JP2003230996A - Control method for multi-shaft servo drive press - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control method for a multi-shaft servo drive press which can secure synchronous position accuracy by preventing the inclination of a ram or a table caused by a position deviation between a load shaft to which a machining load is applied and a non-loaded shaft to which the machining load is not applied, and can secure machining accuracy during coining bending. <P>SOLUTION: At least one of the shafts related to work machining among a plurality of servo shafts is discriminated as a master shaft (Ms) and the others as slave shafts (SL) in advance based on the machining data (D1) of a work. During machining, the master shaft (Ms) positions a target position by controlling to make a deviation value of a position feedback value (Pm) and a prescribed target position to be smaller, and the slave shafts (SL) position by being made to follow the position feedback value of the master shaft (Ms). <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-axis servo drive press having a multi-axis drive shaft such as a slide, a ram, or a table driven by servo control, and a multi-axis servo drive press for synchronously controlling the drive shaft. Regarding control method.

[0002]

2. Description of the Related Art In a multi-axis servo drive press such as a press machine or a press brake device that drives a ram or table with a plurality of servo axes to form or bend a work such as a plate, the type of work and the work It is necessary to synchronously control each servo axis so that the ram, the table, or the like is kept substantially horizontal and moved up and down according to the type. That is,
The positions of the respective servo axes are synchronized with each other and drive-controlled so that the positional relationship between the respective servo axes becomes as preset. The tilt of the ram or table is detected during driving, and when a large tilt occurs, each servo axis is stopped to protect the machine and the mold.

Many proposals have hitherto been made regarding the synchronous control method for such a multi-axis servo drive press.
For example, there is a control method described in Japanese Patent Laid-Open No. 2000-5900. The control method according to the publication is an electric bender that bends a plate material by an upper die attached to a ram having three or more drive shafts driven by an electric motor and a lower die attached to a fixed table. In the position control unit, each servo motor for driving each drive shaft is provided with a position command signal from the outside and a position feedback signal from a position detector provided corresponding to each drive shaft position. To output the speed command signal, and in the speed control unit,
A current command signal is generated based on the speed command signal, and the power control unit is controlled by generating an actual current for driving the servo motor based on the current command signal. The servomotors related to the other drive shafts, except for the position control unit related to the other drive shafts,
By inputting a control signal based on a relative position deviation between the other drive shaft and the reference drive shaft, which is generated in the correction control unit, control is performed in consideration of this relative position deviation.

Further, according to the control method described above, when so-called coining bending is performed, in which the plate material is pressed against the mold and bent along the mold shape, usually, the lower limit position of the position command of each drive shaft is set to the mold. The position is set lower than the position, and when the position deviation of each drive shaft becomes equal to or more than a predetermined value during machining, it is determined that machining is completed. Therefore, by setting the lower limit position in advance so that the difference between the shaft to which the bending load is applied and the unloaded shaft falls within the tilt allowable range of each drive shaft, the ram is set not to tilt. There is.

[0005]

However, the conventional control method disclosed in Japanese Patent Laid-Open No. 2000-5900 has the following problems. Since the position command values to the position control unit related to the predetermined reference drive shaft and other drive shafts are the same, for example, due to interference with a mold for different work due to a mold installation error, or there are multiple bending positions. When an unbalanced load is applied to one of these axes, such as when it is biased to one of the servo axes, the axis that is not overloaded will have the position command value set above. Since it is driven based on this, tilting of the ram occurs. When the moving speed (the descending speed of the ram or the like) is relatively fast, the tilt is detected based on the magnitude of the position deviation, and the command to stop each drive axis is output. May occur, resulting in damage to the machine or the mold.

Further, in the case of coining bending, when an eccentric load is applied as in the case of machining at the end of the mold in the longitudinal direction, the lower limit value must be set so that the ram inclination is within the allowable range. However, it is very difficult to make such a setting, and if the lower limit value is set so as to be within the allowable range, the pressurizing force of the load shaft cannot be increased sufficiently, so that the machining accuracy is often impaired.

The present invention has been made by paying attention to the above problems, and prevents the ram or table from tilting due to a positional deviation between a load axis to which a machining load is applied and a non-load axis to which a machining load is not applied, thereby improving the synchronous position accuracy. It is an object of the present invention to provide a control method for a multi-axis servo drive press that can secure the machining accuracy at the time of coining bending.

[0008]

In order to achieve the above object, the first invention according to the present invention is to drive a ram or a table with a plurality of servo axes, and to provide an upper mold attached to the ram. In a control method of a multi-axis servo drive press that bends or forms a work in cooperation with a lower die mounted on a table, based on the machining data of the work, the work machining of the plurality of servo axes is performed. At least one of such axes is preliminarily distinguished as a master axis and the other axes as slave axes, and at the time of machining, the master axis is controlled by a control for reducing a deviation value between its position feedback value and a predetermined target position. The slave axis,
The position is set by following the position feedback value of the master axis.

According to the first aspect of the invention, at least one of the axes for machining a workpiece is used as a master axis, and this master axis is position-controlled at a predetermined target position on the basis of the position deviation value from the position feedback value, while the other axes are controlled. Since the axis is a slave axis and this slave axis is positioned by following the position feedback value of the master axis, the load axis (the master axis in this case) is overloaded and the position deviation from the target position becomes large. However, since the no-load axis (slave axis in this case) is positioned at the same position as the current position of the load axis, the synchronous position accuracy of the multiple servo axes can be maintained high and tilting of the ram or table can be reliably prevented. . When performing coining bending, even if the target lower limit position of the master axis is set below the work position and the machining is completed when the position deviation value exceeds a predetermined value, the slave axis Since is positioned following the master axis, the synchronous position accuracy of each axis can be secured and the bending accuracy can be improved.

In a second aspect based on the first aspect, the position feedback value of the master axis is corrected in a predetermined manner,
The target position of the slave axis is set, and positioning is performed at this position.

According to the second aspect of the present invention, the position feedback value of the master axis is corrected in a predetermined manner, so that the position of the slave axis is caused by the control delay corresponding to the servo operation cycle time when the position feedback value is directly used as the target position. Deviation of work when bending is performed by correcting misalignment or synchronously controlling multiple servo axes so that the ram and table are not only horizontally tilted but also tilted by a predetermined angle. Can be corrected. Thereby, the synchronization accuracy can be further improved.

According to a third aspect of the present invention, in the first aspect, the torque limit value of the servo axis relating to the work machining is a value corresponding to the pressing force required for machining, and the torque limit values of other servo axes are the self-axis of the master axis. The torque value is set to follow the position feedback value.

According to the third aspect of the present invention, since the torque limit value of the servo shaft for machining the workpiece is set to a value corresponding to the machining pressure, it is possible to perform bending and forming of the workpiece.
On the other hand, the torque limit values for the other servo axes are set to small torque values that allow the own axis to follow the current position of the master axis, so these other servo axes do not move with large torque during machining of the workpiece, and eccentricity The accuracy of synchronous position of multiple axes is very good even under load.

A fourth invention is the first, second or third invention, wherein when all the servo axes are moving in the no-load region,
Each servo axis is independently positioned at an individual target position, and when at least one axis is moving in the load region, the master axis and the slave axis are distinguished and the synchronous control is performed.

According to the fourth aspect of the present invention, the servo calculation process at the time of high speed movement in the no-load region is simplified, and the computer calculation process time can be spared to ensure the process.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. First, the structure of a press brake to which the present invention is applied will be described with reference to FIGS. 1 and 2. Figure 1
Is a front view of this press brake, and FIG. 2 is a side view thereof.

A table 2 is fixedly attached to the lower portion of the press brake 1, and a plurality of dies (lower dies) 4 are attached to the table 2 via a die holding device 3. Above the die 4, at a position facing the die 4,
A ram 6 is provided on the body frame so that it can move up and down.
A punch (upper mold) 5 is attached to the lower end of the ram 6. A plurality of drive devices 10 are attached to the upper portion of the ram 6 at predetermined intervals along the longitudinal direction of the ram 6.
A notch 6a having a predetermined width is formed in the up-down direction between the adjacent drive devices 10, 10 on the upper part of. Also,
A ram position detector 13 including a linear encoder for detecting the ram position of each drive shaft is attached near each drive device 10.

Each drive unit 10 includes an electric servomotor 7
And a pulley 8 mounted on the output shaft of the electric servomotor 7.
a, a ball screw 12 whose lower end in the longitudinal direction is attached to the upper part of the ram 6, a nut member 11 screwed onto the upper part of the ball screw 12 and rotatably supported by the main body frame, The nut member 11 includes a pulley 8b mounted on the upper portion thereof and a timing belt 9 wound between the pulleys 8a and 8b. And
The rotational power of the electric servomotor 7 is transmitted to the ram 6 via the timing belt 9, the nut member 11 and the ball screw 12 to move the ram 6 up and down.

On the side surface of the main body frame, a control panel 2 having a built-in servo amplifier for driving each electric servomotor 7 and an NC control device for outputting a control command to each servo amplifier.
0 is attached. Further, the operation panel 21 is attached to the upper portion of the main body frame via an arm 21a protruding laterally. On the operation panel 21, a setting switch for setting machining conditions for each work, a data input switch for inputting data, and a program for inputting / outputting a machining program to / from an external storage device such as a floppy (registered trademark) or a cassette tape. An input / output device and a display device for displaying various data and messages are provided.

Next, the control configuration of the present invention will be described based on the control configuration block diagram shown in FIG. The data input device sets the bending length (the length of the portion to be bent), the bending position (a predetermined origin position in the longitudinal direction of the ram 6 (usually the central position) to zero, and the longitudinal distance from the zero position. Bending data, bending angle, material (material, plate thickness), and mold used, etc. are input for each work. In this embodiment, the operation panel 21 is provided as a data input device, and the operator manually operates the bending data D.
However, the data input device of the present invention is not limited to this, and has a configuration for automatically inputting bending data D1 online with data communication with, for example, a host computer. Good. Hereinafter, it will be referred to as the data input device 21. The arithmetic unit 22 inputs the bending data D1 from the data input unit 21, calculates the pressing force required for machining and the control position lower limit value of each servo axis based on the bending data D1, and calculates the calculated pressing force and The bending data D1 together with the control position lower limit value of each servo axis
The bending length and bending position inside are NC as the control data D2.
It is transmitted to the control device 23.

As will be described later, the NC control unit 23 determines which of the plurality of servo axes (4 axes in this example) is to be applied with a machining load, based on the input bending length, bending position and pressure data. At least one axis is set as the master axis and the other axes are set as slave axes. Here, the master axis is Ms,
The slave axis is represented by SL. Then, to the servo amplifier 24a corresponding to the master axis Ms, a predetermined position command Rpa calculated every predetermined servo calculation cycle (for example, several ms) based on the machining program is output, and the input bending length and bending Master axis M based on position and pressure data
The master pressure data Tm (motor torque limit value) required for s is output. The servo amplifier 24a has a master axis Ms.
Encoder 1 built in the electric servomotor 7a corresponding to
4a, the motor rotation angle θm is input, and the ram position detector 13a near the electric servomotor 7a feeds back the ram position Pm of the master shaft Ms, and the position command Rpa, the ram position Pm, and the motor rotation angle θm.
Based on the above, the speed command Rvm is calculated so as to reduce the deviation value between the position command Rpa and the ram position Pm, and the deviation value between the speed command Rvm and the motor rotation speed obtained from the motor rotation angle θm is reduced. And outputs a current command Rim to the electric servomotor 7a. The current command Rim is limited to the input master pressure data Tm (motor torque limit value) or less.

Further, the NC control device 23 inputs the current ram position Pm of the master axis Ms, performs a predetermined correction described later on the ram position Pm, and issues a position command for each slave axis SL every predetermined servo operation cycle. Rpb, Rpc, Rpd are calculated and output to the respective servo amplifiers 24b, 24c, 24d corresponding to each slave axis SL, and required for each slave axis SL based on the bending length, bending position and pressure data. Slave pressure data Tsb, Tsc, Tsd
(Motor torque limit value) is output. Each servo amplifier 2
4b, 24c and 24d are corresponding electric servomotors 7
encoders 14b, 14c, 1 built in b, 7c, 7d
The motor rotation angles θsb, θsc, and θsd are input from 4d, and the electric servomotors 7b, 7c, and 7d are input.
The ram positions Psb, Psc, Psd of the slave axes SL are respectively input from the ram position detectors 13b, 13c, 13d in the vicinity, and these position commands Rpb, Rpc, Rpd, the ram positions Psb, Psc of the slave axis SL, Based on Psd and motor rotation angles θsb, θsc, θsd, position commands Rpb, Rpc,
The speed commands Rvsb, Rvsc, Rvsd are calculated so as to reduce the deviation value between the Rpd and the ram positions Psb, Psc, Psd, and are calculated from the respective speed commands Rvsb, Rvsc, Rvsd and the motor rotation angles θsb, θsc, θsd. In order to reduce the deviation value from the motor rotation speed, each electric servomotor 7b,
The current commands Rib, Ric, and Rid are output to 7c and 7d, respectively. The current commands Rib, Ric, Rid are limited to the input slave pressing force data Tsb, Tsc, Tsd (motor torque limit value) or less.

Now, a procedure for determining the master axis and the slave axis from the bending data described above will be described. 1) For a plurality of servo axes (driving device 10), a bending position area that mainly shares the processing load is set in advance.
In FIG. 4, bending position areas A1, A2, A3, A4 in the vicinity of each of the four driving devices 10 are set. 2) The servo axis in the bending position area A corresponding to the bending position of the bending data is determined as the master axis Ms (see FIG. 5 (a)). At this time, when the bending position extends over two or more bending position areas A as shown in FIGS. 5B and 5C, one of the servo axes is set as the master axis Ms.
However, it is preferable to set the central side of the ram 6 as the master axis Ms. (For example, when it is on the boundary between the bending position areas A1 and A2, the servo axis in the bending position area A2 is the master axis Ms.) Further, as shown in FIG. When the servo axes are straddling the areas A2 and A3, one of the servo axes (for example, in the left bending position area A2) is set as the master axis Ms. 3) The slave axis SL is a servo axis other than the master axis Ms.

The procedure for setting the respective pressures required for the master axis and each slave axis will be described. Bending data D
Based on the bending length of 1, the bending position, and the pressing force data, the load axis to which the processing load is applied among the plurality of servo axes (four axes in this example) is determined. The load axis may be the master axis Ms only or the master axis Ms and the slave axis SL. That is, when the bending position is within any one of the plurality of bending position areas A1, A2, A3, A4 as shown in FIG. Servo axis (usually master axis Ms)
Is the load axis. Further, when the bending position extends over two or more bending position areas A as shown in FIGS. 5 (b), (c), and (d), the master axis Ms in those corresponding position areas A And the slave shaft SL is the load shaft.
Then, an equal pressing force (torque limit value) required for bending is set on each of these load shafts based on the input pressing force data. On the other hand, a pressing force (torque limit value) corresponding to a torque value required to follow the current position of the master axis Ms by the synchronous control is set for the servo axes other than the load axis. That is, the bending force is not directly applied to the servo axes other than the load axis, but in order to move the ram 6 while keeping it horizontal or to incline the ram 6 for correcting the deviation, Predetermined pressing force is required. However, this pressing force is smaller than the bending force.

Next, the control processing procedure of the NC control device 22 according to the present invention will be described with reference to the flowchart shown in FIG.
The motion diagram of the ram 6 will be described. Here, as shown in FIG. 7, the ram 6 descends from a preset upper limit position in the independent control mode at a predetermined speed lowering speed, and when reaching a predetermined slow speed position, the master / slave synchronous control mode described above. It is assumed that the robot lowers to the lower limit position at a predetermined slow speed, and when the lower limit position is reached, holds the lower limit position for a predetermined time, and then rises to the upper limit position at a predetermined fast rising speed in the independent control mode. In the independent control mode, each servo axis is servo-controlled independently of each other by a position command corresponding to each target position.

First, in step S1, the lower limit position of the ram 6 is calculated based on the bending data D1, and then step S2.
Then, the pressing force required for bending the work is calculated. Next, in step S3, it is checked whether a ram operation start button (not shown) provided on the operation panel 21 is pressed,
Wait until pressed, then enter ram mode.
Then, in step S4, the operator waits until an unillustrated foot switch is turned on by the operator, and when the foot switch is turned on, while the switch is on, the following steps S5 to S23
Process up to.

In step S5, each axis independent control mode is set, and in step S6, the torque limit value of each servo axis at the time of speed decrease is set in each servo amplifier 24a to 24d. After that, in step S7, a position command is output to each servo amplifier 24a to 24d so that the ram 6 descends at the fast descending speed, and in step S8 it is checked whether the slow position has been reached, and the slow position is reached. Until step S7 is repeated.

When the slow position is reached, in step S10,
Each axis control is switched to the master / slave synchronous control mode, and in step S11, the pressure distribution of each axis is determined based on the bending length and bending position of the bending data D1. Next,
In step S12, the master axis Ms and the slave axis SL are determined based on the bending length and the bending position, and further step S
At 13, the torque limit value is commanded to each of the servo amplifiers 24a to 24d in order to set the pressing force to each axis according to the distribution. Then, in step S14, a position command is output to the master shaft Ms so as to descend to a predetermined position at a slow descending speed, and then in step S15, the ram position Pm of the master shaft Ms is input as the current position from the ram position detector 13a. Then, in step S16, the current position of the master axis Ms is corrected in a predetermined manner to calculate the target position of the slave axis SL, and in step S17 the calculated target position is assigned to each servo axis corresponding to the slave axis SL. Order. Next, in step S18, it is checked whether or not the current position of the master axis Ms has reached the lower limit position. If not, the process returns to step S14 and the above processing is repeated. The processing from step S14 to step S18 is performed every predetermined servo calculation cycle time (several ms).

When the current position of the master axis Ms reaches the lower limit position in step S18, the control of each axis is switched to the independent control mode in step S20, and the predetermined rising torque limit is applied to the servo amplifiers 24a-24d of each axis in step S21. A value is instructed, and thereafter, in step S22, a position command for raising the ram 6 at the fast ascending speed is output to the servo amplifiers 24a to 24d of the respective axes. Next, in step S23,
It is checked whether the ram 6 has reached the upper limit position, and the process is repeated from step S22 until it reaches the upper limit position, and when it reaches, the process returns to step S4 and the above process is repeated.

In this way, the master and
In the slave synchronization control mode, each axis is servo-controlled by synchronizing the slave axis SL with the current position of the master axis Ms.
The reason why the current position of the master axis Ms is subjected to a predetermined correction process to be the target position of the slave axis SL is as follows. 1) This is because when the actual position (feedback value) of the master axis Ms is directly commanded as the target position of the slave axis SL, a follow-up delay related to the servo calculation cycle time is generated, and the command position is an anticipation (feedforward). Compensation) is added. 2) In the position control of the ram 6, not only is the ram 6 always controlled horizontally (that is, the respective axial positions are parallel), but also the crowning (so-called correction of the deflection amount of the main body frame and the table 2 against the applied pressure, In the state where the ram 6 is intentionally tilted, such as during processing to correct the bending angle depending on the material of the plate material, the bending angle due to the difference in the plate thickness, and the correction according to the bite amount when pressure is applied. This is because it may be controlled. In this case, it becomes possible to obtain the target position of each slave axis SL based on the current position of the master axis Ms so that the ram 6 is tilted by a predetermined angle.

When there are a plurality of pressing positions for bending or a plurality of molds are set at the same time, a plurality of master shafts Ms are provided and slave shafts SL corresponding to the respective master shafts Ms are provided.
May be set. Further, even if the upper master axis Ms and the lower master axis Ms are set in the master axis Ms and the lower master axis Ms is made to follow the feedback position (current position) of the upper master axis Ms for positioning. Good.

Although the ram 6 is driven in the above embodiment, the present invention is not limited to this, and the table 2 may be driven.

Further, in the above embodiment, the press brake 1
However, the present invention is not limited to this and is also applied to an electric servo press in which a ram (slide) 6 is driven by a plurality of electric servo motors 7 as shown in FIGS. 8 and 9. it can. Here, in FIG. 8 and FIG.
The same elements as those shown in FIGS. 1 and 2 are designated by the same reference numerals. By applying the present invention to an electric servo press, in particular, when using a mold that produces an unbalanced load, and when using only one of two-cavity molds that simultaneously processes two panels, etc. Good processing can be performed without significantly tilting the (slide) 6.

As described above, according to the present invention, the following effects can be obtained. Of the plurality of servo axes, one of the axes related to the machining load (load axis) is the master axis and the other axes are the slave axes, and the master axis is feedback-controlled to the target position of the motion based on the machining data of the workpiece. The slave axis is controlled so as to follow the master axis, with the target position of the slave axis being a position in which a predetermined correction amount is added to the current position of the master axis. Therefore, even if the servo axis of the master axis is overloaded during machining and the deviation value from the target position becomes large, the slave axis is position-controlled to a predetermined target position that follows the current position of the master axis. It is possible to improve the synchronization position accuracy of a plurality of servo axes. Therefore, when the ram is horizontally controlled, the tilt angle can be accurately controlled when the ram is tilted horizontally and when the ram is tilted by a predetermined angle. Also, when performing coining bending, the target lower limit position of the master axis is set below the work position, and when the position deviation value exceeds a specified value, it is determined that machining is complete, Even if a load is applied, the slave shaft is positioned so as to follow the master shaft, so that the slave shaft does not descend to a position below the master shaft, the synchronous position accuracy of each axis can be reliably ensured, and the bending accuracy can be improved.

Further, when determining the master axis and the slave axis, the bending position and the bending length of the bending data are fetched to the NC control device, so that the NC control device can easily calculate the master axis and the bending length based on the bending position and the bending length. Can determine slave axis. Therefore, the software for determining the master axis of the NC control device becomes very simple and the control is easy.

By performing a predetermined correction on the position feedback value (current position) of the master axis, the position deviation of the slave axis due to the control delay of the servo calculation cycle time when the position feedback value is set as the target position is corrected. Or, it is possible to correct the deviation of the work when bending by synchronously controlling a plurality of servo axes so that the ram and table are not only horizontally tilted but also tilted by a predetermined angle. . Thereby, the synchronization accuracy can be further improved.

Further, the torque limit value of the load shaft related to the machining of the work is set as a value corresponding to the pressing force required for machining, while the torque limit values of the other no-load shafts only cause the self-axis to follow the current position of the master axis. Since the torque value is small, it is possible to perform bending and forming of the work with the minimum required power, and since the no-load shaft does not generate a large torque during the work, servo control of the load shaft is possible. The interfering force exerting on the axis is eliminated, and the synchronous position accuracy of a plurality of axes is very good even when an eccentric load is applied.

Further, the machining load during machining of a workpiece and a load area (range from the slow speed position to the lower limit position in the above embodiment) in which an abnormal load may be applied due to a mistake in mold installation, a mistake in workpiece installation, etc. are set to a predetermined delay. When moving at speed,
Servo control of each axis in the master / slave synchronous control mode and servo control in the independent control mode so that each axis is independently positioned at a predetermined target position in other no-load areas, Servo calculation processing during high-speed movement is simplified, and computer calculation processing time can be afforded to ensure processing.

[Brief description of drawings]

FIG. 1 is a front view of a press brake to which the present invention is applied.

FIG. 2 is a side view of FIG.

FIG. 3 is a control block diagram of the present invention.

FIG. 4 is an explanatory diagram of a bending position area.

FIG. 5 is an example of various bending positions.

FIG. 6 is a control flowchart of the present invention.

FIG. 7 is a motion diagram example of a ram.

FIG. 8 is a front view of an electric servo press having a plurality of servo axes to which the present invention is applied.

9 is a side view of FIG.

[Explanation of symbols]

1 ... Press brake, 2 ... Table, 3 ... Die holding device, 4 ... Die (lower mold), 5 ... Punch (upper mold), 6 ...
Ram, 7, 7a to 7d ... Electric servo motor, 8a, 8b
... pulley, 9 ... timing belt, 10 ... driving device, 1
1 ... Nut member, 12 ... Ball screw, 13, 13
a to 13d ... Ram position detector, 14, 14a to 14d ...
Encoder, 20 ... Control panel, 21 ... Operation panel (data input device), 22 ... Computing device, 23 ... NC control device, 24a
-24d ... Servo amplifier, Ms ... Master axis, Pm ... Master axis position, SL ... Slave axis, A1-A4 ... Position area.

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 4E088 JJ02 JJ04                 4E089 EA01 EB01 EB02 EB03 EB05                       EC01 EC03 ED02 EE01 EE02                       FA02 FC01 FC03                 4E090 AA01 AB01 BA02 BB04 CC04                       GA06 HA01

Claims (4)

[Claims] 1. Ram (6) or table (2) with multiple servo axes
Driving, and the upper die (5) attached to the ram (6) and the lower die (4) attached to the table (2) cooperate to bend or form the work. In the control method of the axis servo drive press, at least one of the axes related to the workpiece machining among the plurality of servo axes is a master axis based on the workpiece machining data (D1).
In (Ms), other axes are preliminarily distinguished as slave axes (SL), and during machining, the master axis (Ms) controls to reduce the deviation value between its position feedback value (Pm) and a predetermined target position. The slave axis (SL)
Is a control method for a multi-axis servo drive press, characterized in that the positioning is performed by following the position feedback value (Pm) of the master axis (Ms). 2. The control method for a multi-axis servo drive press according to claim 1, wherein the position feedback value (Pm) of the master axis (Ms) is subjected to a predetermined correction to obtain a target position of the slave axis (SL). age,
A control method for a multi-axis servo drive press, which is characterized by positioning it. 3. The method for controlling a multi-axis servo drive press according to claim 1, wherein the torque limit value of the servo axis related to the work machining is a value corresponding to a pressing force required for machining, and the torque limit values of other servo axes are Position feedback value of the master axis (Ms)
A control method for a multi-axis servo drive press, wherein the torque value is set to follow (Pm). 4. The control method for a multi-axis servo drive press according to claim 1, 2, or 3, when all the servo axes are moving in a no-load region, each servo axis is independently set to an individual target position. Position the
When at least one axis is moving in the load area,
A control method for a multi-axis servo drive press, wherein the synchronous control is performed separately for the master axis (Ms) and the slave axis (SL).