JP2000222039A - Method and device for adjusting offset of recording medium carrier device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically adjust speed offset when power supply is applied. SOLUTION: When a speed command value outputted from a substrate 20 is converted into a DC analog voltage (speed) by a DA substrate 28 and given to a servo driver 29 to control a motor M, voltage offset is generated on the DA substrate. The motor is defined as rotating R1 (P/S) (P: encoder pulse) with the command value of 1 (V), and when a 12-bit command value Nl is given from the substrate 20, the DA substrate outputs an E1 (V) voltage. The motor is rotated in this state for T1 (S) and stopped. A travel distance S1 (P/S) is recorded for the time. In an ideal case, the travel distance becomes S2=E1×R1×T1. The speed offset of the DA substrate becomes Voffs=(S2-S1)/T 1, voltage offset becomes Eoffs=(S2-S1)/(T1.R1), and the offset of a command value of the substrate 20 becomes Noffs=N×(S2-S1)/(E1×R1×R1). The Noffs is considered to output a speed command value from the substrate 20.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer block for a large-scale cassette library (cassette changer) and an automatic offset adjusting device for a recording medium conveying device capable of automatically adjusting a speed offset in controlling a motor speed of a cassette conveying unit. It concerns the device.

[0002]

2. Description of the Related Art FIG. 5 shows the configuration of a conventional large-scale cassette library. This large-scale cassette library includes a basic console A having a control box 3 and a cassette storage shelf 4, a drive console B having a recording / reproducing device 10 and a cassette storage shelf 4, a cassette console C having a number of cassette shelves 4, and An extended basic console D is provided.

[0003] Basic console A and drive console B
And any type of consoles among the cassette consoles C are connected in an arbitrary order and in an arbitrary number in the first direction, and another console connected in the first direction is connected to another second console. The consoles of any type among the basic console A, the drive console B, and the cassette console C are connected in the second direction via the extended basic console D in an arbitrary direction in an arbitrary order and in an arbitrary number. I have.

The extended basic console D includes a cassette transfer mechanism F for moving a cassette between a first cassette transfer position in a first direction and a second cassette transfer position in a second direction.

[0005] A console group connected in the first direction includes a cassette transfer mechanism F in the first direction for transferring the cassette between the respective cassette transfer positions including the first cassette position of the cassette transfer mechanism F. A cassette transporter (transfer section) 2 in the second direction for transporting cassettes between the cassette transfer positions including the two cassette transfer positions is provided.

[0006] As shown in FIG.
A pair of upper and lower guide rails 8 fixed to the consoles A to E, a columnar horizontal moving body 30 guided by the pair of guide rails, and a vertical guide rail 42 provided on the horizontal moving body 30 are provided. It has a cassette carrier 31 to be guided.

A rack 32 is fixed to each of the pair of guide rails 8, and a horizontal X-axis motor 34 is fixed to the horizontal moving body 30. When the motor 34 is driven, the rotation thereof causes the gear 41 meshing with the rack 32 to rotate via the belt 36, the pulley 37, the shaft 38, and the gear 39, and the horizontal moving body 30 is guided by the guide rail 8 to move in the horizontal direction. Moving.

Further, the upper supporting portion 3 of the horizontal moving body 30
A vertical Y-axis motor 44 is fixed to 0b. When the motor 44 is driven, the rotation is performed by the belt 46 and the pulley 4.
The belt 50 provided between the upper and lower pulleys 48 and 49 is rotated via the switches 7 and 48. The slider 43 of the cassette transport body 31 is fixed to the belt 50, and the belt 5
When 0 rotates, it moves vertically along a vertical guide rail 42 provided on the horizontal moving body 30.

Therefore, by controlling the horizontal motor 34 and the vertical motor 44, the cassette transport body 31 moves in the horizontal and vertical directions, and the cassette transport between the consoles arranged along the guide rail 8 is performed. It becomes possible.

As shown in FIG. 7, the cassette carrier 31 is composed of a vertical rotation (V-axis) motor 62, a reduction drum 63, a horizontal rotation (H-axis) motor 65, and a reduction drum 64. It is configured to be able to rotate in the horizontal direction and to be displaceable between a horizontal position indicated by a two-dot chain line and a vertical position indicated by a solid line. Further, the cassette transport body 31 is provided with a barcode reading device for reading barcode information given to the cassette K and a gripping device (carrier control unit) (not shown) for gripping the cassette.

As shown in FIG. 8, the controller (upper control device) of the cassette library 1
1, an input device 72 composed of a mouse and a keyboard for inputting and giving instructions to the controller body 71 for information necessary for control, and a display device 73 for displaying information and the like accompanying the control.

The controller body 71 is, for example, an RS-
It is connected to the cassette library 1 by the transmission paths 74 and 75 of the 232C standard, and can be connected to the host computer 76 as a client using the cassette library 1 by the transmission path 77.

The library controller 70 has a control function unit 85 as shown in FIG. Control function unit 85
Is a main control unit 86 that controls the entire library controller 70 and substantially controls the cassette library 1.
A screen control unit 82 for controlling the display device 73; an input control unit 83 for controlling the input device 72; and a storage unit 84 for storing various information such as a database relating to system information of the library system.

The basic console A is as shown in FIG.
A basic control unit 9 for controlling the basic console A itself and controlling the transfer of the transfer unit (cassette transfer machine) 2
0 to the library controller 70 via the transmission path 74 and the main drive control section 91 for controlling the basic console A itself and the drive control section 98 of the recording / reproducing apparatus 10 (FIG. 1) and the transmission path 75 to the library controller 70. It is connected.

The basic control unit 90 performs communication between console lines for performing communication via a communication line 102 between a console control unit 92 for controlling each component block in the basic control unit 90 and the extended console line. Unit 93, a console configuration collection unit 94 that collects information on the configuration of each console constituting the basic console row L1 including the basic console A, and a display unit 76 of the basic console A
A display control unit 95 for performing display control of FIG. 8, an input / output control unit 96, and an infrared 101
And a carrier communication unit 97 for performing communication for control. Each block element of the basic control unit 90 includes an internal spring 9
9 are connected to each other.

The console structure collecting unit 94, configured from the console of the configuration information sending unit 10A constituting the console lines L1 underlying each console information about the configuration of each console information sending unit 10B _11, 10B _12, 10B
₁₃ ... to be collected from.

In the library system 1, a cassette K is transported between a storage section of an arbitrary cassette storage shelf 4 and a recording / reproducing apparatus 10 by a transfer section 2 controlled by a controller 70, and the recording / reproducing apparatus 10
The recording / reproducing device 10 records various information on the cassette K transported to the cassette K, and reproduces the recorded information. Identification of a plurality of cassettes, for example,
This is performed using identification information given to each of the cassettes. The identification control is given to the cassette in the form of, for example, a barcode, and the barcode is read by a barcode reading device in the transfer unit 2.

FIG. 2 shows an AC servo driver unit 29.
The AC servomotor M (34, 44, 62, 65) for X-axis is representatively described.

The speed command value is output from the transfer control board 20 as a 12-bit digital value.
It is converted to a voltage value of the analog of -10V to + 10V which is proportional to the speed command value by the D / A converter 28 ₁ of 24 substrate 28.

AC servo driver unit 29 for each axis
Means that the analog voltage value is -3000 rpm to +300
The speed is converted to 0 rpm, and the AC servomotor of each axis is controlled by current control. In this control, a microcommand is issued from a higher order, and when a command for moving the cassette is issued, a speed command value is output from the transfer control board 20 and the AC servomotor rotates by current control.

Each of the Y / H / V axis servo motors 44 and 6
2, 65 use an AC servomotor with a brake. The AC servomotors 44, 62 and 65 are driven by current control only when a microcommand is issued from the host and a command such as cassette movement is issued. At that time, the brake is turned off and the rotation is stopped. start. At the end of the microcommand, the AC servomotor is braked, the control of the AC servomotor is turned off, and the current of the AC servomotor is set to zero. That is, power consumption is reduced by using the AC servomotor only during operation.

Each axis (X / Y) of the transfer block 2
/ H / V axis), the pulse of the encoder counter section 26 becomes 8000 Pulse with one rotation of the AC servo motor,
On the SV-180 substrate 20, the position of the transfer block 2 is managed by the number of pulses.

In the speed control of the AC servomotor M, a DC analog voltage value is given to the AC servo driver unit 29 as a speed command value. Therefore, a small voltage offset always occurs between the block 28 for applying the voltage and the block 29 for receiving the voltage, and this offset becomes the speed offset as it is.

The adjustment of the speed offset is performed as follows.

(1) In the set, an adjustment motor is mounted externally.

(2) Enter the speed adjustment test mode,
A reference speed command is given to the C servo driver unit.

(3) The analog volume on the hard board is adjusted so that the rotation speed obtained from the encoder pulse becomes the rotation speed corresponding to the speed command.

(4) After adjustment, remove the adjustment motor,
Return to the original state.

[0029]

For controlling the speed of each motor in the transfer section of the conventional large-scale cassette library, a DC analog voltage is given as a speed command value. For this reason, a small voltage offset always occurs between the block that applies the voltage and the block that receives the voltage, and this offset becomes the speed offset as it is.

Conventionally, adjustment of a speed cassette is performed by a hardware volume. However, a set is provided with an external adjustment motor and an analog volume on a hard substrate is adjusted so as to obtain a speed command value. Attachment and detachment,
It takes time and labor to adjust the volume. In addition, when the characteristics of the analog device change due to aging, the offset voltage is affected.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to provide an automatic offset adjusting device for a recording medium transporting device which is capable of automatically adjusting a speed offset when power is turned on. Is to do.

[0032]

According to a first aspect of the present invention, there is provided an X-axis motor for moving a transfer unit having a recording medium transporter in a horizontal direction, a Y-axis motor for moving a transporter in a vertical direction, and H-axis motor and V-axis motor for rotating the transport body in the horizontal and vertical directions, a transfer control unit for controlling the motors of each axis in response to a command from a higher-level control device, and a speed from the control unit A DA converter that converts the command value into a DC analog speed command value;
In the offset adjustment method of the recording medium transporting device having each axis motor driving device for controlling each axis motor in response to the DC analog speed command value and the pulse of the encoder of each axis motor, an automatic initialization origin search is performed. In the sequence, after giving a reference DC analog voltage command value to the motor, the motor is run for a specified time and the rotation amount of the motor is measured, and the offset of the voltage generated between the DA converter and the motor driving device is reduced. The ideal amount of rotation of the motor is compared with the amount of rotation of the motor measured by the actual machine, the offset voltage is calculated from this difference, and the calculated offset is added to the DC analog voltage value to offset the voltage. To adjust.

According to a second aspect of the present invention, there is provided an X-axis motor for moving a transfer section having a recording medium transport member in a horizontal direction, a Y-axis motor for moving a transport member in a vertical direction,
An H-axis motor and a Y-axis motor for rotating the carrier in the horizontal and vertical directions, a transfer control board for controlling the motors of each axis in response to a command from a host controller, and a speed from the control board A D / A converter that converts the command value into a DC analog speed command value, and an axis motor drive device that controls each axis motor by receiving a DC analog speed command value and an encoder pulse of each axis motor. In the offset adjustment device of the equipped recording medium transport device, in the sequence at the time of automatic initialization origin search, the reference DC analog voltage command value is given to the motor, then the motor is run for the specified time and the rotation amount of the motor is measured. Means, an ideal rotation amount of a motor having no voltage offset generated between a DA converter and a motor driving device, and a motor measured by an actual machine. Comparing the amount of rotation, to calculate the amount of voltage offset from the difference, the calculated offset amount provided means for adding to the DC analog voltage value, adjusting the offset voltage.

[0034]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows the configuration of a large-scale cassette library. As shown in FIG. 5, a large-scale cassette library (hereinafter, simply referred to as a cassette library) 1 includes a basic console A, a drive console B, a cassette console C, an extended console D, and the like.

The cassette carrier 3 of the cassette library 1
As shown in FIG. 6, a transfer block (2) for transporting the horizontal moving body 30 includes a horizontal moving body 30 movable in the axial direction of a pair of upper and lower guide rails 8, and an X-axis motor 34 for moving the horizontal moving body 30. The Y-axis motor 44 for moving the cassette carrier on the vertical guide rail 42 provided on the horizontal moving body 30 and the cassette holding table 67 of the cassette carrier 31 in the horizontal direction as shown in FIG. An H-axis motor 65 for rotating and a V-axis motor 62 for rotating the cassette holder in the vertical direction are provided.

The cassette carrier 31 has a bar code reader for reading a bar code attached to the cassette and a cassette holding device (not shown) for transferring the cassette.

The transfer block 2 includes an amplifier block 17 having a main control board SV-180 board for controlling the motors 34, 44, 62, 65, a bar code reader, and the like, and an infrared communication unit for performing spatial communication. (Spatial communication unit) 16.

Basic library A of cassette library 1
FIG. 5 shows an infrared unit 15 capable of communicating with the infrared communication unit 16, a CPU-225 board connected to the controller body 71 of the cassette library controller 70 via the transmission line 11, and a CPU-225 board 12. An IF-580 board connected to the infrared unit 15 is provided.

The recording medium transport command issued from the library controller 70 is transmitted to the CPU-225 board and the IF
From the infrared unit 15 via the -580 substrate 13;
The data is transmitted to the infrared communication unit 16 of the transfer block 2 by infrared communication. The command received by the infrared communication unit 16 is sent to the main control board (SV-180 board) of the amplifier block 17, and the SV-180 board understands the contents of the macro command from the upper level and performs the actual operation of cassette transport. Move on.

As shown in FIG. 2, the main control board SV-180
(Transfer control board) 20 is a CPU 21, RO
M22, RAM 23, EEPROM 24, motor speed control unit 25, encoder pulse counter 26, brake control unit 27, etc.

The transfer control board 20 includes a higher-level CP.
After interpreting the command sent from the U-225 board, the digital speed command value is output.

Referring to FIG. 2, a control example of the AC servomotor will be described. FIG. 2 representatively shows an AC servo driver unit and an AC servo motor M for the X-axis.

The speed command value for each axis servo motor M (34, 44, 62, 65) output from the transfer control board 20 is output as a 12-bit digital value, and the D / A converter of the DA-124 board 28 28 ₁ is converted to a voltage value of the analog of -10V to + 10V which is proportional to the speed command value.

AC servo driver unit 29 for each axis
Means that the analog voltage value is -3000 rpm to +300
The speed is converted to 0 rpm, and the AC servomotor M of each axis is controlled by current control. In this control, a microcommand is issued from the host, and when a cassette movement command is issued, a speed command value is output from the motor speed control unit 25 of the transfer control board 20 and the AC servo driver unit 29 controls the AC servomotor. Driven by current control.

Each of the Y / H / V axis servo motors M (44,
62, 65), an AC servomotor with a brake is used. The AC servomotor M is driven by current control only when a microcommand is issued from the host and a command such as a cassette movement is issued. At this time, the brake is turned off and rotation starts.
At the end of the micro command, the brake is applied to the AC servomotor, the control of the AC servomotor is turned off, and the AC servomotor is turned off.
Servo motor current is set to zero. That is, AC only during operation
Power consumption is reduced by using a servomotor.

With one rotation of the AC servo motor, the pulse of the encoder counter 26 becomes 8000 pulses, and S
On the V-180 substrate 20, the position of the transfer block 2 is managed by the number of pulses.

Most of the commands sent to the transfer block 2 by communication are commands for transporting the cassette between the 1/0 port block, the BIN block and the drive block. The contents of the command include various elements other than this information.

A voltage offset occurs between the DA-124 board 28 and the AC servo driver unit 29. The principle of adjusting the voltage offset will be described.

When the AC servo motor gives a speed command value of 1 [V] to the AC servo driver unit 29, R1
It is assumed that the motor rotates at the rotation speed in [pulses / sec]. (Pu
(ls: encoder pulse number) Speed command value N1 of 12 bits from SV-180 board 20
, The DA-124 substrate 28 outputs a voltage of E1 [V].

In this state, the motor M is rotated for T1 sec to stop the motor M.

Assuming the distance S1 (pulss) traveled during this time, S2 = E1 × R1 × T1.

Here, assuming that the speed offset held by the DA-124 board 28 is Voffs, Voffs = (S2−S1) / T1 (pulse / sec) Offset N
Off is calculated as follows: Noffs = N1 × (S2−S1) / (E1 × T1 × R1) = N1 × (S2−S1) / S2 (1)

Assuming that the speed command value Ncom output from the SV-180 board 20 to the DA-124 board 28 and the speed command value when the offset is not considered are N, Ncom = N + Noffs (2) Therefore, the speed command value Ncom in consideration of the voltage offset is obtained from the equation (2).

The adjustment of the voltage offset can be automatically adjusted when the power is turned on. The automatic adjustment method will be described below.

First, the SV-180 board 20 is supplied with a reference DC analog voltage command value, for example, (1 V) to the motor in the initial sequence at the time of automatic initialization origin search, and then runs for a specified time (T1). Then, the encoder pulse is counted and the amount of rotation of the motor (S1pulses) is measured.

Next, the ideal rotation amount (S1-pulss) when there is no offset and the rotation amount (S1 pulse) measured by the actual machine
pulse), and SV-180 is calculated by the above equation (1).
An offset amount Noffs of the speed command value of the substrate is calculated.

The calculated offset amount Noffs is converted to DC
It is added to the analog voltage command value N, and given to the DA-124 board 28 as a speed command value in consideration of the offset, and
Control the servo motor.

As described above, the voltage offset can be automatically adjusted at the time of initialization. Therefore, even if the characteristics of the analog device change and affect the offset voltage, it is possible to continue using the hardware as it is.

[0060]

According to the present invention, there are provided a transfer section having a recording medium transporter, motors for moving the transporter, a transfer controller for controlling each motor, and a speed command value from the controller for DC analog speed. In a recording medium transport apparatus including a DA converter for converting to a command value and a motor drive unit for controlling each motor by receiving a DC analog speed command value and an encoder pulse of each motor, In the sequence at the time of automatic initialization origin search, the offset of the voltage generated between the conversion device and the motor drive device is given. The ideal amount of rotation of the motor without any voltage offset generated between the DA converter and the motor drive is measured by the actual machine. The amount of rotation of the motor is compared, the amount of offset voltage is calculated from the difference, and the calculated amount of offset is added to the DC analog voltage value to adjust the voltage offset. Adjustment is possible, and adjustment on hardware is not required.

(2) The initial installation time is short.

(3) Even if the characteristics of the analog device change due to aging and affect the offset voltage, the hardware can be used as it is, and the offset can be adjusted by software to enable continuous use.

The above effect is obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an information transmission path of a large-scale cassette library.

FIG. 2 is a block diagram showing a transfer unit control board and a motor control unit.

FIG. 3 is a command transfer diagram in each block.

FIG. 4 is an explanatory diagram of a method of adjusting a voltage offset.

FIG. 5 is a perspective view showing a configuration of a large-scale cassette library.

FIG. 6 is a perspective view showing a configuration of a transfer unit.

FIG. 7 is a perspective view showing the configuration of a cassette holder.

FIG. 8 is a diagram illustrating the configuration of a library controller and a cassette library.

FIG. 9 is a block diagram of a library controller.

FIG. 10 is a circuit configuration diagram of a basic console.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Cassette library, 2 ... Transfer block (part), 15, 16 ... Infrared communication unit, 17 ... Amplifier block, 20 ... Transfer control board, 30 ... Horizontal moving body, 31 ... Cassette transporter, M, 34, 44, 6
2, 65: AC servomotor, 70: Library controller.

Claims (2)

[Claims] An X-axis motor for moving a transfer unit having a recording medium transport body in a horizontal direction, a Y-axis motor for moving a transport body in a vertical direction, and rotating the transport body in horizontal and vertical directions. H-axis motor and V for moving
An axis motor, a transfer control unit that controls the motor of each axis in response to a command from a higher-level control device, a DA converter that converts a speed command value from the control unit into a DC analog speed command value, In the offset adjustment method of the recording medium transporting device having each axis motor driving device for controlling each axis motor in response to the DC analog speed command value and the pulse of the encoder of each axis motor, an automatic initialization In the sequence, after giving a certain reference DC analog voltage command value to the motor, the motor is run for a specified time and the rotation amount of the motor is measured, and the voltage offset generated between the DA converter and the motor driving device is The ideal amount of rotation of the motor is compared with the amount of rotation of the motor measured by the actual machine, and the amount of offset voltage is calculated from this difference. Offset adjustment method of the recording medium conveying device which adds a preparative amount of the DC analog voltage value and adjusting the offset voltage. 2. An X-axis motor for moving a transfer section having a recording medium transport body in a horizontal direction, a Y-axis motor for moving a transport body in a vertical direction, and turning the transport body in horizontal and vertical directions. H-axis motor and Y for moving
An axis motor, a transfer control unit that controls the motor of each axis in response to a command from a higher-level control device, a DA converter that converts a speed command value from the control unit into a DC analog speed command value, In the offset adjustment device of the recording medium transporting device equipped with each axis motor drive device that controls each axis motor by receiving the DC analog speed command value and the pulse of the encoder that each axis motor has, Means for measuring the amount of rotation of the motor by running the motor for a specified time after giving a reference DC analog voltage command value to the motor in a sequence, and for measuring the amount of voltage generated between the DA converter and the motor driving device. The ideal amount of rotation of the motor without offset is compared with the amount of rotation of the motor measured by the actual machine, and the voltage amount of the offset is calculated from this difference. Offset adjusting device for a recording medium transport device, characterized in that it comprises means for adding an offset amount to the DC analog voltage value.