7 with diagrammatic form.
Fig. 9 is the example with a part of output time display frame after changing among Fig. 8.
Figure 10 is with a part of output time figure after changing, suitable with Fig. 4.
(5) embodiment
Be example with the occasion that the present invention is applicable to electronics round end button holing sewing machine 1 below, with reference to this embodiment of description of drawings.Fig. 1 is the stereogram of overall appearance of the electronics round end button holing sewing machine (being designated hereinafter simply as sewing machine) 1 of expression present embodiment.Fig. 2 is the end view of the body 1a of sewing machine 1.
The 1a of sewing machine body portion has: the support portion 2 that is casing shape of square shape roughly; Be installed in the back top 2a of post portion of this support portion 2; The horn portion 3 of relatively forwards extending from the upper end of the 2a of post portion and support portion 2.At the place ahead of horn portion 3 head, the shank 4 that the bottom has suture needle 5 can be installed with moving up and down.When the actuating force of utilizing electrical motor of sewing machine 7 made main shaft 11 rotations, this revolving force passed to cam mechanism, utilizes this cam mechanism that shank 4 is swung when moving up and down.During main shaft 11 rotations 1 circle, shank 4 carries out 2 motions up and down in left side swing position (interior pin position) and right side swing position (outer pin position).
The curved needle seat (not shown) that under shank 4 position has 2 loopers (not shown) is installed in described support portion 2.This curved needle seat by being installed in the horizontal rotary mechanism by θ direction stepping motor 24 (with reference to Fig. 3) and gear mechanism formation in the support portion 2, is rotated with shank 4 integratedly around vertical axle.2 loopers and shank 4 move up and down and oscillating motion is synchronously moved, thus, by with the interaction of shank 4, form stitching being positioned on the processing cloth of feeding table 12.The power that drives looper is supplied with by electrical motor of sewing machine 7.
The feeding table 12 of placing processing cloth is installed on support portion 2.These feeding table 12 integral body are thin rectangle box-shaped body, and the driving of the pay-off by having 2 stepping motors is moved on mutually orthogonal directions X (left and right directions) and Y direction (fore-and-aft direction).This feeding table 12 moves processing cloth so that the incision edge portion in the round end hole that forms on the processing cloth of placing come suture needle 5 under the position.
When feeding table 12 make the position of the enforcement lock seaming seam of processing cloth move to suture needle 5 under the time, horizontal rotary mechanism makes curved needle seat and shank 4 around the required angle of vertical axle rotation.Then, shank 4 and 2 loopers synchronously move up and down and oscillating motion to form stitching.By this perseveration, the incision edge portion of sewing machine 1 in the round end hole of processing cloth implements the lock seaming seam.
The following describes the structure of control device (stepping motor control apparatus) 10.Fig. 3 is the block diagram of the control system of expression sewing machine 1.Control device (stepping motor control apparatus) 10 as the control system center is made of control device body 10a and guidance panel 8, and control device body 10a is made of computing circuit 13 and drive circuit group 13a.
In ROM16, store: the drive controlling program that has the stitching data of the keyhole stitch seam of multiple round end stitching, various keyhole stitch seam data, uses according to these stitching data drive motors and electromagnetically operated valve, on guidance panel 8, show the display control program of various images, the control program that change driving pulse output time described later is used etc.
RAM17 is used for the operating area.Nonvolatile memory 17a be can the rewriting of electric property ROM, store the multiple velocity mode data that the rotary speed of control step motor is used.
On input interface 19, connecting and starting shutdown switch 9, be installed in compress switch 21, time signal generator 22 on the presser.Synchronous signal impulses take place in time signal generator 22, are used to detect the rotatable phase of the main shaft 11 that electrical motor of sewing machine 7 drives.This synchronous signal impulse is in order to use exercises synchronously when carrying out round end keyhole seam.
On output interface 20, connecting drive circuit group 13a.Drive circuit group 13a is made of the drive circuit 33 of the drive circuit 23 that drives electrical motor of sewing machine 7, the drive circuit 25 that drives θ direction stepping motor 24, the drive circuit 27 that drives electromagnetic switching valve 26, the drive circuit 31 that drives directions X stepping motor 30, driving Y direction stepping motor 32.
What electrical motor of sewing machine 7 was supplied with is that shank 4 and looper are carried out synchronously driven actuating force.What θ direction stepping motor 24 was supplied with is to make shank 4 and curved needle seat carry out the actuating force that horizontally rotates of one.Electromagnetic switching valve 26 subtends driving stamping-out switches with the cylinder 28 compressed and supplied air of hammer 29.What directions X stepping motor 30 and Y direction stepping motor 32 were supplied with is to make feeding table 12 along directions X (left and right directions), the mobile actuating force of Y direction (fore-and-aft direction).θ direction stepping motor 24, directions X stepping motor 30, Y direction stepping motor 32 all are the stepping motors that carries out 1 circle rotation with 400 steps, 1 step rotation, 0.9 degree.
On directions X stepping motor 30 and the Y direction stepping motor 32, mechanically connecting encoder X34, encoder Y35.The incremental encoder of the two-phase formula that but encoder X34, encoder Y35 are rotatings to be detected.400 pulses take place during rotation 1 circle.1 pulse is equivalent to rotate 0.9 degree, and this 0.9 degree equals the anglec of rotation (step angle) in per 1 step of directions X stepping motor 30, Y direction stepping motor 32.
The output pulse of encoder X34, encoder Y35 is read in by input interface 19 by CPU15.CPU15 carries out plus-minus counting by software formula bidirectional counter (UP/DOWN COUNTER) to the pulse of reading in, and detects the actual rotation amount of movement of directions X stepping motor 30, Y direction stepping motor 32.
The following describes the speed control of θ direction stepping motor 24, directions X stepping motor 30, Y direction stepping motor 32.These Stepping Motor Control methods are all identical, are that example illustrates this control method at this with directions X stepping motor 30.
In order to make sewing machine 1 carry out round end keyhole seam, must during being in lifting position, shank 4 allow feeding table 12 move required separation distance.Just in the occasion of high-speed sewing, can allow its time of moving be about 20msec at sewing machine 1.This time that can allow feeding table 12 move is called the driving allowed time.
Feeding table 12 in this driving allowed time in the distance that directions X moves is stored in stitching data in the ROM16 in advance.Is that example illustrates the displacement to directions X with the number of drive pulses of stepping motor for the occasion of " 14 " pulse.Stepping motor move should " 14 " segment pulse distance during in rotary speed, be controlled to trapezoidal velocity mode shown in Figure 5 usually.
Begin to carry out speedup with certain acceleration from moving to time T 1.It is the accelerating period during this period.Then, from time T 1 to time T 2 during, acceleration is zero, is rotated with uniform velocity.During during this period being constant speed.Then during 3, slow down again with certain acceleration from time T 2 to time T.Be between deceleration period during this period.
In order to come drive stepping motor with this velocity mode, and store velocity mode data shown in Figure 4 in advance in nonvolatile memory 17a, these velocity mode data have stipulated to export the time of 14 each driving pulses.Left hurdle in the table shown in Figure 4 is that right hurdle is 2 time intervals (driving pulse output gap) between driving pulse from the numbering of the mobile driving pulse that begins.
When driving directions X stepping motor 30, CPU15 reads the shown in Figure 4 velocity mode data corresponding with this displacement (number of drive pulses) from nonvolatile memory 17a.And, in this table, send the command signal of exporting driving pulse to drive circuit 31 in the output time of defined.After generating the driving pulse that drives directions X stepping motors 30, exports by the drive circuit 31 that receives instruction.Repeat this process, thereby directions X stepping motor 30 is rotated according to velocity mode shown in Figure 5.
According to being stored in velocity mode among the nonvolatile memory 17a in advance when making operation, but this velocity mode and the actual inconsistent situation of operation of making can often take place then in reality.For example, excessive etc. the unfavorable condition of acceleration acceleration change excessive, when changing to during the constant speed from the accelerating period acceleration change excessive, when changing between deceleration period during constant speed that the accelerating period rises takes place sometimes.
When this unfavorable condition having occurred, preferably can enough shirtsleeve operations change velocity mode, to be modified to the velocity mode that carries out regular event.Among the present invention, in order enough shirtsleeve operations to change this velocity mode and to have done research.The following describes operation and control when needing this velocity mode of change.
The change of velocity mode is to be undertaken by the time interval (driving pulse output gap) between 2 driving pulses in the illustrative velocity mode data among change Fig. 4.The flow chart that Fig. 6 uses for the change velocity mode.Symbol Si among the figure (i=11,12 ...) expression stepping number.
Control sequence and control content that this flowcharting computing circuit 13 carries out are pressed in the change processing initiating key that is installed on the guidance panel 8 from the user.Computing circuit 13 is guaranteed initial in the operating area of the RAM17 stored total number of drive pulses suitable with displacement, as total number of drive pulses storage initial value.This initial value is because of changing thereafter, so hypothesis preestablishes into the high numerical value of usage frequency (S11).Then, computing circuit 13 is in holding state and presses certain 1 key (S12: not) until the user.
Want to change the user of velocity mode, at first press the number of drive pulses setting key that is installed on the guidance panel 8.13 couples of users of computing circuit press the number of drive pulses setting key and confirm (S14: be), carry out number of drive pulses and set processing (S21).Set in the processing procedure in number of drive pulses, computing circuit 13 shows the selection (selecting wantonly 1 in directions X stepping motor 30, Y direction stepping motor 32, the θ direction stepping motor 24) of motor and the cuit of the total number of drive pulses suitable with this displacement (anglec of rotation of stepping motor) in the display part 8a of guidance panel 8, supervise the user to import.
When the user considers to want to change the velocity mode corresponding with total number of drive pulses " 14 " of directions X stepping motor 30, select directions X stepping motor 30, the ten key input " 14 " of using guidance panel 8 is as total number of drive pulses.Computing circuit 13 will be read from nonvolatile memory 17a about the velocity mode of being selected by the user shown in Figure 4 directions X stepping motor 30, corresponding with total number of drive pulses " 14 " of user's input, be stored among the RAM17 temporarily.The setting of end number of drive pulses is handled after treating interim storage, returns step S12.
Secondly, the mobile status when confirming that selecteed motor (directions X stepping motor 30) moves the total number of drive pulses (" 14 ") that sets, the user presses the test that is installed on the guidance panel 8 and drives key.13 couples of users of computing circuit supress test driving key and are recognized (S16: be), the processing of beginning step S17.In the processing procedure of step S17, computing circuit 13 drives directions X stepping motor 30 according to the velocity mode shown in Figure 4 corresponding with total number of drive pulses " 14 " of the directions X stepping motor 30 that is stored in RAM17 in step S22 temporarily.For this reason, computing circuit 13 sends instruction with the driving pulse output gap of Fig. 4 to the drive circuit 31 that drives directions X stepping motor 30, the output driving pulse.
Like this, during driving directions X stepping motor 30, computing circuit 13 calculated from the mobile number of drive pulses aggregate value that begins (suitable with the rotate instruction value) to drive circuit 31 output orders with the small time interval (for example interval of 0.2msec), and carried out record with the time series form.During driving directions X stepping motor 30, computing circuit 13 usefulness software formula bidirectional counters (UP/DOWN COUNTER) carry out plus-minus counting to the pulse that is installed in the encoder X34 output on the directions X stepping motor 30.And, read in this count value with the time of record number of drive pulses aggregate value with being consistent, and carry out record with the time series form.
After the driving of directions X stepping motor 30 finishes, will be summarised in (S18) in the table shown in Figure 7 with the count value of the number of drive pulses sum counter of time series form record.At this moment, also the difference of number of drive pulses aggregate value and rolling counters forward value is calculated and appended in advance.Then, feeding table 12 returns the origin position (S19) of directions X.
Then move to the processing of step S20.The table transform of Fig. 7 that computing circuit 13 will gather at step S18 becomes chart shown in Figure 8, makes demonstration in display part 8a.The transverse axis of Fig. 8 is represented the time begin from moving, and the longitudinal axis is represented amount of movement.The vertical line of 14 weak points that draw along transverse axis is represented the time of 14 driving pulses outputs.This vertical line is called pulse labeling 36.
The effluxion of the amount of movement command value of the curve among the figure (1) expression directions X stepping motor 30.The amount of movement command value is to multiply by the value that the step angle of stepping motor obtains to the aggregate value of the number of drive pulses of drive circuit 31 instruction before this time, and is suitable with the rotate instruction value.Curve (2) expression is about the effluxion of the actual rotation amount of movement (the actual anglec of rotation) of directions X stepping motor 30.Actual rotation amount of movement is that the umber of pulse aggregate value (count value of bidirectional counter) of encoder X34 output before this time multiply by the value that the anglec of rotation of 1 pulse obtains.
Total number of drive pulses of record is the number of drive pulses suitable with whole amount of movement in the little square frame 37 among the figure.Driving the allowed time is the time that can allow feeding table 12 move.Maximum difference is the maximum of the difference of number of drive pulses aggregate value and rolling counters forward value.Computing circuit 13 returns step S12 after carrying out this demonstration.
The user considers to allow the velocity mode change of which part according to 2 curves of the amount of movement of the shown presentation graphs 8 of computing circuit 13.The change of velocity mode is to be undertaken by changing 2 time intervals (pulse output gap) between driving pulse.Show the indicating device 38 of little warning triangle among the figure.This indicating device 38 can move by the indicating device shifting bond(s) that operation is installed on the guidance panel 8.Indicating device 38 among the figure is between the pulse labeling of the driving pulse of expression o.11 and No. 12.This occasion, computing circuit 13 show the time interval of the driving pulse of o.11 and No. 12 as the pulse output gap in square frame 37.In the legend, this time interval is 1.7msec.The user can check its time interval by indicating device 38 is moved between desirable 2 driving pulses.
When considering to want to change the output time of certain 1 driving pulse, the output time change key on user's push panel 8.13 couples of users of computing circuit supress output time change key and are recognized (S15: be), and the driving pulse output time change that is transferred to step S22 is handled.
The user moves between the pulse labeling 36 of 2 driving pulses representing the change time interval indicating device 38.So, the demonstration in the time interval of current storage can appear, so the new time interval of input.For example, if will the time interval be altered to 1.8msec from 1.7msec, then Fig. 8 is varied to the form of Fig. 9, and the pulse spacing numerical value in the square frame 37 has become 1.8msec after changing.
The user is this operation repeatedly, to revise the time interval of all driving pulses that need change.When the user has so changed the occasion in the time interval, computing circuit 13 will change with after changing time interval numerical value and add in the velocity mode data shown in Figure 4.After the time interval with the driving pulse of o.11 and No. 12 was altered to 1.8msec, the table of Fig. 4 had been rewritten into the form of Figure 10.
Like this, behind the change output time, the user will carry out confirming operation after changing usually.During affirmation, user's test on the push panel 8 once more drives key.13 couples of users of computing circuit supress test driving key and are recognized (S16: be), the processing of execution in step S17～S20 once more.Computing circuit 13 drives directions X stepping motor 30 according to velocity mode data after changing shown in Figure 10.And,, demonstrate picture shown in Figure 8 according to this table with the table that makes Fig. 7 noted earlier the samely.
The user observes Fig. 8 that computing circuit 13 is made new demonstration, to after changing velocity mode suitable checking the whether.When needs are further made change, press output time change key once more, will change in the required output time of adding with the same ground noted earlier.So test the operation of driving, the result of the action affirmation, output time change repeatedly, the user makes velocity mode approach best pattern.
If adopt the stepping motor control apparatus 10 of present embodiment, the user is presented in the same picture with diagrammatic form owing to will test the effluxion of the rotation amount of movement of the effluxion of the amount of movement command value of exporting to stepping motor when driving and motor reality, so can easily find velocity mode the position of unfavorable condition to occur.Can be while observing the output time that same picture easily changes the driving pulse that unfavorable condition occurs.Therefore, can easily make do not take place to lack of proper care, the velocity mode of vibration etc.
The display part of putting down in writing in claims is equivalent to display part 8a in the above-described embodiments.Equally, the test section program that is equivalent to encoder X34, encoder Y35, computing circuit 13 in the above-described embodiments, the output of encoder is counted.The numerical value portion of reading in is equivalent to computing circuit 13 and numerical value read-in programme in the above-described embodiments.Display control unit is equivalent to computing circuit 13 and display control program in the above-described embodiments.The velocity mode changing unit is equivalent to computing circuit 13, guidance panel 8, mode altering program in the above-described embodiments.
The present invention is not limited to the above embodiments, for example also can make following distortion and implement.
1. when changing output time, also can make pulse labeling 36 move left and right on the picture change the time interval, to replace with the ten key input method in the new time interval by indicating device 38 by the time interval of changing 2 driving pulses.So also can change output time.
2. in the picture of Fig. 8, Fig. 9, in same screen displayed two curves of effluxion of the effluxion of expression amount of movement command value and actual rotation amount of movement, but these two curves also can be in different screen displayed.So also can find velocity mode the position of unfavorable condition to occur.
3. in the above-described embodiments, the occasion of carrying out drive controlling with the stepping motor to driving sewing machine driving mechanism is that example is described, but stepping motor control apparatus of the present invention can be applicable to also that except sewing machine lathe, printer etc. use the industrial equipment of stepping motor.If in these industrial equipments, adopted stepping motor control apparatus of the present invention, then can easily adjust the velocity mode of these driving mechanisms, can carry out slick and sly action.
Claims (9)
1, a kind of stepping motor control apparatus, velocity mode according to the rules carries out the drive controlling of stepping motor, it is characterized in that, has:
But the display part of display text and figure;
Detect the test section of the actual anglec of rotation of described stepping motor output shaft;
To offer the rotate instruction value of stepping motor and the numerical value that read in by the actual anglec of rotation that described test section detects reads in portion according to described velocity mode in each stipulated time;
The described actual anglec of rotation of reading in according to this numerical value portion of reading in, in described display part, show the effluxion curve of the actual anglec of rotation and offer the display control unit of each output time of the driving pulse of described stepping motor;
Accept the velocity mode changing unit of the driving pulse output time put down in writing in change indication that the user seeing the described driving pulse output time that described display part data presented is carried out, the described velocity mode of change.
2, stepping motor control apparatus as claimed in claim 1 is characterized in that, the described rotate instruction value that described display control unit also reads in according to the described numerical value portion of reading in shows the effluxion curve of rotate instruction value in described display part.
3, stepping motor control apparatus as claimed in claim 1 is characterized in that, described display control unit also in described display part usage flag show the output time of described each driving pulse, knowing the interpulse time interval of adjacent driven,
Described velocity mode changing unit is also by described display control unit capable of movable operating indicating device of explicit user in described display part, changes the output time of operating this indicating device with the user and making the corresponding driving pulse of described mark of indication according to user's indication.
4, stepping motor control apparatus as claimed in claim 2 is characterized in that, described display control unit also in described display part usage flag show the output time of described each driving pulse, knowing the interpulse time interval of adjacent driven,
Described velocity mode changing unit is also by described display control unit capable of movable operating indicating device of explicit user in described display part, changes the output time of operating this indicating device with the user and making the corresponding driving pulse of described mark of indication according to user's indication.
5, stepping motor control apparatus as claimed in claim 1, it is characterized in that, the maximum that the described rotate instruction value that described display control unit also reads in according to the described numerical value portion of reading in and the actual anglec of rotation are calculated both differences is presented at the value of calculating in the described display part in the numerical value mode.
6, stepping motor control apparatus as claimed in claim 2, it is characterized in that, the maximum that the described rotate instruction value that described display control unit also reads in according to the described numerical value portion of reading in and the actual anglec of rotation are calculated both differences is presented at the value of calculating in the described display part in the numerical value mode.
7, stepping motor control apparatus as claimed in claim 3, it is characterized in that, the maximum that the described rotate instruction value that described display control unit also reads in according to the described numerical value portion of reading in and the actual anglec of rotation are calculated both differences is presented at the value of calculating in the described display part in the numerical value mode.
8, stepping motor control apparatus as claimed in claim 4, it is characterized in that, the maximum that the described rotate instruction value that described display control unit also reads in according to the described numerical value portion of reading in and the actual anglec of rotation are calculated both differences is presented at the value of calculating in the described display part in the numerical value mode.
9, a kind of sewing machine is characterized in that, uses each described stepping motor control apparatus of claim 1 to 8, and the stepping motor that makes the driving mechanism action is carried out drive controlling.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005020013 | 2005-01-27 | ||
| JP2005020013A JP4569816B2 (en) | 2005-01-27 | 2005-01-27 | Stepping motor control device |
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| Publication Number | Publication Date |
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| CN1812250A true CN1812250A (en) | 2006-08-02 |
| CN100379140C CN100379140C (en) | 2008-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2006100046744A Expired - Fee Related CN100379140C (en) | 2005-01-27 | 2006-01-24 | Control unit of stepping motor and sartorius using the same |
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| JP (1) | JP4569816B2 (en) |
| CN (1) | CN100379140C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199466A (en) * | 2014-06-26 | 2014-12-10 | 拓卡奔马机电科技有限公司 | Control method and system for closed-loop stepping motor of sewing machine |
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| CN106787986B (en) * | 2017-02-28 | 2019-05-21 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | Motor Acceleration-deceleration Control Method and three-dimensional liquid-transfering device |
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| JPH02276495A (en) * | 1989-04-17 | 1990-11-13 | Fujitsu Ltd | Setting of pulse train for pulse motor |
| JP3031678B2 (en) * | 1989-11-21 | 2000-04-10 | 日本ケミコン株式会社 | Magnetic force distribution measuring device |
| JPH06209596A (en) * | 1993-01-08 | 1994-07-26 | Nec Corp | Stepping motor control simulator |
| JPH09291461A (en) * | 1996-04-19 | 1997-11-11 | Nippon Denpa Kk | Frame movement control unit for automatic embroidering machine |
| JP2000078892A (en) * | 1998-08-28 | 2000-03-14 | Matsushita Electric Ind Co Ltd | Driving apparatus of stepping motor |
| JP4461630B2 (en) * | 2001-03-30 | 2010-05-12 | 株式会社デンソー | Steering characteristic setting device for electric power steering and setting method thereof |
| JP4826692B2 (en) * | 2001-08-13 | 2011-11-30 | ブラザー工業株式会社 | Sewing machine programming device |
| JP2003111467A (en) * | 2001-09-26 | 2003-04-11 | Meiki Co Ltd | Method and system for verifying synchronous operation of a plurality of servo motors |
| CN2670398Y (en) * | 2002-12-26 | 2005-01-12 | 伸兴工业股份有限公司 | Pattern controller of sewing machine with system selecting function |
| JP4203332B2 (en) * | 2003-01-31 | 2008-12-24 | 株式会社リコー | Stepping motor drive control system |
-
2005
- 2005-01-27 JP JP2005020013A patent/JP4569816B2/en not_active Expired - Fee Related
-
2006
- 2006-01-24 CN CNB2006100046744A patent/CN100379140C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199466A (en) * | 2014-06-26 | 2014-12-10 | 拓卡奔马机电科技有限公司 | Control method and system for closed-loop stepping motor of sewing machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2006211811A (en) | 2006-08-10 |
| CN100379140C (en) | 2008-04-02 |
| JP4569816B2 (en) | 2010-10-27 |
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