JP3534845B2 - Multi-axis positioning controller - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-axis positioning control device for controlling industrial robots, machine tools, automatic conveyors and the like.

[0002]

2. Description of the Related Art Conventionally, a multi-axis positioning control device, for example, X
When two-axis positioning control of the Y table is performed, as shown in FIG. 3, the motor drive unit 4 and the positioning are performed for each of the X-axis drive motor 2 that moves the table 1 in the X direction and the Y-axis drive motor 3 that moves the table 1 in the Y direction. A control unit 5 is provided, and each positioning control unit 5 is connected to a programmable controller 6.

Each positioning control unit 5 includes a storage device 7 including a ROM and a RAM for storing a control parameter for determining a system program and an operation pattern, a setting device 9 for setting the control parameter, and a central unit. A processing device (hereinafter referred to as “CPU”) 8 is provided, a control parameter for setting an operation pattern of the axis is set by a setter 9 for setting a control parameter, and the control parameter is stored in the storage device 7. When a control signal is given from the C, the operation pattern corresponding to the parameter stored in the storage device 7 is changed to C
The PU 8 performs arithmetic processing to control the drive motors for the respective axes, thereby positioning the XY table.

[0004]

As described above, in the conventional multi-axis positioning control device, basically, a single-axis positioning device including a motor drive unit of a single-axis drive motor and a positioning control unit is provided for each of the axes. This is an axis positioning device, and there is no relationship between the positioning control units of each axis.When controlling this multi-axis positioning device with a programmable controller, the positioning control unit for each axis and the programmable controller Therefore, wiring with a long cable is required to specify the operation pattern, and the wiring becomes more complicated as the number of axes increases.

Further, since the programmable controller individually specifies the operation pattern for the positioning control unit for each axis, the program is complicated and the processing speed becomes slower as the number of axes increases. . Also, this delay in processing speed makes it difficult to operate each axis simultaneously.

According to the present invention, even if the number of axes increases, the wiring between the positioning control unit and an external control device, for example, a programmable controller, can be simplified, and a positioning device can be easily added. The purpose is to simplify the program of and enable simultaneous control of multiple axes.

[0007]

The present invention according to claim 1
Is a number of movement patterns numbered by movement pattern.
A spindle positioning control unit with a down movement pattern
Expansion axis with multiple movement patterns numbered for each
And a positioning control unit, at least one of said <br/> additional axis positioning control unit connected to the spindle positioning control unit multiaxis positioning control device is configured, prior to
Operation number signal input to the spindle positioning control unit
To the additional axis positioning control unit and
The decision control unit corresponds to the input operation number signal
It is characterized by executing a moving pattern of numbers
It The present invention according to claim 2 is the same as that of claim 1.
In the invention, a spindle positioning control unit and multiple expansions
It has an axis positioning control unit and connects each unit in sequence.
It is characterized by continuing. Furthermore, claim 1 or contract
In the invention described in claim 2, the present invention according to claim 3
Is a number of movement patterns numbered by movement pattern.
Positioning control unit with
By inputting, the movement pattern of the number is independently
According to claim 4, characterized in that positioning control is performed.
The present invention is an extension in which the spindle positioning control unit is connected.
Numbering for each movement pattern of the axis positioning control unit
Each expansion axis position that has multiple moving patterns and is connected
Outputs the movement pattern corresponding to the placement control unit
In addition, connect the extension axis positioning control unit
It is characterized by being managed.

[0008]

In the present invention according to claims 1 to 4, the moving speeds of a plurality of moving patterns are stored in the respective storage devices of the spindle positioning control unit and the additional axis positioning control unit.
The control parameters such as acceleration time and movement amount are numbered and stored for each movement pattern, and each movement pattern number stored in the storage device of the main spindle positioning control unit and the storage device of the additional axis positioning control unit is used as the movement parameter. To form one operation number, and an operation number signal representing this operation number is input to the spindle positioning control unit.

The spindle positioning control unit to which this operation number signal is input selects the movement pattern number corresponding to this operation number signal from its own storage device, and the operation number signal is sent to each extension axis positioning control unit as it is. Send out. Each additional axis positioning control unit that receives the operation number signal sent from the spindle positioning control unit also selects its own movement pattern number corresponding to this operation number signal from its own storage device. The main axis positioning control unit and the additional axis positioning control unit each carry out arithmetic processing of the movement pattern corresponding to the control parameter of the movement pattern number selected by each CPU, and control their own drive motors.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. In addition, the same reference numerals are given to common portions throughout the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention. 10 is a spindle positioning control unit, 11 is an additional axis positioning control unit, 6 is an external control device such as a programmable controller or personal computer, and 4 is a motor. The drive units, 2 and 3 are drive motors.

The spindle positioning control unit 10 is connected to the external control device 6, the first stage of the extension axis positioning control unit 11 is connected to the spindle positioning control unit 10, and the second stage
The stage is connected to the extension axis positioning control unit of the first stage, and as it is extended, it is sequentially connected to the extension axis positioning control unit of the preceding stage.

Each of the spindle positioning control unit 10 and the additional axis positioning control unit 11 has its own CPU 8 and storage device 7, and each storage device 7 has, for example, acceleration,
Control parameters such as moving speed, acceleration time, and moving amount of a plurality of types of moving patterns such as constant speed, deceleration pattern, acceleration, deceleration pattern are numbered and stored for each moving pattern.

An example of the correspondence between the movement pattern and its number (hereinafter referred to as "movement pattern number") is shown in FIG. 2, and the movement pattern number is stored in the storage device 7 of the spindle positioning control unit 10 and each additional axis positioning control unit 11. At the same time, the control parameter of the movement pattern corresponding to the number is stored. Even with the same movement pattern, different movement pattern numbers may be assigned to the main spindle positioning control unit 10 and each additional axis positioning control unit 11, or the movement patterns themselves may be different.

The movement pattern numbers shown in FIG. 2 stored in the respective storage devices 7 of the spindle positioning control unit 10 and the additional axis positioning control unit 11 are stored in the storage device 7 of the spindle positioning control unit 10, for example.
Stored in the storage device 7 of the first-stage additional axis positioning control unit 11 and the movement pattern number 1 stored in the storage device 7 of the second-stage additional axis positioning control unit 11 The movement pattern number 1, the movement pattern number 1 stored in the storage device 7 of the third stage additional axis positioning control unit 11 or the movement pattern number stored in the storage device 7 of the spindle positioning control unit 10 (-Means to stay at the current position) 1st stage expansion axis positioning control unit 11
Pattern number-2 stored in the storage device 7 of
In combination with the movement pattern number 4 stored in the storage device 7 of the third stage additional axis positioning control unit 11 and the movement pattern number 1 stored in the storage device 7 of the third stage additional axis positioning control unit 11 One different operation number is set for each combination, for example, the former combination is set as the operation number 1 and the latter combination is set as the operation number 5. In this embodiment, 256 numbers can be added.

When performing positioning, the external control device 6 outputs an operation number signal indicating the set operation number to the spindle positioning control unit 10, and the spindle positioning control unit 10 receiving the output outputs the operation number signal to the operation number signal. The control parameter of the corresponding movement pattern number of the spindle positioning control unit 10 is selected from its own storage device 7, and
The operation number signal is sent to each additional axis positioning control unit 11
It is sent as is to. Each additional axis positioning control unit 11 that has received the operation number signal sent from the spindle positioning control unit 10 similarly selects the control parameter of the movement pattern number corresponding to the operation number signal from its own storage device 7. And spindle positioning control unit 1
0 and each additional axis positioning control unit 11 determines the movement pattern corresponding to the selected control parameter by its own CPU.
The calculation processing is performed by 8 to control each drive motor. In this way, the positioning by one operation number is achieved.

For example, if the external control device 6 outputs a signal representing the operation number 1 to the spindle positioning control unit 10, and the signal representing the operation number 1 is the signal representing the operation number 1 in the above example, the spindle will be described. And the movement pattern number 1 set for each of the 1st-stage to the 3rd-stage extension axes are moved respectively, and assuming that the signal represents the operation number 5 in the above example, the spindle and the 1st-stage extension axis are added. The axis stays at the current position, and the movement pattern number 4 is moved to the second-stage extension axis and the movement pattern number 1 is moved to the third-stage extension axis.

Various technical means for associating the operation number and the movement pattern number are conceivable. However, the correspondence table or table of the operation number and the movement pattern number is used for the main spindle positioning control unit 10 and each additional axis positioning control unit. This can be easily done by providing each of the eleventh.

Further, each additional axis positioning control unit 11
The control parameter setting of each movement pattern number is stored in the storage device 7 of the spindle positioning control unit 10 by providing an area for storing the control parameter of each movement pattern number of each additional axis positioning control unit 11 to store the control parameters. The spindle positioning control unit 10 may output to each expansion axis positioning control unit 11 when necessary, such as when there is a change.

In this case, the control parameter setter only needs to be connected to the spindle positioning control unit 10 and does not need to be connected to each of the extension axis positioning control units 11, so that wiring can be omitted accordingly and the spindle positioning control is possible. Each additional axis positioning control unit 1 by unit 10
1 can be managed all at once. It should be noted that which axis is used as the main axis in the multi-axis positioning device is appropriate.

[0021]

As described above, the present invention sets the operation number using the movement pattern number of the spindle positioning control unit and each expansion axis positioning control unit as the movement parameter, and the operation number signal corresponding to this operation number is used for the spindle positioning. By inputting to the control unit, each additional axis positioning control unit also functions with this operation number signal, so the number of signal transmission lines can be reduced to enable simultaneous control of each axis. Wiring with individual cables for each additional axis positioning control unit and external control device can be omitted, so wiring is simple even if the number of axes increases.
Not only can the number of axes be increased easily, but since the external control device does not need to input the movement parameter designation signal to each additional axis positioning control unit, the number of instructions is also reduced and the program etc. is simplified. it can.

[Brief description of drawings]

FIG. 1 is a block diagram showing a multi-axis positioning control device according to an embodiment of the present invention.

FIG. 2 is a diagram showing correspondence between movement patterns and movement pattern numbers in the embodiment of the present invention.

FIG. 3 is a block diagram showing a conventional multi-axis positioning control device.

[Explanation of symbols]

4 Motor drive unit 6 External control equipment 7 storage device 8 Central processing unit 10 Spindle positioning control unit 11 Expansion axis positioning control unit

Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G05B 19/18 G05B 19/414 G05B 19/402 G05D 3/12 305

Claims (4)

(57) [Claims] 1. A plurality of numbered movement patterns
A spindle positioning control unit with a movement pattern, move
Has multiple movement patterns numbered for each movement pattern
And an additional axis positioning control unit
One of said additional axis positioning control unit connected to the spindle positioning control unit multiaxis positioning control device is configured, additional axis positioning control dynamic <br/> operation number signal inputted to the spindle positioning control unit To send to the unit
In addition, each positioning control unit is
A multi-axis positioning control device, characterized in that a movement pattern of a number corresponding to a signal is executed . 2. A spindle positioning control unit and a plurality of additional units
It has an axis positioning control unit and connects each unit in sequence.
The multi-axis position according to claim 1, characterized in that
Decision control device . 3. A plurality of numbers assigned to each movement pattern
The positioning control unit with the movement pattern
By inputting the turn number, the movement pattern of that number can be
Claims characterized by being controlled by positioning
The multi-axis positioning control device according to claim 1 or 2 . 4. The spindle positioning control unit is connected
The number for each movement pattern of the extension axis positioning control unit
Each expansion has multiple linked movement patterns and is connected
The movement pattern corresponding to the axis positioning control unit
Output axis and extension axis positioning control unit
The claim 1 or claim characterized in that
2. The multi-axis positioning control device described in 2 .