JP3964516B2 - Motor control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a motor control device that controls, for example, an arm drive motor for an axis of an industrial robot.
[0002]
[Prior art]
An industrial robot having a plurality of axes includes a plurality of motors for driving the arms of each axis, and further includes a motor control device for controlling the driving of these motors.
As an example of this motor control device, as shown in Japanese Patent Laid-Open No. 3-222696, the movement amounts of a plurality of motors are set at a constant cycle, and these movement amounts are sent to each motor control unit. There is one that drives each motor according to the amount of movement sent. Moreover, there exists what is shown in FIG.
[0003]
In FIG. 4, reference numeral 1 denotes a numerical operation unit, which includes a numerical operation unit 2, a plurality of primary storage units 3, a communication control unit 4, and a main control unit 5.
The numerical calculation unit 2 calculates and sets simultaneously the movement amounts (corresponding to the absolute movement positions of the arms) of a plurality of motors 10 to be described later at regular intervals, for example, every 24 msec.
[0004]
The primary storage unit 3 includes six buffer memories 3a,... 3f, and divides the movement amount set by the numerical value calculation unit 2 into six, and sequentially stores them in each buffer memory.
The communication control unit 4 sequentially sends each of the six divided movement amounts in each primary storage unit 3 to each serial signal line 6 every 4 msec (the time taken to send all six divided movement amounts is 24 msec). ).
[0005]
The main control unit 5 controls the operation timing of the numerical calculation unit 2, each primary storage unit 3, and the communication control unit 4.
Each serial signal line 6 is connected to four motor control units 11. Each motor control unit 11 includes a communication control unit 12, a primary storage unit 13, an integration counter 14, a motor drive unit 15, and a main control unit 16.
[0006]
The communication control unit 12 sequentially captures six divided movement amounts sent from the serial signal line 6 every 4 msec.
The primary storage unit 13 has four buffer memories 13a,... 13d, and sequentially divides the divided movement amount sequentially taken in by the communication control unit 12 into four and stores them in each buffer memory.
[0007]
The integration counter 14 integrates the re-division movement amount in the buffer memories 13a,... 13d every 1 msec.
The motor drive unit 15 drives the motor 10 so that the arm reaches a position corresponding to the integrated value by referring to the integrated value of the integrated counter 14 every 1 msec. The motor 10 drives the arm of each axis of the industrial robot.
The main control unit 16 controls the operation timings of the communication control unit 12, the primary storage unit 13, the integration counter 14, and the motor drive unit 15.
[0008]
[Problems to be solved by the invention]
In the motor control device of FIG. 4, the movement amount setting period by the numerical value calculation unit 2 of the numerical value calculation unit 1 is 24 msec, and the communication period between the numerical value calculation unit 1 and the motor control unit 11 via the serial signal line 6 is 4 msec. (The time required for all communications of the divided movement amount is 24 msec), and the value obtained by dividing the movement amount setting period by an integer (division value) between the movement amount setting period and the inter-unit communication period is the inter-unit communication period. There is a relationship that becomes.
[0009]
For this reason, if for some reason it is necessary to change the specification such as using 8 msec longer than 4 msec as the communication cycle between units, it is necessary to adopt 32 msec longer than 24 msec as the movement amount setting cycle. . Conversely, if the movement amount setting cycle is to be changed, the inter-unit communication cycle must be changed accordingly. That is, if one specification change is required, it will spread to all the configuration changes of the numerical operation unit 1 and each motor control unit 11.
[0010]
The present invention takes the above circumstances into consideration, and the object of the present invention is to change only one of the movement amount setting cycle and the inter-unit communication cycle, and change the change to only one. It is an object of the present invention to provide a motor controller excellent in flexibility and versatility capable of avoiding the above change.
[0012]
[Means for Solving the Problems]
A motor control device according to a first aspect of the present invention (invention 1 ) is a setting means for simultaneously setting movement amounts of a plurality of motors at a constant period, and a plurality of movement amounts set by the setting means are divided into a predetermined number and stored. A first unit having storage means, a plurality of integration means for sequentially integrating the divided movement amounts in the storage means, a sending means for sending the integrated values of the integration means at regular intervals, and the motors Correspondingly provided detection means for detecting the change amount of the integrated value sent from the sending means, storage means for storing the change amount detected by the detection means by dividing it into a predetermined number, and each division in the storage means And a plurality of second units having a motor driving unit that drives a corresponding motor in accordance with an integration value of the integration unit.
[0013]
The motor control apparatus according to the second aspect of the present invention (claim 2 ) is a setting means for simultaneously setting the movement amounts of a plurality of motors at a constant period N, and each movement amount set by the setting means is divided into N and temporarily stored. A plurality of primary storage means, a plurality of integration means for sequentially integrating the N divided movement amounts in each primary storage means every fixed time ta, and an integrated value A of each integrated means is sent out every fixed time tb. A first unit having a sending means, a detecting means provided corresponding to each of the motors and detecting the change amount of the integrated value A sent from the sending means, and the change amount detected by the detecting means is a predetermined number M. Primary storage means for dividing and storing primary data, integration means for integrating the M divided values in the primary storage means at regular time intervals tc, and motor drive for driving the corresponding motor according to the integrated value B of the integration means Have means A plurality of second units.
According to a third aspect of the present invention (invention 3 ), in the third aspect of the present invention, the motor drive means operates at regular time intervals tc.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
In FIG. 1, reference numeral 21 denotes a numerical operation unit (first unit), which is a numerical operation unit 22, a plurality of primary storage units (storage means) 23, a plurality of integration counters (integration means) 24, and a communication control unit (sending means) 25. And a main control unit 26.
[0015]
The numerical calculation unit 22 calculates and simultaneously sets the movement amount (corresponding to the absolute movement position of the arm) L of each of the plurality of motors 10 for each constant period Nmsec. “N” in the fixed period Nmsec is a predetermined value.
[0016]
The primary storage unit 23 has N buffer memories 23a,..., 23n that directly correspond to a predetermined number, for example, “N” of a fixed period Nmsec, and divides the movement amount L set by the numerical calculation unit 22 into N parts. Primary storage is sequentially performed in the buffer memory.
[0017]
The integration counter 24 sequentially integrates the N divided movement amounts (= L / N) in the buffer memories 23a,... 23n every predetermined time ta, for example, 1 msec.
The communication control unit 25 sequentially sends the accumulated value A of each accumulation counter 24 to each serial signal line 27 every predetermined time tb, for example, 10 msec.
[0018]
The main control unit 26 controls the operation timing of the numerical calculation unit 22, each primary storage unit 23, the integration counter 24, and the communication control unit 25.
Each serial signal line 27 is connected to a plurality of motor control units (second units) 31.
[0019]
Each motor control unit 31 includes a communication control unit 32, a subtraction unit (change amount detection unit) 33, a primary storage unit (storage unit) 34, an integration counter (integration unit) 35, a motor drive unit 36, and a main control unit 37. Is provided.
[0020]
The communication control unit 32 sequentially captures the integrated value A sent from the serial signal line 27 every 10 msec.
The subtracting unit 33 sequentially subtracts the integrated value B of the integrating counter 35 from the integrated value A that is sequentially taken in by the communication control unit 32, whereby the change amount (= A−B) of the integrated value A is sequentially determined. Detected.
[0021]
The primary storage unit 34 has a predetermined number M, for example, 10 buffer memories 34a,... 34j, and divides the amount of change (= A−B) detected by the subtracting unit 33 into a predetermined number M (= 10). Primary storage is sequentially performed in each buffer memory.
[0022]
The integration counter 35 sequentially integrates the M divided values in the buffer memories 34a,... 34j every certain time tc, for example, 1 msec.
The motor drive unit 36 refers to the integrated value B of the integrated counter 35 every 1 msec (= tc), and drives the motor 10 so that the arm reaches a position corresponding to the integrated value B.
[0023]
The main control unit 37 controls the operation timing of the communication control unit 32, the subtraction unit 33, the primary storage unit 34, the integration counter 35, and the motor drive unit 36.
Next, the operation of the above configuration will be described with reference to the flowcharts of FIGS.
[0024]
In the numerical value calculation unit 22 of the numerical value calculation unit 21, the movement amount (corresponding to the absolute movement position of the arm) L of each motor 10 is simultaneously set at every fixed period Nmsec (step 101). Each set movement amount L is divided into N parts and stored in the buffer memories 23a,... 23n of the primary storage units 23 (step 102).
[0025]
N divided movement amounts (= L / N) stored in the buffer memories 23a,..., 23n of each primary storage unit 23 are sent to each integration counter 24 every 1 msec and integrated (step 103).
[0026]
The integrated value A of each integration counter 24 is sequentially sent to each serial signal line 27 every 10 msec by the communication control unit 25 (step 104).
On the other hand, in the motor control unit 31, the integrated value A sent from the serial signal line 27 every 10 msec is sequentially taken in by the communication control unit 32 (step 201).
[0027]
The acquired integrated value A is sent to the subtracting unit 33, where the integrated value B of the integrated counter 35 is subtracted from the integrated value A, whereby a change amount (= AB) of the integrated value A is detected ( Step 202).
[0028]
The detected change amount is divided into 10 by the primary storage unit 34 and stored in the buffer memories 34a,... 34j (step 203).
The divided values in the buffer memories 34a,... 34j are sequentially sent to the integration counter 35 every 1 msec and integrated (step 204).
[0029]
Then, the integrated value B of the integrated counter 35 is sent to the motor drive unit 36 every 1 msec (step 205), and the motor 10 is operated at a position corresponding to the integrated value B (step 206). By this operation, the arm reaches the absolute movement position corresponding to the set movement amount L.
[0030]
In such a configuration, the setting period of the movement amount L by the numerical calculation unit 22 of the numerical calculation unit 21 is Nmsec, and the communication cycle between the numerical calculation unit 21 and the motor control unit 31 via the serial signal line 27 is tb For example, 10 msec, and there is no special relationship that a value obtained by dividing the movement amount setting period by an integer (division value) becomes the inter-unit communication period as in the conventional case.
[0031]
That is, since the integration counter 24 is interposed between the movement amount setting means and the inter-unit communication means, even if it is necessary to change the inter-unit communication cycle for some reason, it is absolutely unnecessary to change the movement amount setting cycle. Absent. Conversely, even if it is necessary to change the movement amount setting cycle, there is no need to change the inter-unit communication cycle.
[0032]
It is possible to avoid a situation in which one specification change spills over to all the configuration changes of the numerical operation unit 21 and each motor control unit 31, and the versatility and flexibility are excellent.
[0033]
In addition, each motor control unit 31 detects the amount of change in the integrated value A that has been taken in, and the motor drive unit 36 is configured to sequentially drive the motor by the amount of change, so motor drive control is simple. It becomes. Therefore, even when it becomes necessary to shorten the control period of motor driving, proper arm driving is possible.
In addition, this invention is not limited to the said Example, A various deformation | transformation implementation is possible in the range which does not change a summary.
[0034]
【The invention's effect】
As described above, according to the present invention, even if any one of the movement amount setting cycle and the inter-unit communication cycle needs to be changed, the change can be limited to only one and the other change can be avoided. A motor control device with excellent flexibility and versatility can be provided.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention.
FIG. 2 is a flowchart for explaining the operation of the numerical operation unit of the embodiment;
FIG. 3 is a flowchart for explaining the operation of the motor control unit of the embodiment;
FIG. 4 is a block diagram showing a configuration of a conventional apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Motor 21 ... Numerical value calculation unit 22 ... Numerical value calculation part 23 ... Primary storage part (primary storage means)
24 ... Integration counter (integration means)
25 ... Communication control unit 26 ... Main control unit 27 ... Serial signal line 31 ... Motor control unit 32 ... Communication control unit 33 ... Subtraction unit (change amount detecting means)
34 ... Primary storage unit (primary storage means)
35 ... Integration counter (integration means)
36 ... Motor control unit 37 ... Main control unit

Claims (3)

Setting means for simultaneously setting the movement amounts of a plurality of motors at a constant period, a plurality of storage means for storing each movement amount set by the setting means by dividing it into a predetermined number, and sequentially dividing the movement amounts in the respective storage means A first unit having a plurality of integrating means for integrating, and sending means for sending the integrated value of each integrating means at regular intervals;
Detection means provided corresponding to each of the motors for detecting the change amount of the integrated value sent from the sending means, storage means for storing the change amount detected by the detection means by dividing it into a predetermined number, and this storage means A plurality of second units having integrating means for sequentially integrating the divided values therein, and motor driving means for driving a motor corresponding to the integrated value of the integrating means;
A motor control device comprising: Setting means for simultaneously setting the movement amounts of a plurality of motors at a constant period N, a plurality of primary storage means for primarily storing the movement amounts set by the setting means by dividing each into N, and N pieces in each primary storage means A first unit having a plurality of integrating means for sequentially integrating the divided movement amounts for each predetermined time ta, and a sending means for sending the integrated value A of each integrating means for each predetermined time tb;
Detection means provided corresponding to each of the motors and detecting a change amount of the integrated value A sent from the sending means, and a primary storage means for temporarily storing the change amount detected by the detection means by dividing it into a predetermined number M. A plurality of second units each having an integration means for integrating the M divided values in the primary storage means every predetermined time tc, and a motor drive means for driving a motor corresponding to the integration value B of the integration means. When,
A motor control device comprising: The motor control device according to claim 2 ,
The motor control device according to claim 1, wherein the motor driving means operates at regular time intervals tc.

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