JP2008217473A - Motion control system, and operation confirmation method for motion program in motion control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motion control system, and an operation confirmation method for a motion program in the motion control system, capable of stopping an operation in an optional point in the midway of moving in one motion command, and capable of stopping surely the moving at the point to stop the moving, not via operation of a worker. <P>SOLUTION: A motion controller 10 is provided with a segment buffer 112, a program analytical processing part 14, an HMI processing part 15, a break point setting processing part 16, and a motion control processing part 12, and a display 17a has a velocity waveform display screen 171 and a locus display screen 172 for displaying a program content of a motion program 111, and sets the break point in display on the screens. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a motion control system that performs a sequential movement operation and a motion program operation confirmation method in the motion control system.

As a motion control system for performing a sequential movement operation according to the present invention, a component transfer operation for storing a wafer in a rack will be described as an example.
FIG. 7 is a perspective view of the rack. In FIG. 7, 53 is a rack. FIG. 8 is an explanatory view of a wafer. In FIG. 8, 52 is a wafer. FIG. 9 is a perspective view of the transport device. In FIG. 9, 50 is a transport device, and 51 is a hand. 10 and 11 are explanatory views showing the operation of the transport device. 10 and 11, 51 is a hand, 52 is a wafer, and 53 is a rack. FIG. 12 is an explanatory diagram of an example of a motion program in the component conveying operation.
Hereinafter, the operation of the motion control system that performs the sequential movement operation according to the present invention will be described with reference to FIGS. 7, 8, 9, 10, 11, and 12.
The wafer 52 shown in FIG. 8 is moved to the rack 53 shown in FIG. 7 by the transfer device 50 shown in FIG. 9, and the hand 51 loaded with the wafer 52 shown in FIG. When (A) is stored in the rack 53, the hand 51 is then moved down (B) as shown in FIG. 11, and then the hand 51 is moved (C), the operation is shown in FIG. A motion program 111 as shown is programmed and commanded to a motion controller (not shown).
When programming with the motion program 111, whether the wafer 52 or the hand 51 of the transfer device 50 is programmed correctly so as not to interfere with the rack 53, the position of each wafer 52 is visually confirmed while being inserted into the rack 53. Then, the operation of the motion program 111 is confirmed.
At this time, as a first method of the prior art, a breakpoint is set in the motion command for which the operation is to be temporarily stopped, and the position of the wafer, the hand and the rack is confirmed while the operation of the transfer device is stopped at the breakpoint. Thus, there is a method of performing an interference check (see, for example, Patent Document 1).
In addition, as a second method of the prior art, there is a method of performing an interference check by stopping the operation of the transport device by executing / stopping motion commands one line at a time by step execution (see, for example, Patent Document 2). ).
Further, as a third method of the prior art, there is a method of performing an interference check by stopping the operation of the transport device by performing a hold operation at a position where an interference check or the like is desired.
JP 2000-089978 A (page 2-3) JP 2000-047900 A (2nd page)

However, when the operation check of the motion program is performed by the first or second method of the prior art, the operation cannot be stopped in the middle of movement in one motion command. For this reason, when performing an interference check or the like, depending on the program, there is a case where it stops at a place away from a place where interference is expected, and there is a problem that the confirmation work is difficult.
In addition, when the operation check of the motion program is performed by the third method of the prior art, it is necessary to always monitor the movement of the machine. In addition, even if it is determined to stop the moving operation at an arbitrary point, since the operator's operation is subsequently intervened, there is a risk that the operation cannot be stopped as intended and a collision occurs. There is a problem.

The present invention has been made in view of the above problems, and can stop the operation at an arbitrary point in the middle of movement in one motion command, and intervenes the operation of the operator at the point where the movement is stopped. An object of the present invention is to provide a motion control system that can stop without fail. It is another object of the present invention to provide a motion control system that can easily set an arbitrary timing and position during movement in one motion command.
In addition, motion in a motion control system that can stop the operation at any point in the middle of movement in one motion command and can stop the movement reliably without intervention by the operator at the point where the movement is stopped. An object is to provide a program operation check method.

  In order to solve the above problem, the invention described in claim 1 is directed to a display / input device comprising a display and an input device, a multi-axis servo drive for controlling the drive of a motor, and position command values based on a motion program A motion controller that transmits to the servo drives of the plurality of axes through a servo network every servo data communication cycle, and in the motion control system that performs a sequential movement operation, the display unit includes a speed command value for each axis of the servo drive. And a speed waveform display screen for displaying the contents of the motion program by a time axis, the motion controller analyzes a motion command in the motion program, a target position of the motion command, a speed setting value, and an acceleration setting value Based on the position command value Further, a program analysis processing unit that calculates a speed command value from the difference from the position command value one cycle before, and a position command in the order in which the position command value and the speed command value are generated by the program analysis processing unit. A segment buffer to be stored as data; the position command value and the velocity command value are read from the segment buffer and displayed on the velocity waveform display screen; and the break point set on the velocity waveform display screen by the input device HMI processing unit that detects the timing from the position, and the position command that searches for the corresponding position command data in the segment buffer based on the set timing of the breakpoint, and performs acceleration / deceleration processing to stop at that timing Change to data and store in the segment buffer. In the position command data of the corresponding segment buffer, a breakpoint setting processing unit for setting data indicating that it is a breakpoint and whether the position command data read from the segment buffer is a breakpoint are checked. In the case of a point, a motion control processing unit is provided that maintains the stop of the moving operation until a program restart request is input from the input device.

  According to a second aspect of the present invention, a display / input device comprising a display and an input device, a multi-axis servo drive for driving and controlling a motor, and a position command value based on a motion program for each servo data communication cycle. A motion controller that transmits to a plurality of servo drives through a servo network, and in a motion control system that performs a sequential movement operation, the indicator uses the position command value of each axis of the servo drive as an operation locus. A trajectory display screen for displaying the contents of a motion program, wherein the motion controller analyzes a motion command in the motion program and determines the position command value based on a target position, a speed setting value, and an acceleration setting value of the motion command. And then one cycle before A program analysis processing unit that calculates a speed command value from a difference from the position command value, a segment buffer that stores the position command value and the speed command value generated by the program analysis processing unit as position command data in the order of calculation, and An HMI processing unit that reads the position command value and the speed command value from a segment buffer, displays them on the trajectory display screen, and detects the position of a breakpoint set on the trajectory display screen by the input device; and Based on the position of the breakpoint, the corresponding position command data in the segment buffer is searched, changed to position command data subjected to acceleration / deceleration processing so as to stop at that position, stored in the segment buffer, and further, The segment buffer position command data corresponding to the breakpoint contains breakpoints. A breakpoint setting processing unit for setting data indicating that the position command data is confirmed, and whether or not the position command data read from the segment buffer is a breakpoint. If it is a breakpoint, a program restart request is issued from the input device. And a motion control processing unit that keeps the movement operation stopped until it is input.

  According to a third aspect of the present invention, in the motion control system according to the first or second aspect, the input device is a mouse.

  According to a fourth aspect of the present invention, there is provided a motion controller that transmits a position command value to a servo drive of a plurality of axes through a servo network every servo data communication cycle, and a motion program in a motion control system that performs a sequential movement operation. In the operation check method, a motion command in the motion program is analyzed, and a position command value to be commanded to the servo drive for each servo data communication cycle based on a target position, a speed setting value, and an acceleration setting value of the motion command. The step of calculating the speed command value from the difference from the position command value of one cycle before, and storing the generated position command value and the speed command value in the segment buffer as position command data in the order of calculation. Step and the segment bar The position command value and the speed command value are read out from the firmware, and the contents of the motion program are displayed on the speed waveform display screen using the speed command value and time axis of each axis of the servo drive, or the position command value of each axis of the servo drive is displayed. The step of displaying the contents of the motion program on the trajectory display screen as an operation trajectory, and the timing and position at which the moving operation is stopped as a breakpoint on the velocity waveform display screen or the trajectory display screen with an input device such as a mouse A step of detecting the timing and position of the specified breakpoint, and searching for the corresponding position command data in the segment buffer based on the detected timing and position, and performing acceleration / deceleration processing to stop at that position Change to the applied position command data and store in the segment buffer Further, in the position command data of the segment buffer corresponding to the breakpoint, a step of setting data indicating the breakpoint, and when an activation request is received from the input device, each servo data communication cycle A step of reading position command data from the segment buffer; a step of checking whether the position command data read from the segment buffer is set with the breakpoint; and the position command data being set with the breakpoint And a step of waiting for a program resumption request to be input from the input device.

  According to the first aspect of the present invention, the operation can be stopped at any timing during the movement in one motion command, and automatically without intervention of the operator at the timing to stop the movement. Because it can be stopped, when checking the operation of a motion program that requires interference confirmation, it is possible to stop the moving operation accurately at the timing intended by the operator, and the motion that can improve workability A control system is obtained.

  According to the second aspect of the present invention, the operation can be stopped at an arbitrary position in the middle of movement in one motion command, and the operation is automatically stopped at the position where the movement is stopped without intervention of the operator. Therefore, when performing motion program operation confirmation that requires interference confirmation, it is possible to stop the moving operation accurately at the position intended by the operator, improving workability. A motion control system can be obtained.

  According to the third aspect of the present invention, it is possible to obtain a motion control system in which the timing and position can be arbitrarily and easily set using a mouse and workability can be improved.

  According to the invention described in claim 4, the operation can be stopped at an arbitrary point in the middle of movement in one motion command, and the movement is stopped without intervention of an operator's operation. Thus, a motion program operation confirmation method in the motion control system that can be stopped immediately is obtained.

  Hereinafter, specific examples of the method of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a motion control system showing the present invention.
In FIG. 1, 10 is a motion controller, 11 is a memory, 12 is a motion control processing unit, 13 is a servo data communication processing unit, 14 is a program analysis processing unit, 15 is an HMI (Human Machine Interface) processing unit, and 16 is a breakpoint. 17 is a display / input device, 17a is an indicator, 17b is an input device, 171 is a velocity waveform display screen, 172 is a trajectory display screen, 111 is a motion program, 112 is a segment buffer, and 20 is a Z-axis servo drive. , 21 is a Z-axis motor, 201 and 301 are data transmission / reception processing units, 202 and 302 are servo control processing units, 30 is a Y-axis servo drive, 31 is a Y-axis motor, and 40 is a servo network.
The present invention is different from the prior art as follows.
That is, the motion controller 10 in the motion control system of the present invention is configured to include a segment buffer 112, a program analysis processing unit 14, an HMI processing unit 15, a breakpoint setting processing unit 16, and a motion control processing unit 12, and the display 17a includes A speed waveform display screen 171 and a locus display screen 172 for displaying the program contents of the motion program 111 are provided, and breakpoints are set on these screen displays.

Hereinafter, the configuration of the motion control system according to the present embodiment will be described in detail with reference to FIG.
The display / input device 17 comprises a display device 17a and an input device 17b such as a mouse. The display device 17a displays a speed waveform display screen for displaying the contents of the motion program 111 by the speed command value and the time axis of each axis of the servo drive 20, 30. 171 and a locus display screen 172 for displaying the contents of the motion program 111 using the position command values of the respective axes of the servo drives 20 and 30 as the operation locus.
The motion controller 10 includes a segment buffer 112, a program analysis processing unit 14, an HMI processing unit 15, a breakpoint setting processing unit 16, and a motion control processing unit 12.
The program analysis processing unit 14 analyzes a motion command in the motion program 111 stored in the memory 11 and calculates a position command value from the target position, speed setting value, and acceleration setting value of the motion command. The speed command value is calculated from the difference from the position command value before the cycle.
The segment buffer 11 stores the position command value and the speed command value generated by the program analysis processing unit 14 as position command data in the order of calculation.
The HMI processing unit 15 reads the position command value and the velocity command value from the segment buffer 112 and displays them on the velocity waveform display screen 171 and the locus display screen 172, and also uses the input device 17b to display the velocity waveform display screen 171 and the locus display. The timing and position are detected from the break point set on the screen 172.
The breakpoint setting processing unit 16 searches for the corresponding position command data in the segment buffer 112 based on the set breakpoint timing and position, and performs the acceleration / deceleration processing to stop at that timing and position. Data is changed and stored in the segment buffer 112, and data indicating a breakpoint is set in the position command data of the segment buffer 112 corresponding to the breakpoint.
The motion control processing unit 12 checks whether or not the position command data read from the segment buffer 112 is a breakpoint. If it is a breakpoint, the motion control processing unit 12 stops the moving operation until a program restart request is input from the input device 17b. maintain.
The servo drives 20 and 30 include data transmission / reception processes 201 and 301 and servo control processes 202 and 302. The motion controller 10 and the servo drives 20 and 30 are connected by a servo network 40.

FIG. 2 is an explanatory diagram of a velocity waveform display screen in the present invention. FIG. 3 is an explanatory diagram of a trajectory display screen in the present invention.
FIG. 4 is an explanatory diagram of the segment buffer format in the present invention, and FIG. 5 is a flowchart of the operation check method of the motion program in the motion control system showing the present invention, and a flowchart showing the processing when setting a breakpoint. It is.
Hereinafter, the contents of the motion program 111 as shown in FIG. 12 will be described with reference to FIGS. 2, 3, 4, and 5, and the speed waveform display screen 171 as shown in FIG. The operation of each process when setting a breakpoint on the screen 172 will be described. This process performs the following steps:
First, in step ST101, the program analysis processing unit 14 reads the motion program 111 from the memory 11.
Next, in step ST102, the program analysis processing unit 14 analyzes the motion command in the motion program 111, and from the target position, speed setting value, and acceleration setting value of the motion command, the servo drive 20, The position command value to be commanded to 30 is calculated, and further, the speed command value is calculated from the difference from the position command value one cycle before.
Next, in step ST103, the program analysis processing unit 14 stores the generated position command value and speed command value as position command data in the segment buffer 112 having the format shown in FIG.
Next, in step ST104, the HMI processing unit 15 reads the position command value and the speed command value from the segment buffer 112, and displays the speed waveform display screen 171 shown in FIG. 2 and the trajectory display screen 172 shown in FIG. Display.
Next, in step ST105, the operator looks at the speed waveform display screen 171 and the trajectory display screen 172 displayed on the display unit 17, confirms each operation of the program, and sets the timing and position for stopping the operation such as a mouse. It is designated on the screen as a breakpoint by the input device 17b.
Next, in step ST106, the HMI processing unit 15 detects the timing and position of the set breakpoint from the position of the input device 17b such as a mouse and transmits the value to the breakpoint setting process 16.
Next, in step ST107, the breakpoint setting process 16 searches for the corresponding position command data in the segment buffer 112 from the set breakpoint timing and position, and performs acceleration / deceleration processing to stop at that position. The data is changed to position command data, stored in the segment buffer 112, and data indicating a breakpoint is set in the position command data of the segment buffer 112 corresponding to the breakpoint.

FIG. 6 is a flowchart of a motion program operation check method in the motion control system according to the present invention, and is a flowchart showing the operation of each process when the motion program 111 is executed with a breakpoint set.
This process performs the following steps:
First, in step ST201, when the motion control processing unit 12 receives an activation request from the input device 17b, the motion control processing unit 12 reads the position command data from the segment buffer 112 and transmits it to the servo data communication processing unit 13 every servo data communication cycle.
Next, in step ST202, the servo data communication processing unit 13 sends the position command data to the servo drives 20 and 30 via the servo network 40.
Next, in step ST203, the motion control processing unit 12 checks whether or not the position command data read from the segment buffer 112 is set to have a breakpoint. If set, the next step ST204 is executed.
In step ST204, the motion control processing unit 12 waits for a program resumption request to be input from the input device 17b.
The above steps ST201 to ST204 are repeated every servo data communication cycle until there is no position command data in the segment buffer 112.

  As described above, the motion control system according to the present invention includes the velocity waveform display screen 171 and the trajectory display screen 172 for displaying the program contents of the motion program 111, and sets breakpoints on these screen displays. Therefore, the operation can be stopped at an arbitrary point in the middle of movement in one motion command, and the movement can be stopped at a point where the movement is stopped without any operator operation. Therefore, when the operation check of the motion program 111 that requires interference check is performed, the moving operation can be stopped accurately at the point intended by the operator, and the workability can be improved.

  The present invention can be applied to a motion control system including a motion program that requires interference confirmation.

Block diagram of motion control system showing the present invention Explanatory drawing of speed waveform display screen in the present invention Explanatory drawing of the locus | trajectory display screen in this invention Explanatory diagram of segment buffer format in the present invention Flowchart of motion program operation check method in motion control system showing the present invention Flowchart of motion program operation check method in motion control system showing the present invention Rack perspective view Explanation of wafer Perspective view of transfer device Explanatory drawing which shows operation | movement of a conveying apparatus. Explanatory drawing which shows operation | movement of a conveying apparatus. Illustration of motion program example in parts transport

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Motion controller 11 Memory 12 Motion control processing part 13 Servo data communication processing part 14 Program analysis processing part 15 HMI processing part 16 Breakpoint setting processing part 17 Display / input device 17a Display device 17b Input device 171 Speed waveform display screen 172 Trajectory display Screen 111 Motion program 112 Segment buffer 20 Z-axis servo drive 21 Z-axis motor 30 Y-axis servo drive 31 Y-axis motor 201, 301 Data transmission / reception processing unit 202, 302 Servo control processing unit 40 Servo network 50 Transport device 51 Hand 52 Wafer 53 rack

Claims (4)

A display / input device (17) comprising a display (17a) and an input device (17b);
A multi-axis servo drive (20, 30) for driving and controlling the motor (21, 31);
A motion controller (10) for transmitting a position command value to the servo drives (20, 30) of the plurality of axes through a servo network (40) every servo data communication cycle based on a motion program (111);
In a motion control system that performs sequential movement operation,
The display (17a) includes a speed waveform display screen (171) for displaying the contents of the motion program (111) by the speed command value and the time axis of each axis of the servo drive (20, 30),
The motion controller (10)
The motion command in the motion program (111) is analyzed, the position command value is calculated based on the target position, speed setting value, and acceleration setting value of the motion command, and the position command value one cycle before A program analysis processing unit (14) for calculating a speed command value from the difference between
A segment buffer (112) for storing the position command value and the speed command value generated by the program analysis processing unit (14) as position command data in the order of calculation;
The position command value and the speed command value are read from the segment buffer (112) and displayed on the speed waveform display screen (171), and on the speed waveform display screen (171) by the input device (17b). An HMI processing unit (15) for detecting the timing from the set breakpoint;
Based on the set timing of the break point, the corresponding position command data in the segment buffer (112) is retrieved, and the segment buffer is changed to the position command data subjected to acceleration / deceleration processing so as to stop at that timing. A breakpoint setting processing unit (16) for setting data indicating a breakpoint in the position command data of the segment buffer (112) stored in (112) and corresponding to the breakpoint;
It is confirmed whether or not the position command data read from the segment buffer (112) is a breakpoint. If it is a breakpoint, the movement operation is stopped until a program restart request is input from the input device (17b). And a motion control processing unit (12) for performing the motion control. A display / input device (17) comprising a display (17a) and an input device (17b);
A multi-axis servo drive (20, 30) for driving and controlling the motor (21, 31);
A motion controller (10) for transmitting a position command value to the servo drives (20, 30) of the plurality of axes through a servo network (40) every servo data communication cycle based on a motion program (111);
In a motion control system that performs sequential movement operation,
The indicator (17a) includes a trajectory display screen (172) for displaying the contents of the motion program (111) using the position command value of each axis of the servo drive (20, 30) as an operation trajectory.
The motion controller (10)
The motion command in the motion program (111) is analyzed, the position command value is calculated based on the target position, speed setting value, and acceleration setting value of the motion command, and the position command value one cycle before is calculated. A program analysis processing unit (14) for calculating a speed command value from the difference;
A segment buffer (112) for storing the position command value and the speed command value generated by the program analysis processing unit (14) as position command data in the order of calculation;
The position command value and the speed command value are read from the segment buffer (112), displayed on the locus display screen (172), and the breakpoint set on the locus display screen (172) by the input device (17b). An HMI processing unit (15) for detecting the position of
Based on the set position of the breakpoint, the corresponding position command data in the segment buffer (112) is searched, and the segment buffer is changed to the position command data subjected to acceleration / deceleration processing to stop at that position. A breakpoint setting processing unit (16) for setting data indicating a breakpoint in the position command data of the segment buffer (112) stored in (112) and corresponding to the breakpoint;
It is confirmed whether or not the position command data read from the segment buffer (112) is a breakpoint. If it is a breakpoint, the movement operation stop is maintained until a program restart request is input from the input device (17b). And a motion control processing unit (12).   The motion control system according to claim 1 or 2, wherein the input device (17b) is a mouse. A motion program (10) in a motion control system that performs sequential movement operations (equipped with a motion controller (10) that transmits position command values to servo drives (20, 30) of multiple axes through a servo network (40) every servo data communication cycle. 111) In the operation confirmation method,
A position for analyzing a motion command in the motion program (111) and instructing the servo drive (20, 30) at each servo data communication cycle based on a target position, a speed setting value, and an acceleration setting value of the motion command Calculating a command value, and further calculating a speed command value from a difference from a position command value of one cycle before (ST102);
Storing the generated position command value and the speed command value in the segment buffer (112) as position command data in the order of calculation (ST103);
The position command value and the speed command value are read from the segment buffer (112), and the motion program (111) is displayed on the speed waveform display screen (171) according to the speed command value and the time axis of each axis of the servo drive (20, 30). Displaying the contents, or displaying the contents of the motion program (111) on a trajectory display screen (172) using the position command value of each axis of the servo drive (20, 30) as an operation trajectory (ST104);
A step (ST105) of designating, as a breakpoint, the timing and position at which the moving operation is stopped on the velocity waveform display screen (171) or the locus display screen (172) with an input device (17b) such as a mouse;
Detecting the timing and position of the designated breakpoint (ST106);
Based on the detected timing and position, the corresponding position command data in the segment buffer (112) is searched, changed to the position command data subjected to acceleration / deceleration processing so as to stop at that position, and stored in the segment buffer (112). Storing (ST107) the step of storing data indicating the breakpoint in the position command data of the segment buffer (112) corresponding to the breakpoint;
When receiving an activation request from the input device (17b), a step (ST201) of reading position command data from the segment buffer (112) every servo data communication cycle;
Confirming whether the position command data read from the segment buffer (112) is a setting with the breakpoint (ST203);
A step (ST204) of waiting for a program resumption request to be input from the input device (17) when the position command data is set to have a breakpoint. How to check program operation.

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