JP3279580B2 - Motor control device for positioning mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for controlling a positioning motor of a positioning mechanism which is controlled in synchronization with driving of a spindle in an NC machine.

[0002]

2. Description of the Related Art Conventionally, an NC machine generally having a plurality of axes and having motors for driving the respective axes is shown in FIG.
And a control device having a configuration as shown in FIG. In the control method shown in FIG. 9, a drive signal from one positioning controller 91 having an interpolation function is supplied to three servo drivers 92.
D, 93D, 94D, and servo motors 9 connected to the respective servo drivers 92D, 93D, 94D.
The feedback control of the 2M, 93M, 94M controls the positioning of the axes driven by the servomotors 92M, 93M, 94M, respectively. Further, the control system shown in FIG. 10 has three servomotors 95M,
96M and 97M are independent positioning controllers
The positioning controllers 95C, 96C, and 97C output driving signals to the servo drivers 95D, 96D, and 97D connected to the positioning controllers 95C, 96C, and 97C, respectively. 95
D, 96D, and 97D connected to the servomotors 95D, 97D.
By controlling feedback of 96M and 97M,
The shafts driven by the servomotors 95M, 96M, and 97M are positioned. In the above control, the positioning controllers 95C, 96C, and 97C are synchronously controlled, so that the positioning controllers 95C, 96C, and 97C are simultaneously activated by a start signal. The synchronous control is performed based on

[0003]

In the former control method of the conventional NC machine, linear interpolation control,
Since it takes time for interpolation calculation to perform positioning control of multiple axes using techniques such as circular interpolation control and the like,
There is a problem that the positioning speed is slow and there is a limit in improving the productivity.

On the other hand, in the latter control method of the conventional NC machine, three servomotors 95M and 96 are used.
M and 97M are independent positioning controllers 9
Since driving is performed at 5C, 96C, and 97C, there is a problem in that even if synchronous control is performed using a clock signal, there is a shift in switching timing of control steps, and there is a limit in improving positioning accuracy.

Therefore, in the present invention, when the positioning mechanism is driven synchronously with the driving of the spindle, the positioning mechanism is driven based on the logical product signal of the signal corresponding to the driving of the spindle and the operation pattern data of the positioning mechanism. An object of the present invention is to increase the positioning speed and improve the positioning accuracy by driving the motor.

[0006]

[Means for Solving the Problems ]
Technical means for positioning control in synchronization with spindle drive
The control device of the motor in the positioning mechanism
Drive is detected, and a drive detection signal corresponding to that drive is output.
The first drive pattern data and the first drive pattern data
2 operation pattern data and drive detection
The first operation pattern is sequentially synchronized with the drive detection signal from the
Operation pattern signal and second operation pattern
Operation pattern that outputs an operation pattern signal corresponding to the
Drive data storage circuit and drive detection signal from drive detector
And first operation pattern from operation pattern data storage circuit
The operation pattern signal corresponding to the data and the second operation pattern
Calculates the logical product with the operation pattern signal corresponding to the
An AND circuit that outputs an AND signal and an output from the AND circuit
Positioning mechanism for driving power corresponding to the input AND signal
And an output circuit for outputting to the motor in
Is Rukoto.

[0007]

The positioning control is performed in synchronization with the driving of the spindle having the above configuration.
The control device for the motor in the positioning mechanism
When the shaft is driven, the drive detector responds to the drive of the spindle.
The drive detection signal is ANDed with the operation pattern data storage circuit.
Output to the road. The operation pattern data storage circuit
The first operation signal is sequentially synchronized with the drive detection signal from the output device.
The operation pattern signal corresponding to the turn data and the second operation pattern
Outputs the operation pattern signal corresponding to the turn data to the AND circuit.
Power. Is the logical product circuit an operation pattern data storage circuit?
Pattern corresponding to the first operation pattern data output from the
Pattern corresponding to the input signal and the second operation pattern data
Logic between signal and drive detection signal output from drive detector
The product operation is performed, and the logical product signal is output to the output circuit. output
The circuit corresponds to the AND signal output from the AND circuit.
The driving power is output to the motor in the positioning mechanism.

[0008]

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a control circuit serving as a center of a control device for controlling a motor in a positioning mechanism. In FIG. 1, a pulse signal from a rotary encoder (not shown) for detecting the drive of the spindle of an NC machine is input between terminals 1 and 2.
This pulse signal serves as a synchronization signal for driving a servomotor provided in a positioning mechanism that is positioned and controlled in synchronization with the driving of the spindle.
The signal is input to the face 3, and after signal matching is performed, the signal is input to the pulse converter 4. The rotary encoder outputs two types of pulse signals, A-phase and B-phase, so that the rotation direction when the main shaft rotates forward and when the main shaft rotates reversely can be determined. The pulse converter 4 converts the two types of pulse signals of the A phase and the B phase into a forward rotation signal UP and a reverse rotation signal DOWN,
Performs the set multiplication switching. The forward rotation signal UP and the reverse rotation signal DOWN output from the pulse converter 4 are input to the microcomputer 5.

When the operation pattern data of the positioning mechanism, whose position is controlled in synchronization with the driving of the spindle, is prepared in advance by an external computer, the operation pattern data is prepared.
The data is stored in a pattern memory 7 composed of a RAM via a data communication interface 6 and a microcomputer 5. The microcomputer 5 controls the frequency division of the forward rotation signal UP and the reverse rotation signal DOWN output from the pulse converter 4, controls the writing of the operation pattern data into the pattern memory 7, and controls the pulse generator 8. Via a control signal input / output interface 11 and a central control sequence controller for centrally controlling a plurality of NC processing machines provided outside. The pulse generator 8 is a positioning drive for controlling the motor of the positioning mechanism based on a command from the microcomputer 5 when the positioning mechanism is not operated in synchronization with the main shaft but is operated alone. Generate a pulse signal.

The pulse control circuit 9 includes an AND circuit, and performs positive rotation based on a signal based on the operation pattern data from the pattern memory 7 and a synchronization signal from the rotary encoder. A logical product of the signal UP and the reverse rotation signal DOWN is calculated, and a forward rotation command pulse signal FP and a reverse rotation command pulse signal RP based on the logical product are output. The address counter 10 designates an address of the pattern memory 7 based on data preset in the microcomputer 5 and a forward rotation signal UP or a reverse rotation signal DOWN, and is constituted by an up-down counter. Have been.

The forward command pulse signal FP and the reverse command pulse signal RP output from the pulse control circuit 9
Is output to a servo driver (not shown) that supplies drive power to a servo motor provided in the positioning mechanism after signal matching is performed in the pulse input / output interface 3. The servo driver outputs a clear signal CLR, an input inhibit signal INH, etc. in addition to the forward command pulse signal FP and the reverse command pulse signal RP. In addition, the servo driver sends a rotary input through the pulse input / output interface 3.
The encoder origin signal Z is input. The power supply circuit 12 applies a required voltage to each circuit and outputs a memory backup voltage.

FIG. 2 is a timing chart of the control circuit shown in FIG. In FIG. 2, 90-degree phase signals of the A-phase and B-phase output from the rotary encoder, that is, the synchronization signals A and B from the main shaft, are forward-rotated by the pulse converter 4 as described above. It is converted into an UP and a reverse rotation signal DOWN. Therefore, while the main shaft is rotating forward, the forward rotation signal UP is output in a pulsed manner, whereas when the main shaft is rotating backward, the reverse rotation signal DOW is output.
N is output in a pulse form. Next, the data FD and RD of the pattern memory will be described.
The operation pattern data of the positioning mechanism, which is positioned and controlled in synchronization with the driving of the spindle, is created in advance by an external computer and written in the pattern memory 7. At this time, when the shaft of the positioning mechanism is rotated forward during the main spindle forward rotation, data is written on the FD side of the memory area divided in advance, while when rotated in the reverse direction, data is written on the RD side. . That is, in FIG. 2, data written on the FD side of the memory area is indicated as FD, and data written on the RD side of the memory area is denoted by RD.
As shown. The address switching of the pattern memory 7 is performed by inputting the forward rotation signal UP and the reverse rotation signal DOWN to the address counter 10.

Next, positioning command pulse signals FP and RP
Will be described. As described above, the pulse control
The forward rotation command pulse signal FP and the reverse rotation command pulse signal RP output from the control circuit 9 are subjected to signal matching in the pulse input / output interface 3 and then sent to a servomotor provided in the positioning mechanism. Output to a servo driver for supplying driving power. The pulse control circuit 9 includes a logic circuit as shown in FIG. 3, for example. The logic circuit is constituted by using a two-input AND gate and a two-input OR gate, and includes a signal based on operation pattern data FD and RD from a pattern memory 7 and the low level signal. A logical product of a forward rotation signal UP or a reverse rotation signal DOWN based on a synchronization signal from a tally encoder is calculated, and the logical product signal is interposed through a two-input OR gate to generate a forward rotation command pulse signal FP, Alternatively, it outputs either one of the reverse rotation command pulse signal RP. As is clear from FIG. 3, for example, even if the spindle is rotating forward, if there is data on the RD side of the memory area, the reverse rotation command pulse signal RP is output. Also, if there is data on the RD side of the memory area even when the spindle is rotating in the reverse direction, the forward rotation command pulse signal FP is output. Thus, even if the spindle is rotating forward, if there is data on the RD side of the memory area, the servomotor provided in the positioning mechanism is rotated in the reverse direction, and the servomotor is rotated.
The control shaft (second shaft) driven by the motor is also rotated in the reverse direction, and even if the main shaft is rotating in the reverse direction, if there is data on the RD side of the memory area, it is provided in the positioning mechanism. The servo motor is rotated forward. As described above, when the main shaft rotates in the reverse direction, the control shaft (second shaft) performs a motion to return to the original position. Such movement is exactly the same as the control by the mechanical cam. FIG. 4 shows the pattern as described above.
The data FD and RD of the memory 7 and the movements of the main axis and the second axis are shown in an operation pattern diagram.

Next, the positioning mode described above.
An application example in which a control circuit (hereinafter, referred to as a positioning controller), which is a center of a controller of a motor, is used in an NC machine will be described. FIG. 5 schematically shows an operation configuration of a lathe type coiling machine.
Is to be used as a core when forming. The main shaft 21 is driven to rotate by a servomotor 23.
As the coil rotates, the coiling chuck 24 attached to the main shaft 21 rotates, so that a wire 25 having an end fixed to the coiling chuck 24 is formed on the coil 22 using the main shaft 21 as a core metal. The servo driver 26 supplies drive power to the servo motor 23, and its drive command pulse signal is output from the positioning controller 27. The wire 25 is supported so as to be able to be sent out by a wire guide 29 which is moved at a feed speed corresponding to the rotation speed of the feed shaft 28. At this time, the wire guide 29 is controlled so as to be synchronized with the rotation of the main shaft 21 and moved at a feed speed corresponding to the winding pitch of the coil 22.

The feed shaft 28 is driven to rotate by a servo motor 30. The servo motor 30 is rotated by receiving driving power from a servo driver 31.
The drive command pulse signal is output from the positioning controller 32. The positioning controller 32 is constituted by the control circuit shown in FIG. In order to drive the feed shaft 28 in synchronization with the main shaft 21, a servo motor 2 is used.
The two types of pulse signals of the above-mentioned A-phase and B-phase are output as synchronous signals from a rotary encoder 33 attached to the positioning encoder 3, and the synchronous signals are relayed to the servo driver 26 for positioning control. To be input to the RAM 32. After the synchronization signal is input to the positioning controller 32, the control is performed by the above-described control based on the operation pattern data FD and RD written in the pattern memory 7 of the positioning controller 32. The motor 30 is driven, the feed shaft 28 is driven, and the positioning of the wire guide 29 is controlled. The rotary encoder 33 attached to the servo motor 30 outputs a pulse signal as a feedback signal to the servo driver 31.

FIG. 6 schematically shows an operation configuration of another coiling machine. This coiling machine rotates while holding the wire 41 from above and below.
Are driven by a servo motor 44, while a servo motor 45 drives a pitch tool 47 for adjusting a coil pitch when forming a coil 46. Things. The servo motor 48 is
The coil 46 is manufactured by rotating the aperture cam 49 and interlocking a coiling pin (aperture tool) 50 that contacts the cam surface of the aperture cam 49 and adjusts the coil diameter of the coil 46. Incidentally, actually, the coil 46
A core metal (not shown) is provided at the center. The servo motor 44 is driven when drive power is supplied from the servo driver 51.
When the drive command pulse signal 1 output from the controller 52 is input, 1 outputs drive power to the servo motor 44. The servo motor 45 is driven when drive power is supplied from the servo driver 53. The servo driver 53 receives the drive command pulse signal output from the positioning controller 54. Sometimes,
The driving power is output to the motor 45. In addition,
The motor 48 is driven when driving power is supplied from the servo driver 55.
When the drive command pulse signal output from the positioning controller 56 is input, the drive power is output to the servo motor 48.

The pitch tool 47 and the diaphragm cam 49 are
To drive in synchronization with the feed rollers 42 and 43,
Rotary encoder 5 mounted on motor 44
7, the two types of pulse signals of the above-mentioned A phase and B phase are output as synchronization signals, and the synchronization signals are output to the servo driver 5
1 is relayed and input to the positioning controllers 54 and 56. The synchronization signal is transmitted to the positioning controllers 54 and 56.
Are input to the positioning controllers 54 and 56.
Operation pattern written in each pattern memory 7
Based on the data FD and RD, the servo motors 45 and 48 are driven by the above-described control, and the pitch tool 47 and the aperture cam 49 are driven to produce the coil 46. .

FIG. 7 schematically shows an operation configuration of the curling machine. In this curling machine, when the motor with brake 61 is rotated, the motor with brake is rotated.
Pulley 62 and belt 6 attached to the output shaft of
The shaft 66 formed integrally with the urethane roller 65 is rotated via the pulley 3 and the pulley 64, and the urethane roller 65 is rotated.
The la 65 is rotated. On the other hand, the material 67 is such that a curling member 80 having a curvature as shown in FIG. 8 is formed by the clamping force between the core metal 68 and the urethane roller 65. At this time, in order to adjust the curvature, the servo motor 69 is rotated when the mandrel 68 is moved up and down, and the servo motor 6 is rotated.
By rotating the shaft screw 70 attached to the output shaft 9, the metal core receiver 71 supporting the metal core 68 is moved up and down.

The servo motor 69 includes a servo driver 72.
The servo driver 72 outputs the driving power to the servo motor 69 when receiving the driving command pulse signal output from the positioning controller 73. . In order to vertically move the core bar 68 in synchronization with the rotation of the urethane roller 65, a shaft 66
Rotary encoder 74 is attached to the end of
The two types of pulse signals of the above-mentioned A phase and B phase are output from the rotary encoder 74 as synchronization signals, and the synchronization signals are input to the positioning controller 73. After the synchronization signal is input to the positioning controller 73,
The servo motor 69 is driven based on the operation pattern data FD and RD written in the pattern memory 7 of the positioning controller 73.

[0020]

As described above, the same applies to the drive of the spindle of the present invention.
Motor in positioning mechanism that is expected to be positioned
Control device detects the drive of the spindle and responds to the drive.
A drive detector for outputting the detected drive detection signal;
Store turn data and second operation pattern data
Along with the drive detection signal from the drive detector,
Operation pattern signals corresponding to the first operation pattern data sequentially
And operation pattern signal corresponding to second operation pattern data
Operation pattern data storage circuit that outputs a signal, and a drive detector
From drive detection signal and operation pattern data storage circuit
An operation pattern signal corresponding to the first operation pattern data of
Argument with operation pattern signal corresponding to second operation pattern data
AND circuit that calculates logical product and outputs its logical product signal
And the driver corresponding to the logical product signal output from the logical product circuit.
An output circuit that outputs dynamic power to the motor in the positioning mechanism
And a road. Therefore, high positioning control is required.
High speed, and the spindle and positioning mechanism
Is it easy for deviations in operation timing of each structure to occur?
The ability to perform high-precision positioning control.
There is fruit.

[Brief description of the drawings]

FIG. 1 is a block diagram of a positioning control circuit.

FIG. 2 is a timing chart of signals of a positioning control circuit.

FIG. 3 is a logical product circuit diagram provided in the positioning control circuit.

FIG. 4 is an operation timing chart of a main axis and a control axis.

FIG. 5 is a schematic diagram illustrating a lathe-type coiling machine using a motor control device in a positioning mechanism.

FIG. 6 is a schematic structural explanatory view of a coiling machine using a motor control device in a positioning mechanism.

FIG. 7 is a schematic structural explanatory view of a curling machine using a motor control device in a positioning mechanism.

FIG. 8 is a perspective view of a member manufactured by a curling machine using a motor control device in the positioning mechanism.

FIG. 9 is a block diagram of a motor control device in a conventional positioning mechanism.

FIG. 10 is a block diagram of another motor control device in the conventional positioning mechanism.

[Explanation of symbols]

 Reference Signs List 4 pulse converter 5 microcomputer 7 pattern memory 9 pulse control circuit 21 main shaft 28 feed shaft 30 servo motor 31 servo driver 32 positioning controller 33 rotary encoder A synchronization signal B Sync signal

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G05D 3/00-3/20 B23Q 15/00-15/28

Claims (1)

(57) [Claims] The positioning is controlled in synchronization with the driving of a spindle.
A control device for a motor in a positioning mechanism that detects drive of a spindle and a drive detection signal corresponding to the drive.
A drive detector for outputting the first operation pattern data and the second operation pattern data.
The drive detection signal from the drive detector
In synchronization with the first operation pattern data
Operation corresponding to pattern signal and second operation pattern data
Operation pattern data storage circuit that outputs pattern signals
And the drive detection signal from the drive detector and the operation pattern data
Operation pattern corresponding to the first operation pattern data from the memory
Pattern corresponding to the input signal and the second operation pattern data
Arithmetic operation with signal and output of AND signal
A logical product circuit and a drive power supply corresponding to the logical product signal output from the logical product circuit.
Output circuit that outputs force to motor in positioning mechanism
And a motor in a positioning mechanism, comprising:
Control device.