JP4045379B2 - Motion control module function switching device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a function switching device for an analog command output type motion control module of one or more axes used for a programmable controller.
[0002]
[Prior art]
There has been a conventional motion control module as shown in JP-A-8-44411. According to the invention described in the publication, in a motion control module having N positioning control devices, signals other than the positioning control signal in a known device so far, for example, input of an origin sensor, a limit sensor, The I / O module was used to monitor and control the axis control dedicated input / output signals such as brake output, etc., but according to the invention, each positioning control device 1 to N It is designed to share the role of the central programmable controller.
[0003]
FIG. 3 is a block diagram showing the relationship between the main constituent blocks of the programmable controller and peripheral devices connected thereto. Reference numeral 30 denotes a programmable controller. As basic modules constituting the programmable controller 30, there are a power supply module 32, a CPU module 33, a motion control module 34, and an I / O module 35, which are connected to each other via an internal bus 31. .
The power supply module 32 supplies power to each module.
The CPU module 33 is for executing a scan process of the programmable controller 30, stores a ladder program, and decodes and processes it. At this time, input data is taken from the I / O module 35, processed, and the decoded result is output to the output module. In addition, data is periodically exchanged with the motion control module 34. This data includes information for controlling the motion program from the ladder program and information such as an execution state and an alarm from the motion control module 34.
The motion control module 34 stores a motion program, decodes it, and issues a position control command to the axis positioning control device 37 via the communication bus 38.
The I / O module 35 exchanges data with the outside.
The programming device 36 inputs and outputs the ladder program of the CPU module 33, the motion program of the motion control module 34, and information related thereto through the communication port of the CPU module 33.
The shaft positioning control device 37 receives a position control command from the motion control module 34 and outputs an analog command to the servo motor 39 based on the feedback pulse from the position detector 40 according to this command to control it. .
The number of axis positioning control devices 37 is set as many as the number of axes of the multi-axis robot, and there are N number of axis positioning control devices 37 if the robot has the Nth axis.
[0004]
FIG. 2 shows a conventional configuration diagram of the motion control module 34 of FIG. In FIG. 2, 101 is a program file stored in the memory of the motion control module 34, which stores various motion programs (command 1, command 2, command 3... Command N). A sequential analysis unit 102 of the motion control module 34 sequentially analyzes and a target value is given to a predetermined positioning control device among the N axis positioning control devices.
[0005]
Looking at the positioning control device for the first axis, 103 is a target value output unit, 105 is a position loop control amount calculator (hereinafter referred to as “Kp”), 106 is a current value output unit, and 107 is an analog command output. A circuit (hereinafter referred to as “D / A”), 108 is a counter. An analog command output is given from a D / A 107 to a servo motor (including a servo controller) 39, and a pulse from a position detector 40 such as an encoder indicating rotation information of the servo motor 39 is given to a counter 108. It has become. In this way, the D / A 107 and the counter 108 in the positioning control apparatus constitute a position control feedback, and the positioning is performed by the motion command (program).
[0006]
The positioning control device for the second axis has the same configuration, 203 is a target value output unit, 205 is Kp, 206 is a current value output unit, 207 is a D / A, and 208 is a counter.
The positioning control device for the Nth axis has the same configuration, where N03 is a target value output unit, N05 is Kp, N06 is a current value output unit, N07 is D / A, and N08 is a counter.
[0007]
[Problems to be solved by the invention]
However, in the above-described conventional example, even if N positioning control devices as shown in FIG. 2 are arranged and the N axis can be controlled, it is actually necessary to control the number of axes smaller than that of the N axis. There are also multi-axis robots, and in such a case, all N positioning control devices are not used. For example, as shown in FIG. 2, in the first axis positioning control device and the second axis positioning control device, an analog command output is given from the D / A 107 to the servo motor 39, and the position detector indicating rotation information of the servo motor 39 Although the pulse from 40 is applied to the counter 108, the N-axis positioning control device remains unused for the N07 D / A and the N08 counter.
[0008]
On the other hand, robots also require input / output of input / output signals that are not originally dedicated to axis control, such as control signals for inverters and voltage command devices, and pulses of a single encoder. I was preparing.
[0009]
In this way, even if the D / A and the counter are left unused in the axis positioning control device of the motion controller module 34, the control target for all axes is limited to the servo controller. This is because the idle shaft cannot be used to control the inverter and voltage command device and to input / output pulses from a single external encoder.
For this reason, uselessness has occurred in the system configuration.
[0010]
Accordingly, the present invention provides a module function switching device that enables connection and control with various devices such as a servo controller, an inverter, a voltage command device, and an external encoder using a D / A and a counter in the module. It is aimed.
[0011]
[Means for Solving the Problems]
In order to achieve the above object, a motion control module function switching device according to claim 1 of the present invention outputs an analog command output circuit, a pulse input counter circuit, a position loop control amount calculator, and a target value. A motion control module that has a target value output unit and controls one or more positioning control devices to which a normal servo motor is connected, and performs motion control for positioning the servo motor by sequentially analyzing operation commands. A control module function switching device that inputs a comparison result of a comparison unit that compares a target value and a current value obtained from the pulse input counter circuit to the position loop control amount calculator, and calculates the position loop control amount A motor having a position feedback loop for inputting the output of the controller to the analog command output circuit. In the switching device of the emissions control module function,
The position feedback loop includes a changeover switch in front of the comparison unit, and switches the target value to a route that is directly input to the analog command output circuit without passing through the comparison unit and the position loop control amount calculator. A function for switching the servo motor based on a setting by a programming device connected to the motion control module by using the function switching unit . the voltage command device according to an analog voltage instead of the servo motor connected to the positioning control device, and disabling the position feedback loop, an analog voltage output function of outputting an analog voltage using the analog command output circuit, the servo Replace the motor with a pulse input device in the positioning control device. Continued and invalidates the position feedback loop, is characterized in that the switching between the external pulse counter function for counting the pulses input from the external by using the pulse input counter circuit.
[0012]
In this way, the setting unit of the operation program performs setting input of the normal positioning operation program for operating the D / A and pulse input counter as a position feedback loop from the programming device, and the D / A and pulse of the open axis. As a setting to enable the input counter independently, the parameter setting of the constant voltage output command to D / A and the pulse input command to the pulse input counter is performed, and the function switching means routes based on the above parameter setting. And disable the positioning feedback loop, allowing the D / A and pulse input counters to be used alone.
[0013]
According to a second aspect of the present invention, in the motion control module function switching device according to the first aspect, the switching between the positioning function, the analog voltage output function, and the external pulse counter function is performed as described above. is to characterized in that the setting parameters from the programming device.
[0015]
In this way, the program structure that delivers a constant voltage output command or pulse input command as a subroutine execution parameter using the parameter management function makes it as if the motion module system had a positioning function, an analog voltage output function, and an external pulse counter. A software switch for switching functions is provided, and this is turned on / off from the programming device, so that the D / A and pulse input counters for one or more axes in the module are disassembled or combined into individual elements. Can be made.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a control block diagram of a motion control module according to an embodiment of the present invention. The embodiment shown in FIG. 1 is a control block diagram for N axes.
In FIG. 1, reference numeral 1 denotes a program file in which various motion programs (in this case, instruction 1, instruction 2, instruction 3... M of instructions M) are stored in the memory of the motion control module 34. For example, MOV is a “positioning command”, VCT is a “constant voltage output command”, and PCN is a “programmable controller ON command”.
This motion program is sequentially analyzed by the sequential analysis unit 2 of the motion control module 34. As a result, a target value is given to a predetermined positioning control device among the M positioning control devices.
[0017]
Looking at the positioning control device for the first axis, 3 is a target value output unit, and 4 is a switch SW-1 provided according to the present invention to switch between route A and route B. 5 is a Kp, 6 is a current value output unit, 7 is a D / A, and 8 is a counter. An analog command output is given from the D / A 7 to the servo motor (including the servo controller) 39, and a pulse from the position detector 40 such as an encoder indicating rotation information of the servo motor 39 is given to the counter 8. Yes. In this way, the D / A 7 and the counter 8 constitute a position control feedback, and the positioning is performed by the motion command (program).
[0018]
The D / A 7 and the counter 8 are configured by hardware, and the other system of the program file 1, the sequential analysis means 2, the target value output unit 3, the switch 4, Kp5, and the current value output unit 6 is configured by software. The
[0019]
The positioning control device for the second axis has the same configuration, 23 is a target value output unit, 24 is a switch SW-2, 25 is Kp, 26 is a current value output unit, 27 is a D / A, and 28 is a counter. The N-axis positioning control device has the same configuration, N3 is a target value output unit, N4 is a switch SW-N, N5 is Kp, N6 is a current value output unit, N7 is a D / A, and N8 is a counter.
[0020]
Next, the operation will be described.
As described above, SW-1 of 4 representing the software switch is a direction switch that selects the route A that connects the target value output unit 3 directly to the D / A 7 or the route B that connects Kp5. The switching is based on setting contents by a programming device (36 in FIG. 3) connected to the programmable controller. For example, if the sequential analysis means 2 analyzes the operation instruction of the program file 1 input from the programming device 36, the instruction 1 (MOV) is MOV = “positioning instruction” as a conventional servo controller. 4 SW-1 connects the target value output unit 3 to Kp5, gives the target value to D / A 7 through Kp5, and drives the servo motor 39. Further, a pulse from the position detector 40 of the servo motor 39 is input by the counter 8 to update the data of the current value output unit 6 to form a feedback route.
[0021]
On the other hand, if the contents analyzed by the sequential analysis means 2 of the operation command of the program file 1 input from the programming device 36 is a VCT “constant voltage output command” with the subroutine structure and the parameter setting of the command 2, 4 SW− 1 is switched to the route A side that does not pass Kp5, the position feedback loop of Kp5 becomes invalid, and each element of D / A7 and counter 8 can be used independently. In this case, the command 2 of the program file 1 is effective when the SW-1 of 4 is switched to the route A side, and is transferred from the D / A 7 to an inverter other than the servo motor or other voltage command device. Connection is possible. Similarly, since the counter 8 can be used alone, the pulse input count of the external encoder can be performed.
[0022]
The same applies to the second axis SW-2 24, and based on the setting contents of the program file 1 from the programming device 36, the position feedback loop of Kp25 is turned on / off, and the servo positioning function for passing Kp25 is used. , The D / A 27 and the analog voltage output function using the counter 28 alone, and the external pulse counter function can be switched.
[0023]
FIG. 1 shows a state in which the first axis positioning control device and the second axis positioning control device select the route B, and the Nth axis positioning control device selects the route A. Thus, according to the present embodiment, D / A 7 and counter 8, D / A 27 and counter 28,..., D / A N 7 and counter N 8, etc. In addition to positioning applications via control, the idle axis can be diverted to a constant voltage output and simple counter application as a motion module-specific control function, thereby expanding the functions of the motion module and further improving the utilization efficiency. be able to.
[0024]
In the embodiment of the present invention, the structure of the software switch has been described so far with the parameter setting method that is simple and has few malfunctions and erroneous operations in terms of timing. However, the present invention is not particularly limited to this, and another command is provided. Even if the program structure is to be used, it is only necessary to configure a software switch that can perform the same operation.
[0025]
【The invention's effect】
As described above, according to the present invention, the motion control module that was only a positioning function as a servo controller is configured so that it can be switched to a constant voltage output function and a simple counter function. Modules enable connection and control of various devices such as servo controllers, inverters, other voltage command devices, external encoders, etc., and control by system configuration such as positioning modules, D / A modules, and counter modules There is an effect that simplification, efficiency improvement and cost reduction can be achieved.
[Brief description of the drawings]
FIG. 1 is a control block diagram of a motion control module according to an embodiment of the present invention.
FIG. 2 is a control block diagram of a conventional motion control module.
FIG. 3 is a block diagram illustrating a relationship between main configuration blocks of a programmable controller and peripheral devices connected thereto.
[Explanation of symbols]
1 Program File 2 Sequential Analysis Units 3, 23, N3 Target Value Output Units 4, 24, N4 Switches 5, 25, N5 Position Loop Control Amount Calculator (Kp)
6, 26, N6 Current value output unit 7, 27, N7 Analog command output circuit (D / A)
8, 28, N8 Counter 30 Programmable controller 31 Internal bus 32 Power supply module 33 CPU module 34 Motion control module 35 I / O module 36 Programming device 37 Axis positioning control device 38 Communication bus 39 Servo motor 40 Position detector

Claims (2)

Motion that has an analog command output circuit, a pulse input counter circuit, a position loop control amount calculator, and a target value output unit that outputs a target value, and controls one or more positioning control devices to which a normal servo motor is connected a control module, by sequentially analyzing process operation instructions, a switching device for motion control modules function for positioning control of the servo motor,
The comparison result of the comparison unit that compares the target value with the current value obtained from the pulse input counter circuit is input to the position loop control amount calculator, and the output of the position loop control amount calculator is input to the analog command output circuit. In the motion control module function switching device with a position feedback loop to input ,
The position feedback loop includes a changeover switch in front of the comparison unit, and switches the target value to a route that is directly input to the analog command output circuit without passing through the comparison unit and the position loop control amount calculator. The function switching means for invalidating the function, and by using the function switching means,
The motion control module is a positioning function for positioning the servo motor based on settings by a programming device connected to the motion control module;
Connect the voltage commanding device with an analog voltage instead of the servo motor to the positioning control device, and disabling the position feedback loop, an analog voltage output function of outputting an analog voltage using the analog command output circuit,
Instead of the servo motor, a pulse input device is connected to the positioning control device, the position feedback loop is disabled, and an external pulse counter function for counting pulses input from the outside is switched using the pulse input counter circuit. switching device motion control module function, characterized in that. 2. The motion control module function switching device according to claim 1, wherein switching between the positioning function, the analog voltage output function, and the external pulse counter function is performed by setting a parameter from the programming device.

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