JP3393703B2 - Behavior measurement device for pulse train input - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pulse train input type behavior measuring apparatus, and more particularly, to a method for measuring the behavior of a driving unit of a motor application apparatus using a pulse driven motor with high accuracy. The present invention relates to a pulse train input-compatible behavior measuring device for measuring. 2. Description of the Related Art Pulse motors (stepping motors), DC servo motors, and AC servo motors are widely used in OA equipment, FA equipment, automobiles, medical equipment, housing equipment, amusement machines, industrial machines, and the like. It enables high-precision rotation, stop, positioning, and constant-speed drive control. Such a motor is controlled by a pulse train supplied from a digital controller built in the device. Conventionally, as a device for measuring the angular displacement of a motor, a device that supplies a predetermined drive pulse to the motor and measures the angular displacement of the motor shaft with an encoder is generally used. In this measuring device, a motor and an encoder for position detection are set coaxially, a motor drive signal output from the measuring device is supplied to the motor via a driver, and the motor is driven. By taking in the output signal, the angular displacement of the motor with respect to the drive signal is measured. [0004] As described above, the conventional angular displacement measuring device such as a motor supplies a drive signal to the motor from the measuring device and takes in an output from an encoder set in the motor. Was used to measure the angular displacement of the motor. [0005] However, there are few general motor application devices that operate independently of one axis, and many devices that simultaneously drive a plurality of motors to control each axis. In this case, the state of the drive unit to be measured, that is, the vibration width of the motor shaft and load shaft due to overshoot and undershoot during motor acceleration / deceleration, and the operation stabilization time, etc., vary slightly depending on the position of each axis. Therefore, the conventional angular displacement measuring device as described above cannot accurately measure the behavior of the driving unit. For example, in a pulse motor application device, there is a start delay, a meandering, an overshoot, an undershoot, and a delay due to the number of phases, the excitation mode, the load torque, and the load inertia of the pulse motor. I do. For example, in the case of a two-phase pulse motor, it rotates while moving forward and backward by ± 2 steps at a full step angle and ± 4 steps at a half step angle. In the case of a five-phase pulse motor, the motor rotates while leading and lagging by ± 5 steps at a full step angle and ± 10 steps at a half step angle. Further, when the rotating pulse motor is stopped without overrun, the vibration is repeated around the stop angle position and stopped after a lapse of several tens to several hundreds (ms) of damped oscillation time. Further, when changing the rotation direction of the pulse motor, a hysteresis error occurs in the step angle. [0007] When a closed loop is formed by attaching an encoder to a brushless servomotor or an AC servomotor and pulse train control is performed in the same manner as control of a pulse motor, a deviation counter is used.
The droop pulse of the deviation counter becomes the amount of delay of the motor with respect to the control input, and impairs the synchronization. In addition, in the mounting mechanism of the control motor, error factors such as variations in load torque caused by component accuracy and assembly accuracy, backlash of reduction gears, backlash of mechanism, belt elongation, roller roundness, and roller eccentricity. Which hinders synchronization. Further, as described above, motor-applied equipment often uses a plurality of motors, and a solenoid, a print head, and other motors often operate in synchronization with the movement of the motor. In such a case, the operation of the other component causes a change in the load, and impairs the synchronization. As described above, when controlling the operation of equipment using a pulse train, it is difficult to obtain a result corresponding to the pulse due to various obstruction factors, and the printing quality (accuracy) of a printer or a facsimile, the plotter Causes the drawing quality to deteriorate. These measures are a major cause of long development time. In addition, even during mass production, it is a major cause of troubles on the line and complaints from the market. Therefore, accurate measurement of the behavior of the load shaft in the actual motor application device cannot be performed by the conventional angular displacement measuring device. Further, in the conventional angular displacement measuring device, a driving signal for driving a motor is supplied from the measuring device to perform the measurement. Therefore, a series of driving units (driving target units) in an actual operation sequence of the motor application device. Can not measure the fine displacement behavior of. An object of the present invention is to provide a pulse-train-input-compatible behavior measuring device capable of measuring a fine displacement behavior of a driving section of a motor application device in accordance with an actual driving sequence. [0014] Means for Solving the Problems] pulse train corresponding type behavior measuring device of the present invention to solve the aforementioned problems, Meaux
Output from the controller built into the
From the motor driven by the drive pulse train input signal
Transmitting the driving force to the driven portion via a drive transmission mechanism;
Pulse train input to measure displacement of drive position of motor application device
A force-responsive behavior measuring device, comprising:
Changes in the output drive pulse train signal over time
First measuring means for measuring data indicating the state of the vehicle;
The behavioral displacement caused by the driven part of the data application device
Detecting means, receiving the displacement data detected by the detecting means , measuring the data indicating a change state of the displacement data over time, measuring the first measuring means, An output means for outputting the data obtained by the second measuring means in accordance with the time lapse criteria, and a pulse train input-compatible behavior measuring apparatus. According to the present invention, data indicating a change state with time of a drive pulse train signal output from a controller built in a motor application device and a displacement of a predetermined drive unit of the motor application device are obtained. Data indicating a change state with the passage of time is measured, and both measured data are output in accordance with the time lapse reference. Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram of a measurement system in an embodiment of a pulse train input-compatible behavior measuring device according to the present invention. In FIG. 1, the controller 3 in the overall apparatus 3
3, a CW (clockwise) clock signal A, a CCW (counterclockwise) clock signal B, a CW clock signal A 'and a CCW clock signal B' as motor drive signals from the motor 3 are taken in by the behavior measuring device 1, and displacement detection is performed. The container 2 is constituted. For example, a motor application device 3 such as an electronic printer
1, a forward / reverse pulse converter 22 based on displacement data obtained from the detectors 21 and 23 set in a predetermined drive unit.
In step 24, the position detection pulse signal C including the direction information of the displacement is fetched, and the displacement behavior of the drive unit with respect to the actual drive signal is measured. In the overall apparatus 3, the CW clock signal A and CCW clock signal B, and the CW clock signal A 'and CCW clock signal B' from the controller 33 are sent to the motor drivers 32A and 32B.
A and 32B drive various driving motors of the motor application device 31. As the various driving motors, paper 3
Paper feed motor 3 for moving or feeding 11
12 and carriage 315 with rails 322A and 322B.
Feed motor 320 for moving along
Is assumed. The driving force from the paper feed motor 312 rotates the load shaft via a reduction mechanism 313 composed of various gears, and rotates the drum 314 to rotate the paper 3.
11 is fed. The carriage 315 includes a character selection motor 319.
The character wheel 317 is rotated by a predetermined angle to position a required character, and the hammer 318 is momentarily pressed by a sono-reid (not shown).
Various component elements for printing type characters on the paper 311 via the ink ribbon running at 16 are prepared. In FIG. 1, a laser feed monitor 21 and a laser length measuring device 23 are provided as means for detecting the displacement of the drive unit. Laser feed monitor 2
Numeral 1 is disposed relative to the motor application device 31 in a fixed relationship, and irradiates a laser beam to the paper 311 and receives the reflected light to obtain displacement information of the paper as a drive target. ing. From the obtained displacement information, a forward / reverse pulse in which the information on the displacement direction is added by the forward / reverse pulse converter 22 is obtained and supplied to the behavior measuring device 1 as a position detection pulse signal C. The laser length measuring device 23 obtains displacement information of the carriage 315 as a drive target via the wire rope 321 by the carriage feed motor 320, and irradiates a laser beam to the side surface of the carriage 315 and reflects the reflected light. To obtain displacement information. In the obtained displacement information, in the same manner as described above, a forward / reverse pulse converter 24 taking into account the displacement direction is obtained by the forward / reverse pulse converter 24 and supplied to the behavior measuring device 1. As a result, the behavior measuring apparatus 1 is supplied with the drive signals to the drive motors 312 and 320 and the displacement information signal (position detection pulse signal C) of the paper 311 and the carriage 315, which are the actual drive targets. Will be. FIG. 2 is a configuration block diagram showing an example of the behavior measuring device 1 when the motor driver 32A is driven in the present embodiment. The start mode detection circuit 101 detects the input of a CW clock signal A or a CCW clock signal B as an actual drive signal output from the controller 33 of the main body device 3 and outputs the data transfer control circuit 1
The measurement start signal D is output to 05 and 114. Further, the start mode detection circuit 101
When an OR signal of the input clock stop signal G and the overflow detection signals H and J from the OR gate 111, that is, any one of these signals G, H and J is input, the data transfer control circuit 105 And 114 to output a measurement stop signal to stop all measurement operations. The edge detection circuit 103 includes the OR gate 10
2 and an input clock E which is an OR output of the CW clock signal A and the CCW clock signal B, and a reference clock generated from the reference clock generation circuit 120 and having a frequency sufficiently higher than the clock signals A and B. And
It outputs a clock signal F synchronized with the input clock E, detects the arrival of the input clock E at its rising edge, and sends a detection signal to the data transfer control circuit 105. The counter circuit 104 includes the edge detection circuit 1
The buffer circuit 107 temporarily stores the counter value by counting the clock signal F from 03. The data transfer control circuit 105 starts operation in response to the measurement start signal D from the start mode detection circuit 101, and each time the input clock arrival detection signal from the edge detection circuit 103 is received, the counter circuit 10
4. Control the buffer circuit 107, the memory area 108, and the address setting circuit 109. This control processing procedure
As shown in the flowchart of FIG. 3 and described below,
By the counter circuit 104, the cycle of the clock signal F is
It counts until the next input clock signal E is detected, measures the period of the input clock signal E, and continues until the measurement stop signal is output from the start mode detection circuit 101.
The cycle of the input clock signal E sequentially input is repeatedly measured. After the measurement result is temporarily stored in the buffer circuit 107, the address setting circuit 10 controlled by the data transfer control circuit 105 in the memory area 108
9 is stored in the address section. When the carry detection circuit 106 detects the carry signal obtained by the counter circuit 104, that is, when the next input clock signal E is not detected even after exceeding a predetermined time, the carry detection circuit 106 It is determined that the driving of the paper feed motor 312 or the carry feed motor 320 of the drive motor has been stopped, and an input clock stop signal G is sent to the start mode detection circuit 101 via the OR gate 111. The overflow detection circuit 110 monitors an address setting value output from the address setting circuit 109, and this address setting value is stored in the memory area 10
When the memory capacity exceeds a predetermined value determined in advance in relation to the storage capacity of the memory 8, it is determined that the storage area of the memory area 108 is insufficient, that is, an overflow has occurred, and the overflow detection signal H is output to the start mode via the OR gate 111. Output to the detection circuit 101. On the other hand, the forward / reverse pulse converters 22 and 24 shown in FIG.
Is output to the edge detection circuit 112, and the position detection pulse signal C is synchronized with the reference clock from the reference clock generation circuit 120, that is, at regular time intervals with the reference clock. The position detection pulse signal C is sampled, and the sampled signal is output as the position signal I. The position signal I also includes phase information included in the position detection pulse signal C. The counter circuit 113 counts the position signal I, and the counter value is temporarily stored in the buffer circuit 115. The data transfer control circuit 114 starts operation in response to the measurement start signal from the start mode detection circuit 101, and keeps the position signal by the counter circuit 113 until the measurement stop signal from the start mode detection circuit 101 is input. I count, temporary storage of the count value in the buffer circuit 115, storage of the storage value in the buffer circuit 115 in the memory area 116, and memory area 116
, Which controls an address setting circuit 117 that outputs an address to be stored in the memory. The procedure of this series of control is shown in FIG.
The processing procedure will be described later. The overflow detection circuit 118 is, like the overflow detection circuit 110, an address setting circuit 1
17 is monitored, and when the set value is equal to or larger than a predetermined value determined in relation to the storage capacity of the memory area 116, the shortage of the memory area 116, that is, overflow is detected, and an overflow detection signal is output. J
To the start mode detection circuit 1 via the OR gate 111.
Output to 01. As a result, in the memory areas 108 and 116, the change state data of the input clock with respect to the elapsed time in the series of operations of the motor application apparatus, and the displacement state data of the paper 311 and the carriage 315 as the drive target unit are respectively stored. Will be stored. The CPU circuit 119 includes a memory area 108
And sequentially read the data stored in and 116. For example, the horizontal axis is set to elapsed time, the vertical axis is the change state of the input clock and the displacement state of the position, and corresponds to the output display scale on the output / display device. The data is converted to output data and output to an output / display device such as a CRT or a printer. Since the above data can be handled as a function with respect to the elapsed time, for example, a partial enlarged display of the position displacement by designating the measurement time range, a position displacement by the designation of the input clock display start position, and the designation of the number of display pulses. By performing an enlarged display or the like, a minute positional displacement of the load end with respect to a change state of the input clock, that is,
The behavior of the driven object can also be displayed. The measurement data can be stored in an arbitrary storage medium such as a hard disk, a floppy disk, and a magneto-optical disk. Now, the operation of measuring the drive signal system in the above embodiment will be described with reference to FIG. First, when the input clock E is detected by the edge detection circuit 103 (step S
1) The clock signal F is supplied to the counter circuit 104 and counted (step S2). Next, it is determined whether or not the carry signal is detected by the carry detection circuit 106 (step S3). When the carry signal is detected, a measurement stop signal is output (step S10), and the process ends. If the carry signal is not detected in step S3, it is determined whether or not the next input clock E is detected (step S4). If not, the process returns to step S2 and is detected. Then, the counter value in the counter circuit 104 is latched in the buffer circuit 107 (step S5), and the latched counter value data is transferred to and stored in the memory area 108 (step S6). Thereafter, the address set value in the address setting circuit 109 is incremented by 1 (step S).
7) The memory area overflow detection by the overflow detection circuit 110 is determined (step S8). If an overflow is detected, a measurement stop signal is output (step S10), the process is terminated, and the overflow is detected. If not, the counter circuit 104 is reset (step S9), and preparations for performing the next measurement are made, and the process returns to step S2. Next, a processing procedure for the position data output from the encoder 2 will be described with reference to FIG.
After the operation starts, first, after detecting the input clock (step S11), the edge detection circuit 112 starts sampling (step S12), and outputs the output signal I to the counter circuit 1.
13 (step S13), and it is determined whether a sampled signal is detected (step S1).
4). If the sampled signal is not detected, the process returns to step S13. If the sampled signal is detected, the counter value of the counter circuit 113 is latched in the buffer circuit 115 (step S15).
The latched counter value data is stored in the memory area 116.
Is transferred to and stored in the address section set by the address setting circuit 117 (step S16). Subsequently, the set value of the address setting circuit 117 is incremented by 1 (step S17), and it is determined whether or not the overflow of the memory area 116 is detected by the overflow detection circuit 118 (step S18). Here, when it is determined that an overflow has been detected, a measurement stop signal is output (step S2).
0), the process ends, and if it is determined that the overflow has not been detected, the counter circuit 113 is reset (step S19), preparations for the next measurement are started, and the process returns to step S13. As the displacement detector in the above description of the embodiment, any device capable of generating a signal corresponding to the position displacement, such as a rotary encoder, a linear encoder, a non-contact type laser feed monitor, a laser length measuring device, etc. If
Any may be used. Further, a device such as a potentiometer that generates an analog signal for position displacement can be used as a displacement detector if an interface circuit that converts the data into digital data by an A / D converter is used. Although the above embodiment describes the behavior measurement for two driving units, not only one driving unit but also FIG.
It is also possible to add a measuring circuit surrounded by a broken line except for the CPU circuit 119, and simultaneously measure the behaviors of a large number of driving units, and display these data on one screen. As described above, according to the pulse train input-compatible behavior measuring apparatus according to the present invention, the displacement behavior of an arbitrary driving section or a driving target section of an application device using a motor can be measured.
It can be accurately measured as a change to the drive signal due to the actual operation sequence, and the state of the motor axis and load axis, that is, the motor axis and load axis caused by overshoot and undershoot during motor acceleration / deceleration, deceleration mechanism, etc. Measurement of the vibration width of the motor, or measurement of the operation stabilization time, displacement of the print head, displacement of the feed paper, etc. can be performed for the actual motor application device itself, which is extremely useful when designing various motor application devices. Data is obtained.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram of a measurement system according to an embodiment of a pulse train input-compatible behavior measuring device according to the present invention. FIG. 2 is a configuration block diagram of a behavior measuring device 1 in the present embodiment. FIG. 3 is a flowchart illustrating a measurement signal processing procedure of a drive signal system according to the embodiment. FIG. 4 is a flowchart illustrating a measurement signal processing procedure of a position signal system according to the embodiment. [Description of Signs] 1 Behavior measuring device 2 Displacement detector 3 Main device 21 Laser feed monitor 22, 24 Forward / reverse pulse converter 23 Laser length measuring machine 31 Motor application device 32A, 32B Motor driver 33 Controller 101 Start mode detection circuit 102 , 111 OR gate 103, 112 Edge detection circuit 104, 113 Counter circuit 105, 114 Data transfer control circuit 106 Carry detection circuit 107, 115 Buffer circuit 108, 116 Memory area 109, 117 Address setting circuit 110, 118 Overflow detection circuit 119 CPU Circuit 120 Reference clock generation circuit 311 Paper 312 Paper feed motor 313 Reduction mechanism 314 Drum 315 Carriage 316 Ink ribbon feed motor 317 Type wheel 318 Hammer 319 Character selection mode 320 Carriage feed motor 321 Wire rope 322A, 322B Rail

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-1-185183 (JP, A) JP-A-59-153481 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) H02P 5/00 B41J 19/30 G01R 31/34 G03G 15/00 H02P 8/38

Claims (1)

(57) [Claims] (1)Control built into the motor application device
Driven by the drive pulse train input signal output from the
Drive power from the driven motor is transmitted via the drive transmission mechanism.
Measuring the displacement of the drive position of the motor applied device transmitted to the
A pulse train input-compatible behavior measuring device, At the time of the drive pulse train signal output from the controller
A first method for measuring data indicating a change state with the passage of time
Measuring means; Behavior change caused by the driven part of the motor application device
Detecting means for detecting the position; The detectionmeansReceives the displacement data detected at
Measures data that indicates how the data changes over time
A second measuring means, The data obtained by the first measuring means and the second measuring means
Output means that outputs data according to the time lapse criteria
Steps and Characteristic corresponding to pulse train input characterized by comprising
measuring device.