JP2009194970A - Motor controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor controller which enables the drive of a motor to be controlled, according to a prescribed operation pattern, each time from the same starting position, without requiring a high-order commanding apparatus. <P>SOLUTION: This motor controller, which controls the drive of the motor by outputting a torque command, includes a reference position generator 116 for setting a reference position, which becomes its starting point, and for moving it from its present position to the reference position when starting the position control by a position command generated by a command pattern generator 112, and it switches its command into the positional command by the command pattern generator 112 and starts its position control, after the shift from the present position to the reference position is completed, based on a reference position command obtained by the reference position generator 116. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention is set when, for example, driving control of a mechanical device with a restricted movement range by a motor to perform trial operation adjustment, after turning off the power once and then turning on the power again to continue the trial operation adjustment of the mechanical device. The present invention relates to a motor control device having an operation function for returning to a set reference position.

A motor control device that can operate a motor and adjust a control gain or the like without requiring a host command device is disclosed in Patent Document 1. The motor control device includes a command pattern generation unit, and the command pattern generation unit includes parameters for the movement distance, maximum speed, acceleration time, deceleration time, waiting time, forward rotation repetition count, and reverse rotation repetition count input from the parameter input device. A driving pattern is generated based on the above and a position command for continuous operation is output. For this reason, it can be continuously operated without a host command device.
FIG. 6 shows a block configuration of the motor control device described in Patent Document 1. In FIG. 6, 21 is a parameter input device, 22 is a motor control device, and 23 is a host command device. The motor control device 22 receives a pulse train command from the host command device 23 as a motor drive command, and operates based on a pulse command processing unit 211 that generates a position command in the motor control device and an input parameter from the parameter input device 21. A command pattern generation unit 212 that generates a pattern and generates a position command based on the operation pattern; a command changeover switch 213 that selects a position command from the pulse command processing unit 211 or a position command from the command pattern generation unit 212; A position control unit 214 that generates a speed command based on a position command input via the switch 213, a speed control unit 215 that generates a torque command for driving the motor based on the speed command from the position control unit 214, and It is composed of When the host command device 23 is not used, the motor control device 22 drives the motor according to the operation pattern generated based on the input parameters from the parameter input device 21.
The parameter input device 21 normally has a function as a command device for performing operations such as jog operation as well as setting various parameters of the motor control device 22.
JP 2004-23946 A

In the conventional motor control device, the command pattern generation unit 212 uses the start position of the command pattern as the motor position at that time, and does not manage the absolute position. Therefore, for example, when driving the motor again after turning off the power of the motor control device, the operation starts from a different motor position, and when performing a repeated operation from the same position as the previous time, the absolute position is managed. There is a problem that it is necessary for the higher order command device to output a command pattern.
In particular, in a situation where the operating range of the motor drive is limited, the operability at the time of trial operation adjustment of a mechanical device or system incorporating the motor has been reduced.

  The present invention has been made in view of such problems, and provides a motor control device that can drive and control a motor according to a predetermined operation pattern from the same start position every time without requiring a host command device. It is intended to do.

In order to solve the above problems, the present invention is configured as follows.
The invention according to claim 1 is a motor control device that drives and controls a motor by outputting a torque command, and a command pattern generation unit that generates a position command of a predetermined pattern based on an input parameter; Position control means for generating a speed command based on the position command generated by the command pattern generation means or the position command from the host command device, and torque for driving the motor based on the speed command from the position control means In a motor control device comprising a speed control means for generating a command,
When starting position control by the position command generated by the command pattern generating means, a reference position serving as a starting point is set, and a reference position command generating means for moving from the current position to the reference position is provided, Based on the reference position command obtained by the reference position command generating means, after the movement from the current position to the reference position is completed, the position control is started by switching to the position command by the command pattern generating means. .
According to a second aspect of the present invention, in the motor control device according to the first aspect, the reference position command generating means is provided by the absolute value encoder when a position feedback control system is constituted by the absolute value encoder. The reference position command is generated by obtaining a difference value between the current position and the set reference position.
According to a third aspect of the present invention, in the motor control device according to the first aspect, when the reference position command generating means constitutes a position feedback control system by an incremental encoder, first, the mechanical apparatus to be controlled. An origin return operation for moving to the origin position is executed, a difference value is obtained with a relative position with respect to a position where the origin position is 0 as a reference position, and a reference position command is generated.
According to a fourth aspect of the present invention, in the motor control device according to the first aspect, the reference position is set in the motor control device by a parameter input device, and the motor is driven by a position command from the reference position command generating means. The parameter input device has a display means for indicating that the position is controlled by the reference position command generating means.

According to the first to third aspects of the invention, since the position control is started by switching to the position command by the command pattern generation means after the mechanical device is moved to the predetermined reference position, the command is once again turned off after the power is turned off. Even in the case of performing the positioning operation by the pattern, the motor can be driven from the same start position. Therefore, even when there is no higher order command device and the operation range is limited, the operability of the operation adjustment of the mechanical device or system incorporating the motor can be improved.
Even when gain adjustment of the control system is performed, positioning control can be resumed from the same reference position as before the power is turned off, so the continuity of the adjustment work can be maintained and the adjustment time can be shortened. Can be planned.

  According to the fourth aspect of the present invention, while the position command is generated by the reference position command generating means and the motor is driven to the reference position, a special display is performed on the parameter input device, and the command pattern is given to the operator. Since it is possible to notify that the movement to the positioning operation start position is in progress, it is possible to improve the operability and safety of the operation adjustment of the mechanical device and system.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Although various functions and means are built in the actual motor control device, only the functions and means related to the present invention will be described in the following drawings.

  FIG. 1 is a block diagram illustrating a configuration of a motor control device according to an embodiment of the present invention. In FIG. 1, 11 is a parameter input device, 12 is a motor control device, and 13 is a host command device. The motor control device 12 includes a pulse command processing unit 111, a command pattern generating unit 112, a command switching first switch 113, a position control unit 114, a speed control unit 115, a reference position command generating unit 116, and a command switching second switch 117. Composed.

Since the basic operation of each functional block in FIG. 1 is the same as that of FIG. 6 showing the conventional example, the added functional unit will be described here.
The difference between the present invention and the conventional example is that a reference position command generator 116 for generating a position command for moving the motor to a reference position set by a parameter before starting an operation based on the command pattern, and a reference position This is that a command switching second switch 117 for driving the motor in accordance with the position command from the command pattern generation unit 112 after arrival is added.
The parameter input device 11 not only sets various parameters of the motor control device 12, but also has a function as a command device when executing operations such as jog operation and return to origin, and processing contents of the present invention. Yes.

FIG. 2 is a flowchart showing an operation when a position command is generated based on parameters such as an operation pattern set in the motor control device 12 by the parameter input device 11. First, in step S01, a reference position command is generated, the command switching first switch 113 is set to the b side, and the command switching second switch 117 is set to the d side, and then the reference position command is output to the position control unit 114 to operate the motor. Move to the reference position. The generation process of the reference position command differs between when an absolute encoder is used as a position detector for position feedback control and when an incremental encoder is used, and the detailed operation is described separately. To do.
Next, in step S02, the command switching second switch 117 is set to the c side. Based on the operation pattern generation parameters input from the parameter input device 11, the command pattern generation unit 112 generates a basic operation pattern for operating the motor, and the number of times this basic operation pattern is set by the parameter. A continuous operation pattern is set repeatedly, and a position command pattern (hereinafter referred to as “command pattern”) for continuously operating the motor based on the continuous operation pattern is generated and output to the position control unit 114. . The motor control device 12 continues to operate the motor according to the generated command pattern.

The operator normally performs adjustment work such as control gain from the parameter input device 11 while operating the motor based on the command pattern. The operation in step S02 is the same as the operation process using the conventional command pattern. When the operation using the command pattern is completed, the end process is performed in step S03.
Note that the parameter input device 11 performs a specific display such as “APPROACH” during the motor driving to the reference position in step S01 for performing the reference position command generation and output processing, and starts operation based on the command pattern. Tell the operator that you are moving to a position.

FIG. 3 is a flowchart regarding the reference position command generation and output processing in step S01 of FIG.
In FIG. 3, in step S011, a specific key input of the parameter input device 11, for example, an input determination process for determining whether the “JOG / SVON” key is in an on state is performed. The process proceeds to step S012, and if it is off, it is determined that the motor is in a non-energized state and the process is terminated.
In step S012, an encoder type determination process is performed. If an absolute value encoder is used as a position detector for position control, the process proceeds to step S0131. If an incremental encoder is used, the process proceeds to step S0141.

When an absolute encoder is used as a position detector, the position data that the motor controller acquires from the absolute encoder from time to time represents the absolute position of the machine that is driven by the motor. The position data of the machine position desired to be the position can be used as the reference position data as it is. If the reference position data of the machine device is known in advance, a parameter for the reference position is set by the parameter input device 11 to obtain a difference value between the current position data and the set reference position data in step 0131. Thus, the reference position command can be generated.
However, when setting the reference position, there are cases where it must be performed directly from the actual operating machine. Therefore, the flowchart of FIG. 4 shows a method for generating a reference position command assuming such a case. It is.
In FIG. 4, first, in step S01311, it is confirmed whether or not the parameter of the reference position is set to an appropriate value. If not, the reference position setting method is selected and the reference position data is acquired in step S01312. The mode to be selected is selected (S01313), or if the reference position is known in advance, the parameter of the reference position is directly input to the motor control device 12 by the parameter input device 11 in step S01314. If the reference position parameter has already been set to an appropriate value, the process proceeds to S01315.
In step S01313, an example of a method for acquiring the reference position data and setting the reference position parameters can be performed as follows. For example, in the jog operation mode, which is one of the functions using the parameter input device 11, the operator moves to the position where the movable table of the mechanical device is desired to be set as the reference position, and the position data of the absolute encoder at that position. Is stored in the motor control device 12 as a reading reference position.
Next, in step S01315, the current position data is read from the absolute value encoder, and in step S01316, a difference value between the current position data and the reference position data is obtained, and a reference position command is generated.
In addition to the case where the reference position is directly input from the parameter input device 11 as described above, the usability can be further improved by incorporating the data acquisition mode of the reference position into the motor control device.

  Again, it returns to step S012 of FIG. 3, and description is continued. When an incremental encoder is used for the position detector, the current position data obtained from the incremental encoder when the power is turned on is 0 regardless of the position where the mechanical device is stopped. Therefore, the operator temporarily moves to the machine origin of the mechanical device by the origin return operation after turning on the power, sets the position of the machine origin to 0, and sets the reference position with the position data obtained by counting from this 0 point. . When the incremental encoder is used, if the power source of the motor control device 12 is turned off during the work, it is necessary to perform the origin return operation again when the power source is turned on again.

First, in step S0141, it is determined whether or not the origin return process has been executed. If not, the machine apparatus is moved to the position of the machine origin by the origin return process in step S0142, and the position is set to zero. If the origin return operation has already been completed, the process proceeds to step S0143.
The operation of the origin return process in step S0142 will be described with reference to the flowchart of FIG. The operator selects the origin return operation mode using the parameter input device 11, and first drives the motor in a direction where the machine origin is located in step S01421. When the machine device approaches the machine origin, the motor control device is near the origin. Is detected. In step S01422, the motor control device stops at a position obtained by adding a predetermined offset position to the origin signal position of the incremental encoder detected thereafter. In step S01423, the stop position is set as the machine origin position (= 0). In step S01424, the origin return process is terminated, and the process proceeds to step S0143 in FIG. The predetermined offset position is set in advance as a parameter of the motor control device as a unique value of each mechanical device.

The basic operation of the process after the origin return process is the same as when the absolute value encoder is used. In step S0143, a difference value between the current position data and the reference position data when the machine origin position obtained by the origin return operation is set to 0 is obtained to generate a reference position command. The reference position data used here may be set in advance by the parameter input device 11 as a reference position parameter. When the power supply is turned off and the power supply is turned on again to restart the positioning operation based on the command pattern, the home position return operation needs to be executed again, but it is not necessary to newly set the reference position data.
Note that the flowchart of FIG. 4 showing the method for generating the reference position command can be applied as it is even when an incremental encoder is used, and is described as “absolute value encoder” in the description of FIG. 4 described above. You can replace it with “Incremental encoder”.

Next, step S0132 in FIG. 3 outputs the reference position command generated in step S0131 or S0143, drives the motor to the reference position, and when the movement is completed, it ends in step S0133, and in step S02 shown in FIG. Move on to operation processing by command pattern.
Even if there is no host command device 13 as described above, after returning the machine device to the set reference position, the operation by the command pattern can be continuously performed, and the trial run adjustment of the machine device is resumed. It is possible to improve the operability of driving adjustment. Further, even when adjustment work such as the position control gain and the speed control gain of the motor control device 12 is performed, the continuity can be maintained, so that the adjustment time can be shortened.

The block diagram which shows the structure of the motor control apparatus of this invention Position command generation processing flowchart according to the command pattern of the embodiment of the present invention Reference position command generation and output processing flowchart of an embodiment of the present invention Detailed flowchart of the reference position command generation method of the embodiment of the present invention Origin return processing flowchart of the present invention Block diagram showing the configuration of a conventional motor control device

Explanation of symbols

11, 21 Parameter input device 12, 22 Motor control device 13, 23 Host command device 111, 211 Pulse command processing unit 112, 212 Command pattern generation unit 113 Command switching first switch 114, 214 Position control unit 115, 215 Speed control unit 116 Reference position command generation unit 117 Command switch second switch 213 Command switch

Claims (4)

A motor control device that drives and controls a motor by outputting a torque command, which is generated by a command pattern generation unit that generates a position command of a predetermined pattern based on an input parameter, and generated by the command pattern generation unit Position control means for generating a speed command based on a position command or a position command from a host command device, speed control means for generating a torque command for driving a motor based on the speed command from the position control means, In a motor control device comprising:
When starting position control by the position command generated by the command pattern generating means, a reference position serving as a starting point is set, and a reference position command generating means for moving from the current position to the reference position is provided, Based on the reference position command obtained by the reference position command generating means, after the movement from the current position to the reference position is completed, the position control is started by switching to the position command by the command pattern generating means. A motor control device.   In the case where the absolute value encoder constitutes a position feedback control system, the reference position command generating means obtains a difference value between the current position given by the absolute value encoder and the set reference position, and the reference position command The motor control device according to claim 1, wherein:   When the position feedback control system is constituted by an incremental encoder, the reference position command generation means first performs an origin return operation for moving to the origin position of the controlled machine, and sets the origin position to 0. The motor control device according to claim 1, wherein a relative position with respect to the determined position is used as a reference position to obtain a difference value, and a reference position command is generated.   The reference position is set in the motor control device by a parameter input device, and when the motor is driven by a position command from the reference position command generating means, the parameter input device is in a position control state by the reference position command generating means. The motor control device according to claim 1, further comprising display means for indicating that

Images