CS249947B1 - Positional servosystem's digital control element's connection with incremental measuring - Google Patents

Abstract

The purpose of the connection is to replace the microcomputer. This purpose is achieved by engaging digital position control member servo system with incremental metering according to the invention is that memorial and decoder of identification points they are two-way connected to a microcomputer whose output is connected to a digital-to-analog converter. On the entrance the microcomputer is connected to the evaluation computer incremental encoder circuit.

Description

The invention relates to a solution for the connection of a numerical control member of a position servo system with incremental metering, in particular for assembly robots.

The hitherto known connection of the numerical control member of the position servo system with incremental measuring is realized by means of a computer by a dedicated logic circuit of high demands, respectively by a combination of both methods.

In realizing this connection with the computer, the function of the computer during control is greatly limited in view of monitoring the instantaneous position of the mechanism. In an application with a dedicated logic circuit, this must be supplemented with a digital correction term, with the desired position information being 16 or more bits.

The above drawbacks are overcome by the wiring of a digital incremental encoder position control system according to the invention, which is based on the memory and the identification point decoder being bi-directionally coupled to the chip microcomputer. The output of the chip microcomputer is connected to the digital-analog evaluation circuit of the incremental encoder.

By incorporating a digital positioning servo controller with incremental metering according to the invention, it is possible to control multiple servo systems by a single control computer, since the communication between the computer and the position servo controller is, for example, 64 programmable positions consisting of 9-bit information. The computer enters the desired position in the form of an address, and when the controller reaches it, it reports that it has executed the command and has reached the position. Within its communication and program capabilities, the computer can also control other assembly line nodes.

In the accompanying drawing, a block diagram of a digital servo positioner with incremental metering is shown.

The wiring of the incremental encoder digital position controller consists of a position identification counter 2 to which the output of the incremental encoder 1 evaluation circuit is connected. The position identification counter 2 is connected to the memory input and the identification point decoder 3. The memory and the identification point decoder 3 are bi-directionally coupled to the chip microcomputer 4, the output of which is connected to the digital-to-analog converter 5. The output of the incremental encoder 1 evaluation circuit is also connected to the input of the chip microcomputer. a control central system 6 is connected to the input of the chip microcomputer 4.

The control central system 6 communicates with a position servo controller (not shown in the figure), for example in the form of a six-bit address for 64 programmable positions, one bit for direction of movement, one for position command information and one for fault condition information member. Each address is programmed in the memory and the decoder of 3 identification points with four servo system path identification points, the first point identifying the desired position for the reverse direction, the second point representing the maximum speed point, the third representing the servo start point and the fourth forward direction. The path length is thus selected by the number of increments between the second and third points. The memory address and the identification point decoder 3 generate address bits both from the central control system 6 and from the position identification counter 2 which is incremented and set to the reference point at each stroke by the incremental encoder 1 evaluation circuit.

Claims (1)

Connection of an incremental encoder digital servo system controller consisting of an incremental encoder evaluation circuit, a position identification counter, a memory and a decoder of the chip microcomputer identification points and a digital-to-analog converter characterized by the memory and deVYNALEZU encoders (3) a chip microcomputer (4) whose output is connected to a digital-to-analog converter (5), while an incremental encoder evaluation circuit (1j) is connected to the input of the chip microcomputer (4).