JP2004247687A - Positioning controller and positioning control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control by connecting a servo driver of different communication systems without altering a host interface. <P>SOLUTION: A positioning controller 100 comprises a host interface 15 receiving a command from a host controller 11, position command calculating parts 16, 17 for receiving the command from the host controller 11 through the host interface 15 and generating the positioning command to the target position of a servo motor, and communication units 23, 25 for transmitting a data of the command generated by the position command calculating parts 16, 17 to servo drivers 13, 14 for driving the servo motor. The communication units 23, 25 comprises a plurality of communication function sections 18, 19, 20, 21 of different communication systems. Changeover switches 27, 29 are provided and the communication function sections corresponding to the communication system of the servo driver 13, 14 can be selected from the communication function sections 18, 19, 20, 21. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a positioning controller and a positioning control method for a servomotor such as an electronic component mounter that mounts electronic components on a printed circuit board.
[0002]
[Prior art]
Conventionally, the pulse train method has been the main communication method between the positioning controller of the electronic component mounting machine and the servo driver.Even when using a driver from a different servo driver maker, it is possible to connect to the positioning controller by using the pulse train communication method. it can.
However, in recent years, a serial communication method capable of high-speed communication has been used as a communication method between the positioning controller and the servo driver due to an increase in data capacity.
In this way, when the serial communication method became the mainstream, each servo driver manufacturer began to create a different serial communication method for each manufacturer, so the communication speed and communication format (data type, data array, data Many servo drivers with different capacities (number of bytes, communication cycle, etc.) have come to exist.
[0003]
FIG. 7 shows different communication systems A and B as an example. As shown in FIG. 7A, the communication system A has a data amount of 8 Bytes, a communication cycle of 0.8 ms, and a communication speed of 1 Mbps. The communication method B has a data amount of 10 Bytes, a communication cycle of 1 ms, and a communication speed of 5 Mbps.
Also, in the communication method A, as shown in FIG. 7B, a data array including a 2-byte operation command, a 4-byte target position, and a 2-byte parameter A is used, and the communication method B is shown in FIG. 7C. As described above, the data array includes the target position of 3 Bytes, the operation command of 1 Byte, the parameter A of 2 Bytes, the parameter B of 2 Bytes, and the parameter C of 2 Bytes.
[0004]
Therefore, when a servo driver adopting a certain communication method is used for communication between the positioning controller and the servo driver, a problem has occurred that a servo driver adopting another communication method cannot be used.
In particular, if the communication system is different, the interface of the host controller is also different (the unit of the set data such as the target position, the target speed, the target acceleration, the operation command, the number of set bytes, the data address, etc. It is said that when switching from one communication method to a servo driver of another communication method, not only the communication method with the servo driver but also the interface of the host controller must be changed. There were challenges.
[0005]
In FIG. 8, the upper controller 1 is connected to servo drivers 2A, 2B, and 2C of different communication systems A, B, and C, respectively.
Here, the communication method A is a data array including a 2-byte operation command, a 4-byte target position, and a 2-byte parameter A, and the communication method B is a 3-byte target position, a 1-byte operation command, a 2-byte parameter A, and a 2-byte parameter. The communication method C has a data amount of 8 Bytes, a communication cycle of 2 ms, a communication speed of 10 Mbps, a target position of 4 Bytes, an operation command of 2 Bytes, and a parameter of 2 Bytes. A data array.
The servo drivers 2A, 2B, and 2C having different communication systems are connected to the positioning controllers 3A, 3B, and 3C connected to the host controller 1, respectively.
[0006]
The positioning controller 3A has a speed calculator 5A having a communication function unit capable of communicating with the upper interface 4A and the servo driver 2A. The positioning controller 3B has a communication function capable of communicating with the upper interface 4B and the servo driver 2B. The positioning controller 3C includes a speed calculation unit 5B having a communication function unit capable of communicating with the host interface 4C and the servo driver 2C.
[0007]
The upper interface 4A is an interface corresponding to the communication system A. For example, the number of set bytes for the target position of the input data is 4 bytes, the maximum speed is 2 bytes, and the acceleration is 2 bytes.
The upper interface 4B is an interface corresponding to the communication system B, and has, for example, 3 bytes, a maximum speed of 2 bytes, and an acceleration of 2 bytes with respect to a target position of input data.
The upper interface 4C is an interface corresponding to the communication system C. For example, the number of set bytes for the target position of the input data is 4 bytes, the maximum speed is 3 bytes, and the acceleration is 3 bytes.
As described above, when the upper controller 1 controls the servo drivers 2A, 2B, 2C of different communication systems A, B, C, the upper interfaces 4A, 4B, 4C, which can correspond to the respective communication systems A, B, C. And the speed calculation units 5A, 5B, 5C.
[0008]
Also, when multiple servo drivers are connected like an electronic component mounting machine and the communication methods of the servo drivers are mixed, there are multiple interfaces from the viewpoint of the host controller, and development items tailored to each interface There are problems such as an increase in the number of positioning controllers and a plurality of positioning controllers.
As an example of the prior art of a positioning controller corresponding to these plural communication methods, a positioning controller having a plurality of different communication functions is initialized at the same time as power is turned on, communication processing is performed, and a different one connected to the positioning controller is connected. There is a device that transmits and receives data to and from a plurality of control devices having a communication function by serial communication, sequentially determines whether or not the communication function matches the communication function of the positioning controller, and matches the communication method according to the method (for example, Patent Document 1).
[0009]
[Patent Document 1]
JP-A-10-198413
[0010]
[Problems to be solved by the invention]
However, in the above-mentioned prior art, since it is premised that serial communication between the positioning controller and the servo driver has been established, it is possible to cope with the same communication speed and communication cycle in the communication format, but they are different. In such a case, since communication cannot be transmitted and received, a situation in which the communication cannot be performed may occur. In addition, a determination circuit for sequentially determining the communication method is required, and there is a problem that the cost is increased.
[0011]
The present invention has been made in view of the above circumstances, and provides an economical positioning controller and a positioning control method that can connect and control a servo driver of a different communication method without changing a higher-level interface. It is an object.
[0012]
[Means for Solving the Problems]
The above object can be achieved by the following configuration.
(1) An upper interface that receives a command from the upper controller, a positioning command calculator that receives a command from the upper controller via the upper interface, and generates a positioning command to a target position of the servomotor, A communication unit that transmits command data generated by the unit to a servo driver that drives the servo motor, wherein the communication unit includes a plurality of communication function units having different communication schemes, and the servo driver A communication function unit corresponding to the communication system of (1) is selectable by a switching unit.
[0013]
In this positioning controller, communication with a servo driver of a different communication method can be performed while keeping the same high-level interface as the interface with the high-level controller. In addition, since a communication function unit corresponding to the communication system is selected by the changeover switch, a determination circuit and the like are not required, which is extremely economical.
[0014]
(2) The positioning controller according to (1), wherein a plurality of the communication units are provided, and a servo driver having a different communication method can be connected to each of the communication units.
[0015]
In this positioning controller, even when a large number of servo drivers are connected and the communication systems of many connected servo drivers are mixed like an electronic component mounting machine, communication can be performed without changing the interface with the host controller. Can be.
[0016]
(3) The positioning controller according to (1) or (2), wherein the switching unit switches a communication method by a mechanical switch.
[0017]
In this positioning controller, since the switching is performed by a mechanical switch, the switching can be easily performed by a simple operation.
[0018]
(4) The positioning controller according to (1) or (2), wherein the switching unit switches a communication method by changing a control program of the positioning command calculation unit.
[0019]
In this positioning controller, by switching by changing the control program according to the communication method, the communication method is switched by software, and the design can be easily changed.
[0020]
(5) The positioning controller according to (1) or (2), wherein the switching unit switches the communication method by removing at least a part of a communication function unit for an unused communication method.
[0021]
In this positioning controller, the components of the communication function unit for the unused communication system are not mounted on the board, but the components for the communication system to be used are mounted, thereby achieving a lean circuit configuration and contributing to cost reduction.
[0022]
(6) The positioning command calculation section is provided corresponding to the servo driver of a different communication system, and generates a command corresponding to the communication system of each servo driver, respectively (2) to (5). The positioning controller according to any one of the above.
[0023]
In this positioning controller, the respective servo motors can be reliably controlled via the servo drivers of different communication systems by the commands generated by the respective positioning command calculation units corresponding to the servo drivers.
[0024]
(7) The positioning command calculation unit converts a command input from the higher-level controller, which is input in a prescribed communication method not depending on the communication method of the servo driver, into a communication method of each servo driver and transmits the converted command. The positioning controller according to any one of (1) to (6).
[0025]
In this positioning controller, a command from the host controller is simply input to the positioning command calculation unit using a prescribed communication method without depending on the communication method of the servo driver, and based on the communication method of each servo driver from the positioning command calculation unit. Since the command data is transmitted, the control of the host controller can be greatly simplified, and the degree of freedom in designing the positioning controller is improved.
[0026]
(8) In accordance with a command from the host controller, a positioning command to a target position of the servo motor is generated, and data of the command is transmitted to a servo driver that drives the servo motor via a communication function unit, and A positioning control method for performing positioning of the servo driver, wherein a plurality of the communication function units having different communication methods are provided, and a communication function unit of a communication method corresponding to the communication method of the servo driver is selected to transmit the command data to the servo. A positioning control method, wherein the positioning control method is transmitted to a driver.
[0027]
In this positioning control method, communication with a servo driver of a different communication method can be performed extremely easily, and since a communication function unit corresponding to the communication method is selected, a determination circuit or the like is not required, which is extremely economical. It is.
[0028]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of a positioning controller and a positioning control method according to the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram of an NC control system of an electronic component mounting machine having a positioning controller.
As shown in the figure, the positioning controller 100 configuring the NC control system is connected to the host controller 11.
Further, the servo controller 13 having the serial communication system A connected to the communication loop R1 and the servo driver 14 having the serial communication system B connected to the communication loop R2 can be connected to the positioning controller 100. .
[0029]
The host controller 11 controls the entire system of the electronic component mounting machine, and the host controller 11 issues a positioning command to the positioning controller 100. Then, the positioning controller 100 receives a command from the host controller 11 and generates a positioning command to each of the servo drivers 13 and 14.
[0030]
The positioning controller 100 has an upper interface 15 that receives an operation command from the upper controller 11.
The upper interface 15 is a common interface for both the serial communication systems A and B. For example, a unit of set data such as a target position, a target speed, a target acceleration, an operation command, the number of set bytes, and the addresses of these data are all common. It has been. Thus, from the viewpoint of the host controller 11, the interface with the positioning controller 100 does not depend on the communication method of the servo driver.
[0031]
Here, in the upper interface 15, the set number of bytes for the target position of the input data is 4 bytes, the maximum speed is 2 bytes, and the acceleration is 2 bytes.
Positioning command calculation units 16 and 17 are connected to the upper interface 15, and these positioning command calculation units 16 and 17 receive operation commands from the upper controller 11 via the higher interface 15.
[0032]
The positioning command calculation units 16 and 17 each receive an operation command from the host controller 11 and generate a positioning command (speed command to a target position). The positioning command calculation unit 16 converts the positioning command of the communication loop R1. Then, the positioning command calculation unit 17 generates a positioning command for the communication loop R2.
[0033]
Here, these positioning command calculation units 16 and 17 are configured to format (data type, data arrangement, data capacity, communication cycle, etc.) according to the respective serial communication systems A and B according to command data from the upper interface 15. Generates a positioning command (speed command to the target position).
Here, the communication method A is a data array including, for example, a data amount of 8 Bytes, a communication cycle of 0.8 ms, a communication speed of 1 Mbps, an operation command of 2 Bytes, a target position of 4 Bytes, and a parameter A of 2 Bytes. Method B has a data amount of 10 Bytes, a communication cycle of 1 ms, a communication speed of 5 Mbps, a target position of 3 Bytes, an operation command of 1 Byte, a parameter A of 2 Bytes, a parameter B of 2 Bytes, and a data array including a parameter B of 2 Bytes and a parameter C of 2 Bytes. Have been.
[0034]
The positioning command calculation units 16 and 17 absorb the format difference and the communication cycle difference between the upper interface 15 and each of the serial communication systems A and B. It is preferable that the switching in the positioning command calculation units 16 and 17 when generating them in accordance with one of the formats of the serial communication systems A and B is performed by software in a programmable manner.
[0035]
The communication function units 18 and 19 constituting the communication unit 23 are connected to the positioning command calculation unit 16. The communication function unit 18 has a function of transmitting based on the serial communication system A, and the communication function unit 19 has a function of transmitting based on the serial communication system B.
Further, the communication function units 20 and 21 constituting the communication unit 25 are connected to the positioning command calculation unit 17. The communication function unit 20 has a function of transmitting based on the serial communication system A, and the communication function unit 21 has a function of transmitting based on the serial communication system B.
[0036]
The communication function units 18, 19, 20, and 21 communicate data generated by the positioning command calculation units 16 and 17 to the servo drivers 13 and 14, and transfer the data according to the communication speed with the servo drivers 13 and 14. Send. Thereby, the difference between the communication speeds is absorbed. Note that the communication function units 18, 19, 20, 21 are preferably constituted by a communication chip such as a communication IC.
[0037]
A changeover switch 27 is provided between the positioning command calculation unit 16 and each of the communication function units 18 and 19 as switching means. The changeover switch 27 selects and connects the positioning command calculation unit 16 to one of the communication function units 18 and 19.
Similarly, a changeover switch 29 is provided between the positioning command calculation unit 17 and each of the communication function units 20 and 21. The changeover switch 29 selects and connects the positioning command calculation unit 17 to one of the communication function units 20 and 21. In addition to the switching by the changeover switch 29, the pattern wiring on the board is switched so as to be connected to the communication chip of the communication method to be used. In addition, as the changeover switches 27 and 29, for example, a mechanical dip switch or the like is used, but the present invention is not limited to this.
[0038]
The communication function units 18 and 19 are connected to a connection port 31 of the positioning controller 100, respectively, and the communication function units 20 and 21 are connected to a connection port 33 of the positioning controller 100, respectively.
Here, the servo driver 13 having the serial communication system A is connected to the connection port 31, and the servo driver 14 having the serial communication system B is connected to the connection port 32.
[0039]
In the positioning controller 100 configured as described above, the communication function unit 18 is connected to the positioning command calculation unit 16 by the changeover switch 27 to form a communication loop R1. 21 is connected to the communication loop R2 so that the serial communication system A servo driver 13 is connected to the port 31 of the communication loop R1 and the serial communication system B servo driver is connected to the port 33 of the communication loop R2. A driver 14 is connected, and the servo drivers 13 and 14 can control the servo motors of the respective electronic component mounting machines.
[0040]
Further, for example, when the servo driver 13 of the serial communication system A is connected to the port 33 of the communication loop R2, it is only necessary to connect the positioning command calculation unit 17 to the communication function unit 20 by the changeover switch 29 in advance.
As described above, according to the positioning controller 100, the upper interface 15, which is an interface between the upper controller 11 and the positioning controller 100, has the same configuration without changing the communication method, and the servo drivers 13 of different communication methods A and B have the same configuration. , 14 can be communicated. Further, since the communication function units 18, 29, 20, and 21 corresponding to the communication system are selected by the changeover switches 27 and 29, it is not necessary to provide a determination circuit and the like, and an economical configuration can be achieved.
[0041]
Here, an example of control of the servo driver by the positioning controller 100 will be described.
FIG. 2 is a flowchart illustrating an example of a processing procedure of the positioning controller. Here, the operation command of the movement is “03” in the communication method A, “02” in the communication method B, the communication method of the servo driver communication synchronization is 1 ms in the communication method A, and 0.5 ms in the communication method B. Is assumed to be implemented.
[0042]
First, when a command of “10 mm movement” is issued from the upper controller 11 to the servo driver 13 (S1), the upper interface 15 and the positioning command calculator 16 use the communication method A, so that the operation command is “03 (movement)” and a movement amount “10 mm” are set (S2). Then, different processes are performed depending on the communication method of the servo driver A or B (S3, S4).
[0043]
If the servo driver 13 to be processed is of the communication method A (in this embodiment, the communication method A), “03 (movement)” is transmitted to the communication function unit as an operation command, and the position command is transmitted. As (1) 2 mm, (2) 6 mm, and (3) 2 mm, each of (1), (2) and (3) is transmitted to the communication function unit every 1 ms (S3).
[0044]
On the other hand, when the servo driver 13 is of the communication system B, “02 (movement)” is transmitted to the communication function unit as an operation command, and (1) 1 mm, (2) 1 mm, (3) 3 mm, As (4) 3 mm, (5) 1 mm, and (6) 1 mm, each of (1) to (6) is transmitted to the communication function unit every 0.5 ms.
[0045]
As described above, the positioning command calculation unit calculates and obtains the contents of the command corresponding to each communication method, and transmits the command to the communication function unit based on each communication direction. And the servo driver can be operated accurately.
[0046]
Thus, even when a large number of servo drivers are connected as in the case of an electronic component mounter and a communication method of a large number of connected servo drivers is mixed, communication without changing the interface between the host controller 11 and the positioning controller 100 is performed. Cost can be reduced. That is, since the command from the host controller 11 only needs to be input to the positioning command calculation unit using a prescribed communication method that does not depend on the communication method of the servo driver, the control of the host controller 11 can be greatly simplified, The degree of freedom of design for is improved.
[0047]
In the above example, two positioning command calculation units 16 and 17 are provided so as to correspond to the respective communication systems A and B, and the positioning command calculation units 16 and 17 perform positioning corresponding to the respective communication systems A and B. Although the command is generated, as shown in FIG. 3, the positioning controller 200 may generate a positioning command corresponding to each of the communication methods A and B by one positioning command calculation unit 35. With such a configuration, the positioning controller can be further simplified.
[0048]
Next, a second embodiment of the positioning controller according to the present invention will be described. In the present embodiment, the switching of the communication method in the positioning command calculation unit 16 is performed without using the changeover switch 27 as shown in FIG.
FIG. 4 shows a block diagram of an NC control system that does not use a changeover switch.
In the positioning controller 300 of the present embodiment, the positioning command calculation unit 16 having a storage unit such as a flash ROM of a CPU, for example, matches the communication system (here, communication system A) of the connected servo driver 13 with this communication system. Is downloaded from another storage device (not shown) via the upper interface 15 and taken into the storage unit. That is, the switching unit of the present embodiment switches the communication method by changing the control program.
[0049]
According to this configuration, by switching the control program used by the CPU of the positioning command calculation unit 16 according to the communication method to be used, communication can be performed based on the communication method of the servo driver 13. It is not necessary to use the hardware described above, which can contribute to cost reduction. In addition, since only necessary control programs are downloaded and stored, the storage unit has a minimum necessary storage capacity, and an economical configuration can be achieved.
[0050]
Furthermore, in addition to switching the program to be operated by the positioning command calculation unit 16, according to the communication system to be used, only the communication function unit to be used (here, the communication function unit 18) is mounted on the board, and the communication function unit not to be used is used. (Here, the communication function unit 19) is not mounted. According to this configuration, since only the communication function unit to be used is mounted on the board, no extra components such as a communication IC are mounted, thereby contributing to cost reduction.
[0051]
Next, a third embodiment of the positioning controller according to the present invention will be described. In the present embodiment, switching of the communication method in the positioning command calculation unit 16 is performed by a communication setting switch as a separately prepared switching means.
FIG. 5 shows a block diagram of an NC control system provided with a communication setting switch separately.
First, the positioning controller 400 of the present embodiment switches the communication setting switch 37 separately prepared according to the communication method to be used. The positioning command calculation unit 16 refers to the setting contents of the communication setting switch 37, downloads a program corresponding to the set communication method in the same manner as described above, and performs a positioning command calculation according to the set communication method. Further, the line between the positioning command calculation unit and the communication function unit is switched by the changeover switch 30 according to the setting of the communication setting switch 37. The communication setting switch may be a mechanical switch such as a dip switch, or may be an electrical switch such as switching according to the written contents of the memory.
According to this configuration, it is possible to flexibly cope with a change in the communication method by a simple switching operation.
[0052]
Next, a fourth embodiment of the positioning controller according to the present invention will be described. In the present embodiment, the communication system is automatically switched.
FIG. 6 shows a block diagram of an NC control system in which a communication system is automatically set.
The positioning controller 400 of the present embodiment includes a communication detection unit 39 that detects a communication method between the communication function units 18 and 19 and the servo driver 13, and performs positioning according to the communication method detected by the communication detection unit 39. The command calculation unit 16 performs a positioning command calculation. The communication detection unit 39 switches the line between the positioning command calculation unit 16 and the communication function units 18 and 19 by using the changeover switch 30. Thereby, it can be automatically adjusted to the communication method actually used, and the usability of the controller 400 is improved.
[0053]
Note that the positioning controller according to the present invention may be configured by appropriately combining the configurations of the positioning controllers in the embodiments without departing from the spirit of the invention.
[0054]
【The invention's effect】
According to the positioning controller and the positioning control method of the present invention, it is possible to perform communication with a servo driver of a different communication method while keeping the same upper interface or the like as an interface with the upper controller. In addition, since the communication function unit corresponding to the communication method is selected by the switching unit, an expensive determination circuit or the like is not required, and it is extremely economical.
Thus, even when a large number of servo drivers are connected as in the case of an electronic component mounter and a communication method of a large number of connected servo drivers is mixed, communication can be performed without changing the interface with the host controller. it can.
[Brief description of the drawings]
FIG. 1 is a functional block diagram illustrating a configuration of a positioning controller according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating an example of a processing procedure of a positioning controller.
FIG. 3 is a functional block diagram illustrating a configuration of a positioning controller according to another embodiment of the present invention.
FIG. 4 is a block diagram of an NC control system that does not use a changeover switch.
FIG. 5 is a block diagram of an NC control system provided with a communication setting switch separately.
FIG. 6 is a block diagram of an NC control system in which a communication method is automatically set.
FIG. 7 is an explanatory diagram illustrating a communication method of a servo driver.
FIG. 8 is a functional block diagram showing a configuration of a conventional positioning controller to which a plurality of communication type servo drivers are connected.
[Explanation of symbols]
11 Host controller
13,14 Servo driver
15 Upper interface
16, 17, 35 Positioning command calculation unit
18, 19, 20, 21 Communication function unit
23, 25 Communication unit
27, 29 selector switch
37 Communication setting switch
39 Communication detector
100, 200, 300, 400, 500 Positioning controller

Claims (8)

An upper interface for receiving a command from the upper controller, a positioning command calculator for receiving a command from the upper controller via the upper interface and generating a positioning command to a target position of the servomotor; A communication unit that transmits the data of the command to a servo driver that drives the servo motor,
The positioning controller, wherein the communication unit includes a plurality of communication function units having different communication systems, and a communication function unit corresponding to the communication system of the servo driver can be selected by a switching unit. The positioning controller according to claim 1, wherein a plurality of the communication units are provided, and a servo driver having a different communication method can be connected to each of the communication units. 3. The positioning controller according to claim 1, wherein the switching means switches a communication method by a mechanical changeover switch. 3. The positioning controller according to claim 1, wherein the switching unit switches a communication method by changing a control program of the positioning command calculation unit. 3. The positioning controller according to claim 1, wherein the switching unit switches the communication method by removing at least a part of a communication function unit for an unused communication method. The said positioning command calculation part is provided corresponding to the said servo driver of a different communication system, and produces | generates the command corresponding to the communication system of each servo driver, respectively, The Claims Claim 2 characterized by the above-mentioned. The positioning controller according to claim 1. 2. The positioning command calculation section converts a command input from the higher-level controller, which is input by a prescribed communication method that does not depend on the communication method of the servo driver, into a communication method of each servo driver, and transmits the converted command. The positioning controller according to claim 6. In accordance with a command from the host controller, a positioning command to a target position of the servo motor is generated, and the data of the command is transmitted to a servo driver that drives the servo motor via a communication function unit to perform positioning of the servo motor. Positioning control method to be performed,
A plurality of communication function units having different communication systems are provided, a communication function unit of a communication system corresponding to the communication system of the servo driver is selected, and the command data is transmitted to the servo driver. Method.

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