JP2001071072A - Method and device for controlling automatic carriage of press - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for controlling the automatic carriage for a press to select a stopping method of a transfer according to the position of the press when an abnormality is generated during the process of lift-elevating/ lowering, the feed advancing/retracting, and clamp opening/closing operations of a feed bar. SOLUTION: When an abnormality is detected during a process of the feed shaft retraction → the clamp shaft closing → the lift shaft elevating → the feed shaft advancing, a press is stopped, and each motor of a feed shaft, a lift shaft and a clamp shaft is immediately stopped. When an abnormality is detected in the press during a process of the lift shaft lowering → the clamp shaft opening, the press is stopped, and each motor of the feed shaft and the lift is immediately stopped, and the clamp-opening operation is continued for a specified period by the motor of the clamp shaft.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for controlling automatic transfer of a press related to an accident prevention system in an automatic transfer machine for a press.

[0002]

2. Description of the Related Art Conventionally, in a transfer press in an automatic transfer machine for presses, a plurality of dies are vertically arranged side by side, beam drive mechanisms are provided on both right and left sides of a press body, and feed is mechanically performed from a rotary shaft of the press. Bar lift elevating movement,
The three-dimensional movement of the forward and backward movement of the feed and the opening and closing movement of the clamp is combined and mechanically driven.

In the mechanical drive system of this transfer press, each step of three-dimensional movement such as lifting up and down, feed advance and retreat, and opening and closing of a clamp is determined by a cam curve. Therefore, the driving of the transfer can be executed under certain conditions according to the cam curve. However, depending on the type and size of the work (material) of the press, the die and the like must be replaced. Therefore, the cam curve differs depending on the mold to be replaced, and the gear and the cam must be replaced each time.

[0004] The exchange of the mold and the like requires a lot of work time and lowers productivity, and the cost of mechanical parts as spare parts is large, making maintenance and inspection complicated.

[0005] In recent years, the drive system of the transfer press has been switched from the mechanical drive system described above to an electric drive system using servo control in order to increase productivity or to cope with small-lot production of various types.

In this electric drive system using servo control, synchronous control by servo control is performed while each drive shaft of the transfer is synchronized with the rotation of the press using an individual electric motor.

The electric drive system using the servo control is as follows.
As described above, each drive shaft is driven by an individual motor, so the structure is simpler than the mechanical drive system, so no large mechanical parts are required, and the cost of maintenance parts is reduced. , Maintenance and inspection can be easily performed.

A position curve and a speed curve, which are motion curves of each drive of the electric drive type transfer using the servo control, are constructed by software. Since each drive shaft is driven by an individual electric motor, it is necessary to take measures to prevent an accident when an abnormality occurs between each drive shaft and the press.

When an abnormality occurs in each of the drive shafts and the press, in the abnormality detection method of the transfer press, a certain abnormality detection range such as a speed (rotation of a motor), a torque, and a moving distance from each drive of the transfer. And outputs a stop signal.

For example, Japanese Patent Application Laid-Open No. Sho 60-44137 discloses that a value obtained by adding a predetermined value to a value set by a feed setting device (digital switch) and a current value obtained from a rotation amount of a motor are used. A method is disclosed in which a stop signal is output when the current value exceeds the added value by comparing with a comparator.

Japanese Unexamined Patent Publication No. Hei 3-226325 discloses a method of monitoring the position of a feed bar provided with a distance meter for measuring the position of the feed bar at a specific stop point in a series of operations of the feed bar. Is disclosed.

In Japanese Patent Application Laid-Open No. 7-275971, a torque value actually measured in normal operation for each predetermined transfer pattern is used as a standard torque value of the pattern, and an upper limit torque value obtained by adding or subtracting a preset deviation value to or from the standard torque value. Calculates and stores the allowable torque value range specified by the upper limit torque value and the lower limit torque value, compares the actual torque value measured each time a specific transfer pattern is actually operated with the allowable torque range, and detects the moment it deviates from this range Is disclosed.

The arithmetic circuit (CPU) of the conventional program controller using servo control cannot detect an abnormality in the arithmetic circuit itself because it is dedicated to control. Press failure could not be prevented.

[0014]

In any case, in the conventional method, when an error range (abnormality detection range) is exceeded from a target value, or an abnormality occurs in the arithmetic circuit (CPU) of the program controller. Later, since an abnormality is detected and a stop signal is output, there is a certain period of time before the stop. For this reason, it is possible to prevent breakage accidents in the low speed range, but it is not possible to completely prevent machine damage in the middle and high speed range. Therefore,
It is not possible to cope with measures to prevent accidents in transfer presses, which have become sophisticated and complicated, such as the size of transfer presses has been increasing.

It is an object of the present invention to solve these problems by synchronizing the speeds of the motors of the feed shaft, the lift shaft and the clamp shaft of the transfer with the angle of one rotation of the reference shaft of the press. Lift up and down,
An object of the present invention is to provide an automatic transfer control method and apparatus for a press that selects a transfer stop method according to the position of a press when an abnormality occurs during a process such as a feed forward / backward operation and a clamp opening / closing operation.

Another object of the present invention is to provide a check system based on software duplication, that is, to control an electric motor in a calculation circuit (CPU) of a program controller based on software for forming a position curve and a speed curve for each drive shaft. The check arithmetic circuit, which stores the position curve and the speed curve corresponding to each drive shaft, stores the data of the control arithmetic circuit to be controlled and the value of the position curve or the speed curve stored by itself, and the value of the reference shaft one rotation of the press. A comparison operation is performed while synchronizing with the angle. If there is a difference between the data, it is judged that there is an abnormality, and at least a stop signal is output to prevent press and transfer accidents from occurring. An object of the present invention is to provide a transfer control method and apparatus.

[0017]

According to the present invention, a position curve and a speed curve in which the speed of an electric motor for driving a feed shaft, a lift shaft, and a clamp shaft of a transfer are synchronized with an angle of one rotation of a reference shaft of a press. Program to be formed
In an automatic transfer control device for a press having a controller, the speed of the electric motor of the feed shaft, the lift shaft, and the clamp shaft of the transfer is synchronized with the angle of one rotation of the reference shaft of the press, while the feed shaft is retracted, the clamp shaft is closed, and the lift is lifted. If an error is detected during the process of ascending the shaft → advance the feed shaft, stop the press, immediately stop the motors of the feed shaft, lift shaft and clamp shaft, and lower the lift shaft → open the clamp shaft. If an abnormality is detected in the press during the process of (1), the press is stopped, the motors of the feed shaft and the lift shaft are immediately stopped, and the motor of the clamp shaft continues the operation of opening the clamp for a certain period of time. It is characterized by the following.

Further, according to the present invention, there is provided a program for forming a position curve and a speed curve in which the speed of the electric motor driven for each of the transfer feed, lift and clamp drive shafts is synchronized with the angle of one rotation of the press reference shaft. An automatic transfer control device for a press including a controller, wherein a plurality of arithmetic circuits of the program controller include a control arithmetic circuit for controlling an electric motor based on software for forming a position curve and a speed curve for each drive shaft; A control operation circuit for individually storing a check operation circuit for storing a position curve and a speed curve corresponding to each drive axis, and controlling the electric motor based on software for forming the position curve and the speed curve for each drive axis The arithmetic circuit for checking checks the data controlled by the position curve or the speed curve of the circuit. A comparison operation is performed in synchronization with the stored data of the position curve or the speed curve and the angle of one rotation of the reference shaft of the press. If there is a difference between the data obtained by the comparison operation, it is determined that there is an abnormality. At least a stop signal is output.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Control of a transfer press in an automatic transfer control device for a press according to an embodiment of the present invention will be described below.

FIG. 1 is a block diagram of a transfer press control device. This transfer press is composed of a press and a transfer. This press includes a press 1, a flywheel 2, a press motor 3, a pulse encoder 4 for a press, and a serial / parallel converter 5.

As shown in FIG. 1, the transfer press of the transfer press includes a feed bar (A-axis, B-axis).
Motor 13, a pulse encoder 14, a drive circuit 12, and a control circuit 1
1, motors 23A and 23B for raising and lowering a feed bar (A axis and B axis) by a lift axis, and a pulse encoder 24
A, 24B, drive circuits 22A, 22B, control circuits 21A, 21B, electric motors 33A, 33B for opening and closing feed bars (A axis, B axis) with clamp axes, pulse encoders 34A, 34B, drive circuits 32A, 32B, And a control circuit 31A, 31B and a digital distributed control device 50.

Next, the operation of the transfer press will be described with reference to FIGS. FIG. 2 shows a control block diagram of the feed bar of the transfer, and FIG. 3 shows an operation diagram of the transfer press.

First, when the transfer press is returned to the home position, the press stops at the home position (approximately 280 °) and stops with the clutch engaged and the brake engaged, and waits. Similarly, the transfer waits in an operable state.

In this state, when the press is started to be driven (clutch on, brake released), the speed of the press starts to increase and reaches a certain speed (or higher). Following the movement of the press, the feed bar of the transfer starts a three-dimensional movement.

In the three-dimensional movement of the feed bar, as shown in FIG. 3, first, when the clamp shaft is driven, the clamp starts closing the clamp. When the clamp is closed, the lift shaft is driven. Start climbing. Then, the feed shaft is driven immediately when the lift is raised, and the feed bar starts to move forward.

When the feed bar is advanced, the lift shaft is driven immediately before the advance is completed, and starts to descend. When the lift is at the lower limit, the clamp starts to open. As soon as the clamp is opened, the feed bar starts retreating, and after retreating, starts closing the next workpiece with the clamp shaft.The transfer does not interfere with the press while the press is continuously driven. And repeat this.

Next, a digital distributed control device (hereinafter referred to as PSC) 50 which is a program controller used in the transfer press will be described with reference to FIGS. However, a detailed view of the entire PSC is not shown.

The PSC shown in FIG. 1 has various functions such as an arithmetic function, a speed control function, a torque control function, a positioning function, and a sequence function that can form a position curve and a speed curve. By combining these functions, multiple speed control circuits, torque control circuits, position control circuits, and sequence circuits can be configured,
Further, it can be used for multi-axis motor control.

Transfer using the PSC 50, that is, control by multi-axis motor control can be performed using five motors of feed (one axis), lift (two axes), and clamp (two axes).

This feed (one axis), lift (two axes),
The control by the motor control of the five axes of the clamps (two axes) is common.
A description will be given based on FIG. As shown in FIG. 2, the control circuit of the feed bar includes a feed motor 13, a pulse encoder 14, a drive circuit 12, and a control circuit 11,
Arithmetic circuit (CPU) 100 and D / A in PSC 50
And a converter 103.

As described above, when the press of the feed bar is started to be driven (the clutch is engaged and the brake is released), the press bar starts to rise. When the press starts to ascend, the pulse encoder 4 of the press rotates, generates a pulse, and inputs the pulse to the PSC 50. By the pulse input to the PSC 50, the feed bar is driven (forward) while following the press along the position curve.

This position curve sets the advance angle range of the feed bar, that is, the "a certain angle range" of one revolution of the reference shaft of the press, for example, the stroke (distance) of the start angle 300 ° and the end angle 60 °, Set the position stroke of the bar backward angle range, start angle 120 ° and end angle 240 °.

A position curve is created by a program from the set forward or backward “angle range” based on the number of pulses generated by the press pulse encoder 4, and stored in the arithmetic circuit 100. The stored position curve is converted to a speed curve by time differentiation, and is input to the D / A converter 103 as a digital speed signal. The digital speed signal input to the D / A converter 103 is converted to an analog speed signal, input to the control circuit 11, and
2 drives the electric motor 13.

As a correction for the position control, a position curve signal and a pulse signal from the pulse encoder 14 of the electric motor 13 are used to calculate the position, the position is corrected based on the value, and the drive is performed while following the movement of the press based on the position curve. . Similarly, three-dimensional movement is performed while following the movement of the press 1 in the same manner as lifting and lowering of the feed bar by the lift axes (A axis, B axis) and opening and closing of the feed bar by the clamp axes (A axis, B axis).

As described above, when the feed bar makes a three-dimensional movement while following the movement of the press, if an abnormality occurs, conventionally, when the feed bar exceeds an error range (abnormality detection range) from the target value, the abnormality occurs. A signal was output and the feed bar was stopped.

In the present invention, if an abnormality occurs while the feed bar follows the movement of the press, the stop signal is output immediately upon detection of the abnormality, and the press 1 is stopped to prevent danger in advance.

Since the press 1 is driven by the flywheel, it takes a certain stop time until it stops due to inertia. Depending on the position of the press 1 and the position of the feed bar, the press and the feed bar interfere. A method of stopping each motor of the feed bar to avoid this interference in advance will be described.

As shown in FIGS. 1 and 3, the transfer performs the following steps while the speed of the motor driving the feed shaft, the lift shaft, and the clamp shaft is synchronized with the angle of one rotation of the reference shaft of the press. repeat.

In this process, when the clamp shaft is driven, the closing of the clamp is started. When the clamp is closed, the lift shaft is driven and the lift starts to rise. Then, the feed shaft is driven immediately when the lift is raised, and the feed bar starts to move forward. The lift shaft of the feed bar that has advanced has started to descend immediately before the advance is completed, and the clamp shaft starts to open when the lift is at the lower limit. Immediately after the clamp is completely opened, the feed bar starts retreating, and after retreating, the clamp starts closing the next work by the clamp shaft, and while the press is driven continuously, the transfer Follow without interference and repeat. While the press 1 is being driven continuously, the feed bar follows and repeats without interfering with the press.

According to the feed bar stopping method of the present invention, while the feed bar is synchronized with the angle of one rotation of the reference shaft of the press, the feed shaft is retracted (return) → the clamp shaft is opened → the lift shaft is raised → the feed shaft is advanced ( feed)
If an abnormality is detected in the transfer during the process, the press is stopped by the press stop signal. However, as described above, since the press 1 is driven by the flywheel, the inertia is large. It takes a certain amount of downtime.

Accordingly, the motors of the feed shaft, the lift shaft and the clamp shaft are immediately stopped so as not to interfere with the press. Thus, danger can be avoided without interference between the feed bar and the press.

Similarly, the feed bar is the reference axis 1 of the press.
When an abnormality is detected in the transfer during the process of lowering the lift shaft and opening the clamp shaft while synchronizing with the rotation angle, the press is stopped by the press stop signal, but the press 1 is driven by the flywheel. Because
Since the inertia is large, it takes a certain stop time to stop. Therefore, in order to prevent interference with the press, the motors of the feed shaft and the lift shaft are immediately stopped, and the motor of the clamp shaft does not use the absolute signals of the pulse encoder for the press and the pulse encoder of the motor.
Immediately continue the operation of opening the clamp with a fixed speed command to avoid danger. The operation of opening the clamp is terminated after a predetermined time has elapsed after outputting a stop signal to the press to avoid interference of transfer with the lowering of the press 1.

As described above, the feed bar can be safely stopped without interfering with the press 1.

Next, when an abnormality occurs while the transfer according to the present invention follows the movement of the press, a stop signal is issued to the press 1 to stop the press, and a program controller operation to prevent danger in advance. Circuit (CPU)
Will be described.

First, the position curve of the press for each drive shaft synchronized with the angle of one rotation of the reference shaft of the press will be described.
FIG. 4 shows a change in the rotation angle of the press 1. The vertical axis indicates the rotation angle of the press, and the horizontal axis indicates the time.
゜ indicates a state where the press is at the top dead center, and a rotation angle 180 ° indicates a state where the press 1 is at the bottom dead center.

The arithmetic circuit of the program controller is
The storage of the press rotation angle (reference axis input) input from the pulse encoder 4 of the press 1 is repeatedly executed every several mmSEC (in this case, every 2 mmSEC). This is the position curve of the press 1.

As another example, a speed curve will be described. The operation circuit of the program controller is Press 1
A position curve is set based on the pulse generated by the rotation of the pulse encoder 4 and the set position curve is converted into a speed curve by time-differentiating the set position curve. FIG. 5 shows an example of the speed curve of the press 1. The vertical axis indicates the pressing speed, and the horizontal axis indicates the time. The arithmetic circuit of the program controller updates the value of this speed curve every several mmSEC (in this case, 2 mmS
Calculated for each EC) and stored.

Next, a description will be given of a check system by duplicating software in the program controller. FIG. 6 shows a program controller (hereinafter referred to as PC).
S) is an embodiment of the mutual check method. FIG.
FIG. 7 is a flowchart for explaining the operation of the mutual check of the arithmetic circuits of the program controller.

An embodiment using two PSCs as shown in FIG. 6 will be described. The PSC 50-1 controls the clamp shaft (two axes) with an electric motor, and the PSC 50-2 controls the feed shaft (one axis) and the lift shaft (two axes) with the electric motor.

The arithmetic circuits 100-1 and 100-2 of the PCS 50-1 and PCS 50-2 form a position curve and a speed curve in which the speed of the motor driving each axis of the transfer is synchronized with the angle of the reference 1 rotation of the press 1. 100-
2.

The arithmetic circuit 100-1 of the PCS 50-1
The PCS 50- is individually provided with a control arithmetic circuit for controlling the electric motor based on software for forming a position curve and a speed curve for each of the clamp axes (A axis, B axis).
2 has a clamp shaft (A
(A and B axes), each of which has a check arithmetic circuit for storing a position curve and a speed curve corresponding to each axis.

The arithmetic circuit 100- of the PCS 50-2
2 is provided with a control arithmetic circuit for controlling the electric motor based on software for forming a position curve and a speed curve forming each of a feed axis and a lift axis (A axis, B axis). 1 arithmetic circuit 100-1 includes:
A check arithmetic circuit for storing a position curve and a speed curve corresponding to each of the feed axis and the lift axis (A axis, B axis) described above is individually provided.

As described above, each PCS has an individual arithmetic circuit (CPU), and a control arithmetic circuit for controlling a motor based on software for forming a position curve and a speed curve for each drive axis, and a drive arithmetic circuit for each drive. A check arithmetic circuit that stores a position curve and a speed curve corresponding to each axis is relatively configured.

Next, a checking method will be described with reference to FIGS. 7, 8 and 9. For example, a clamp shaft (FIG. 7)
The signal of the press rotation angle (reference axis input) input from the pulse encoder 4 of the press 1 is a PCS50-1.
And the arithmetic circuit 100-2 of the PCS 50-2.

The signal (step 1) of the press rotation angle (reference axis input) input to the PCS 50-1 is input to the control arithmetic circuit for each of the clamp axes (A axis, B axis), and the clamp axis ( A motor is controlled based on the position curve and speed curve for each axis (A axis, B axis) (step 2). Also, P
Press rotation angle input to CS50-2 (reference axis input)
Is the clamp axis of PCS50-2 (A axis, B axis)
The position and speed curves corresponding to each of the clamp axes (A-axis and B-axis) are also checked (step 3).

Then, the arithmetic circuit 100 of the PCS 50-1
The data controlled by the position curve and the speed curve of the control arithmetic circuit for each of the -1 clamp axes (A axis and B axis) are transferred to the clamp axis (A) of the arithmetic circuit 100-2 of the PCS 50-2.
And a check operation circuit for storing a position curve and a speed curve corresponding to each of the axes (axis, B axis).
Each time (in this case, every 2 mmSEC), the comparison operation is repeatedly executed (step 4). If they match each other, check repeatedly. If they do not match, a press stop signal is generated (step 5), and the press is stopped (step 6).

Next, the lift axis (see FIG. 8) is the same as the press rotation angle (reference axis input) input to PCS 50-2.
(Step 1) is input to the control arithmetic circuit for each of the lift axes (A axis, B axis), and the lift axis (A axis, B axis)
The motor is controlled based on the position curve and the speed curve for each axis (step 2). The signal of the press rotation angle (reference axis input) input to the PCS 50-1 is the PCS 50-1.
The position curve and the speed curve corresponding to each of the lift axes (A-axis, B-axis) are inputted to the check arithmetic circuit for each of the lift axes (A-axis, B-axis) 50-1. (Step 3).

Then, the arithmetic circuit 100 of the PCS 50-1
The data controlled by the position curve and the speed curve of the control arithmetic circuit for each of the -2 lift axes (A-axis and B-axis) are represented by P
The lift axis (A axis,
(B axis) The position is shifted by several mmSEC (in this case, every 2 mmSEC) in synchronization with the angle of one rotation of the reference axis of the press by a check arithmetic circuit that stores a position curve and a speed curve corresponding to each axis. (Step 4). If they match each other, check repeatedly. If they do not match, a press stop signal is generated (step 5), and the press is stopped (step 6).

Similarly, the feed shaft (see FIG. 9)
Press rotation angle input to CS50-2 (reference axis input)
(Step 1) is input to the control arithmetic circuit of the feed shaft to control the electric motor based on the position curve and the speed curve of the feed shaft (step 2). PCS50
The signal of the press rotation angle (reference axis input) input to -1 is also input to the feed shaft checking arithmetic circuit of the PCS 50-1 to check the position curve and the speed curve corresponding to the feed axis (step 3). ).

Then, the arithmetic circuit 100 of the PCS 50-2
The data controlled by the position curve and the speed curve of the control operation circuit for the feed axis of No. -2 by the check operation circuit storing the position curve and the speed curve corresponding to the feed axis of the operation circuit 100-1 of the PCS 50-1 , The position is several mmSE synchronized with the angle of one rotation of the reference axis of the press.
The comparison operation is repeatedly executed for each C (in this case, every 2 mmSEC) (step 4). If they match each other, check repeatedly. If they do not match, a press stop signal is generated (step 5), and the press is stopped (step 6).

According to the above-described method, when an abnormality occurs while the transfer follows the movement of the press 1, it is possible to detect the abnormality and output a stop signal at the same time to stop the transfer press, thereby preventing the danger in advance. it can.

In the above-described check method based on software duplication in the program controller, the position is compared and calculated. However, it is apparent that the speed may be compared and calculated.

[0063]

According to the present invention, when an abnormality occurs during the lifting and lowering of the feed bar, the feed advance and retreat, and the opening and closing of the clamp, the method of stopping the transfer is selected according to the position of the press, and the program An abnormality can be detected by a check method based on software duplication in the controller, and the press can be stopped immediately to prevent occurrence of an accident.

[Brief description of the drawings]

FIG. 1 is a block diagram of a transfer press control device.

FIG. 2 is a control block diagram of a feed bar of a transfer.

FIG. 3 is a diagram illustrating an operation of a transfer press.

FIG. 4 is a diagram illustrating an example of a position curve.

FIG. 5 is a diagram showing an example of a speed curve.

FIG. 6 is a diagram showing an embodiment of a mutual check method of an arithmetic circuit (CPU) of a PSC.

FIG. 7 shows a PSC calculation circuit (CP
It is a figure which shows the flowchart of the mutual check of U).

FIG. 8 shows a PSC calculation circuit (CPU) in the lift axis.
It is a figure which shows the flowchart of mutual check.

FIG. 9 shows a PSC calculation circuit (CP
It is a figure which shows the flowchart of the mutual check of U).

[Explanation of symbols]

 Reference Signs List 1 press 2 flywheel 3 press motor 4 press pulse encoder 5 serial / parallel converter 11 control circuit 12 drive circuit 13 motor 14 pulse encoder 21A, 21B control circuit 22A, 22B drive circuit 23A, 23B motor 24A, 24B pulse encoder 31A , 31B Control circuit 32A, 32B Drive circuit 33A, 33B Motor 34A, 34B Pulse encoder 50 Digital distributed control device

 ────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroshi Kuramoto 2-3-3 Fukuura, Kanazawa-ku, Yokohama-shi, Kanagawa F-term in Japan Reliance Co., Ltd. 4E090 AA01 AB01 BA02 FA02 GA03 GA06

Claims (4)

[Claims] 1. A transfer feed shaft, a lift shaft,
An automatic transfer control device for a press, comprising a program controller for forming a position curve and a speed curve in which the speed of an electric motor driving each of the clamp shafts is synchronized with the angle of one rotation of a reference shaft of the press, wherein a feed shaft and a lift shaft of the transfer are provided. When an abnormality is detected during the process of retracting the feed shaft, closing the clamp shaft, lifting the lift shaft, and moving forward the feed shaft while the speed of the electric motor of the clamp shaft is synchronized with the angle of one rotation of the reference shaft of the press, Stop the press and immediately stop the motors of the feed shaft, lift shaft and clamp shaft. If an error is detected in the press during the process of lowering the lift shaft → opening the clamp shaft, stop the press. At the same time, the motors of the feed shaft and the lift shaft are stopped immediately, and the motor of the clamp shaft stops the operation of opening the clamp for a certain period of time. To continue, automatic carrier control method for press, characterized in that. 2. A transfer feed shaft, a lift shaft,
An automatic transfer control device for a press, comprising a program controller for forming a position curve and a speed curve in which the speed of an electric motor driving each of the clamp shafts is synchronized with the angle of one rotation of a reference shaft of the press, wherein a feed shaft and a lift shaft of the transfer are provided. When an abnormality is detected during the process of retracting the feed shaft, closing the clamp shaft, lifting the lift shaft, and moving forward the feed shaft while the speed of the electric motor of the clamp shaft is synchronized with the angle of one rotation of the reference shaft of the press, A means for stopping the press and immediately stopping the motors of the feed shaft, lift shaft and clamp shaft, and stopping the press when an abnormality is detected during the process of lift shaft lowering → clamp shaft opening. At the same time, the motors of the feed shaft and the lift shaft are stopped immediately, and the motor of the clamp shaft stops the operation of opening the clamp for a certain period of time. Press for automatic conveyance control apparatus characterized by comprising a means for connection, a. 3. A press machine comprising a program controller for forming a position curve and a speed curve in which the speed of an electric motor driven for each of the transfer drive, lift and clamp drive shafts is synchronized with the angle of one rotation of a reference shaft of the press. In the automatic transport control device, a plurality of arithmetic circuits of the program controller, a control arithmetic circuit for controlling a motor based on software that forms a position curve and a speed curve for each drive shaft,
A check operation circuit for storing a position curve and a speed curve corresponding to each drive shaft; and a control circuit for controlling an electric motor based on software for forming a position curve and a speed curve for each drive shaft. The check arithmetic circuit compares the data controlled by the position curve or the speed curve of the arithmetic circuit with the data of the position curve or the speed curve stored therein while synchronizing with the angle of one rotation of the reference axis of the press. As a result of the comparison operation, if there is a difference between the data, it is determined that there is an abnormality and at least a stop signal is output,
An automatic transfer control method for a press, characterized in that: 4. A press having a program controller for forming a position curve and a speed curve in which the speed of an electric motor driven for each of the transfer feed, lift and clamp drive shafts is synchronized with the angle of one rotation of a reference shaft of the press. In the automatic transport control device, a plurality of arithmetic circuits of the program controller, a control arithmetic circuit for controlling a motor based on software that forms a position curve and a speed curve for each drive shaft,
A check operation circuit for storing a position curve and a speed curve corresponding to each drive shaft; and a control circuit for controlling an electric motor based on software for forming a position curve and a speed curve for each drive shaft. The check arithmetic circuit compares the data controlled by the position curve or the speed curve of the arithmetic circuit with the data of the position curve or the speed curve stored therein while synchronizing with the angle of one rotation of the reference axis of the press. An automatic transfer control device for a press, comprising: means for performing a comparison operation; and, if there is a difference between the data as a result of the comparison operation, determining that there is an abnormality and outputting at least a stop signal.