JP4219298B2 - Positioning control device - Google Patents

Description

  The present invention relates to a positioning control device that positions a servo motor at a target position.

  FIG. 15 is a block diagram showing an example of a conventional positioning control device. In FIG. 15, a conventional positioning control device includes a servo motor 13 that is a control target device, an encoder 14 that detects the position and speed of the servo motor 13, a servo amplifier 11 that drives the servo motor 13, and a servo amplifier 11. The motion control unit 5 transmits a drive signal for driving the servo motor 13 and the sequence control unit 1 transmits a control signal to the motion control unit 5 based on a predetermined sequence program.

  The sequence control unit 1 includes a sequence program unit 3 that stores a sequence program as shown in FIG. 16, a control unit 2 that generates an activation signal and the like based on the sequence program stored in the sequence program unit 3, And an interface unit 4 that transmits an activation signal or the like generated in the control unit 2 to the motion control unit 5. Note that the sequence program in FIG. 16 is an example of a program that is input and set by the user via a keyboard or the like that is a peripheral device.

  The motion control unit 5 also includes an interface unit 8 that receives an activation signal transmitted from the sequence control unit 1 (specifically, the interface unit 4), and a motion program as shown in FIG. Based on the motion program stored in the motion program unit 9 and the motion signal stored in the motion program unit 9 (shown as G code generally used in machine tools and the like) The control unit 6 generates a drive signal, and the interface unit 10 transmits the drive signal generated by the control unit 6 to the servo amplifier 11. Note that the motion program in FIG. 17 is an example of a program that is input and set by the user via a keyboard or the like that is a peripheral device.

  The servo amplifier 11 includes an interface unit 12 that receives a drive signal transmitted from the motion control unit 5 (more specifically, the interface unit 10). The drive signal received by the interface unit 12 and the position detected by the encoder 14 The servo motor 13 is driven from the signal and the speed signal.

  Next, the operation of this conventional positioning control device will be described. First, in the sequence control unit 1, the control unit 2 reads the sequence program shown in FIG. 16 from the sequence program unit 3 in which the sequence program is stored. Here, the control unit 2 determines whether or not the operation condition in the read sequence program is satisfied, and when the operation condition is satisfied, a program number signal indicating the number of the motion program to be executed (here, “No1”) and An activation signal is generated and transmitted to the interface unit 4. The interface unit 4 receives the program number signal and the activation signal transmitted from the control unit 2, and transmits these signals to the motion control unit 5 (specifically, the interface unit 8).

  The subsequent operation in the motion control unit 5 will be described with reference to the flowcharts shown in FIGS. First, in FIG. 18, the control unit 6 of the motion control unit 5 determines whether an activation signal is received by the interface unit 8. In particular, in the interface unit 8, a start flag indicating the ON / OFF state of the start signal is prepared, and when the start signal is received, the start flag is turned ON. The control unit 6 determines whether or not the activation flag is in the ON state (step S1001). If it is determined in step S1001 that the activation flag is not in the ON state, the processing in the flowchart of FIG. 18 ends.

  If the start flag is in the ON state in step S1001, the operation flag indicating the operation state of the process executed in the motion control unit 5 (in this case, the process based on the previous sequence program command) indicates the ON state. (Step S1002). In step S1002, when the operation flag does not indicate the ON state, that is, when the operation flag indicates the OFF state, the program number indicated by the program number signal received by the interface unit 8 is read, and the program number A motion program to be shown is selected from the motion program section 9 (step S1003). Further, the start flag is changed to the OFF state and the operation flag is changed to the ON state (step S1004). Then, processing (described later) based on the motion program selected in step S1003 is performed (step S1005), and the processing in the flowchart of FIG.

  If the operation flag indicates ON in step S1002, an error process (step S1006) is performed, and the process in the flowchart of FIG. 18 ends.

Next, the processing in step S1005 in FIG. 18 will be described with reference to FIG. Here, it is assumed that the motion program number read in step S1003 indicates “No1”, and the motion program number “No1” shown in FIG. 17 is executed. First, the control unit 6 of the motion control unit 5 decodes the motion program shown in FIG. 17 as follows (step S1007).
Positioning operation of G01 POINT TO POINT X100. Position X-axis at target position = 100 mm F1000. Feed rate = 1000mm / min

  After the decoding of the motion program by the control unit 6, a drive that indicates a position command for positioning at a target position = 100 mm and a feed rate of 1000 mm / min, especially for the servo amplifier 11 (specifically, the interface unit 12) corresponding to the X axis A signal is transmitted (step S1008). When the servo amplifier 11 receives the drive signal at the interface unit 12, the servo amplifier 11 rotates the servo motor 13 to the target position at the speed indicated by the received drive signal. The encoder 14 detects the position of the servo motor 13, and when the servo motor 13 reaches the target position, an operation completion signal indicating the operation completion of the servo motor 13 is sent to the interface unit 12 of the servo amplifier 11. Is transmitted to the motion control unit 5 via. The control unit 6 of the motion control unit 5 determines whether the servo motor 13 has reached the target position by determining whether the operation completion signal has been received (step S1009).

  If the completion of the operation of the servo motor 13 is detected in step S1009, the operation flag described above is changed to the OFF state (step S1010), and the process in the flowchart of FIG. If the completion of the operation of the servo motor 13 is not detected in step S1009, it indicates that the motion program is in operation, and the operation completion confirmation in step S1009 is repeated.

  As described above, according to this conventional positioning control device, the specified motion program is executed along with the establishment of the operation condition indicated by the sequence program, and the servo motor is positioned based on the motion program. Yes.

  FIG. 20 is a block diagram showing another example of a conventional positioning control device. In FIG. 20, a conventional positioning control device is attached to a servomotor 13 to be controlled, an encoder 14 for detecting the position and speed of the servomotor 13, and a drive shaft (not shown) such as a conveyor to increase the speed. An encoder 23 to detect, a servo amplifier 11 for driving the servo motor 13, a motion control unit 5 for transmitting a drive signal for driving the servo motor 13 to the servo amplifier 11, and a motion based on a predetermined sequence program And a sequence control unit 1 that transmits a control signal to the control unit 5.

  The sequence control unit 1 includes a sequence program unit 3 that stores a sequence program as shown in FIG. 16, a control unit 2 that generates an activation signal and the like based on the sequence program stored in the sequence program unit 3, And an interface unit 4 that transmits an activation signal or the like generated in the control unit 2 to the motion control unit 5.

  In addition, the motion control unit 5 includes an interface unit 8 that receives an activation signal transmitted from the sequence control unit 1 (specifically, the interface unit 4) and a motion program as shown in FIG. Based on the motion program stored in the motion program unit 9 and the motion program stored in the motion program unit 9. A control unit 6 that generates a drive signal; an interface unit 10 that transmits the drive signal generated in the control unit 6 to the servo amplifier 11; an interface unit 24 that inputs the number of pulses based on the speed detected by the encoder 23; Pal received at interface unit 24 A memory 7 for storing Suto, composed. The motion program in FIG. 21 is an example of a program that is input and set by the user via a keyboard or the like that is a peripheral device.

  The servo amplifier 11 includes an interface unit 12 that receives a drive signal transmitted from the motion control unit 5 (more specifically, the interface unit 10). The drive signal received by the interface unit 12 and the position detected by the encoder 14 The servo motor 13 is driven from the signal and the speed signal.

  Next, the operation of this conventional positioning control device will be described. First, in the sequence control unit 1, the control unit 2 reads the sequence program shown in FIG. 16 from the sequence program unit 3 in which the sequence program is stored. Here, the control unit 2 determines whether or not the operation condition in the read sequence program is satisfied, and when the operation condition is satisfied, a program number signal indicating the number of the motion program to be executed (here, “No1”) and An activation signal is generated and transmitted to the interface unit 4. The interface unit 4 receives the program number signal and the activation signal transmitted from the control unit 2, and transmits these signals to the motion control unit 5 (specifically, the interface unit 8).

The subsequent operation in the motion control unit 5 is the same as the processing shown in the flowcharts of FIG. 18 and FIG. Here, specific processing based on the motion program shown in FIG. 21 will be described with reference to FIG. In step S1007 in FIG. 19, the control unit 6 of the motion control unit 5 decodes the motion program shown in FIG. 21 as follows.
G95 Change feed speed per revolution of main shaft X100. Position X-axis at target position = 100 mm F10. Feed rate = 10mm / rev

  Based on the motion program shown in FIG. 21, the control unit 6 positions the servo amplifier 11 corresponding to the X axis (specifically, the interface unit 12) at a target position = 100 mm and a feed speed of 10 mm / rev. A drive signal indicating is transmitted. When the servo amplifier 11 receives the drive signal at the interface unit 12, the servo amplifier 11 rotates the servo motor 13 to the target position at the speed indicated by the received drive signal.

While this rotation operation is being performed, the control unit 6 of the motion control unit 5 reads the number of pulses detected in the encoder 23 at a certain time (hereinafter referred to as an encoder detection value) from the interface unit 24 (step) S1101). This encoder detection value represents the rotational speed of a drive shaft such as a conveyor. Next, the read encoder detection value is written in the memory 7 as the current value (step S1102). That is, the current value indicates the latest encoder detection value. Then, ΔP is calculated by subtracting the current value and the previously detected encoder detection value (previous value) by the following equation (step S1103).
ΔP = current value-previous value

  Here, ΔP indicates the amount of change between the two detected rotational speeds (in this case, the previous value and the current value), that is, the acceleration / deceleration amount, and is written in the memory 7 in the same manner as the current value.

Subsequently, ΔP calculated in step S1103, a predetermined number of rotation pulses (written in the memory 7) serving as a reference, and a feed speed F set in the motion program (here, 10 mm / rev). ) And ΔL are calculated by the following formula using (Step S1104).
ΔL = F × ΔP / number of rotation pulses

  Here, the ΔP / 1 number of rotation pulses indicates an increase / decrease in the number of rotations per fixed time, and by multiplying this by the feed speed F set in the servo motor 13, the drive shaft detected by the encoder 23. Rotational speed increase / decrease ΔL for following the rotational speed is obtained.

  Next, the signal indicated by ΔL calculated in step S1104 is transmitted to the interface unit 10 as a servo amplifier command value. The interface unit 10 transmits the received ΔL signal to the servo amplifier 11 (specifically, the interface unit 12) (step S1105), and the servo amplifier 11 drives the servo motor 13 at a feed rate increased or decreased based on the ΔL signal. Let Thereby, the rotational drive of the servomotor 13 synchronized with the operation speed of different drive systems, such as the drive shaft of a conveyor, is achieved.

  After the process in step S1105, the value indicated by the current value is set as the previous value for the next process (step S1106). Note that ΔP, the current value, the previous value, and the number of rotation pulses of the motor are stored in the memory 7 as shown in FIG.

  As described above, according to this conventional positioning control device, the setting of the servo motor based on the motion program executed along with the establishment of the operation condition indicated by the sequence program and the drive speed of the servo motor are driven by a conveyor or the like. The synchronous operation of the servo motor is achieved by changing it based on the servo amplifier command value calculated from the rotational speed of the shaft (here, the number of pulses).

  However, in the example of the conventional positioning control device described above, when a process executed in the motion control unit 5 (in this case, a process based on a command of the previous sequence program) is in operation, a new sequence program Error processing was executed without receiving a start signal for starting processing based on the command. Therefore, in order to start processing based on a new sequence program command, it is necessary to start reading a new sequence program again after knowing that processing based on the previous sequence program command has ended. A plurality of sequence programs could not be executed continuously without interruption.

  As a result, when the activation flag for activating the process based on the command of the sequence program always indicates the ON state, the process based on the command of the new sequence program cannot be executed.

  In addition, another example of the above-described conventional positioning control device requires a certain time to detect the rotational speed of a drive shaft such as a conveyor. For example, a sudden increase in the rotational speed is applied to the drive shaft of a conveyor or the like. If it occurs, the rotational position of the drive shaft after a certain time will also be greatly displaced. Since the servo motor follows the speed for the first time after this large displacement has occurred, a deviation corresponding to this displacement occurs. Here, the amount of deviation at the timing of the synchronous operation of the servo motor varies depending on the amount of change in the rotational speed of the drive shaft of the conveyor or the like, that is, the amount of acceleration / deceleration, thereby causing variation in the amount of deviation. was there.

  Furthermore, the fixed time for detecting the speed is set to a relatively large value so that a sufficient speed change of the drive shaft of the conveyor or the like is obtained. Therefore, it was impossible to detect a rapid speed change immediately.

  The present invention has been made in view of the above, and even when a motion program is in operation, the start signal of the next motion program is received, and the amount of shift of the synchronization position in the synchronous operation of the servo motor is also determined. An object of the present invention is to obtain a positioning control device that prevents variations.

According to the present invention, in the positioning control device that positions the control target device at the target position, a speed detection unit that detects a driving speed of the synchronization target device for causing the control target device to synchronize, and the control target device at the target position. A sequence control unit that stores a sequence program for starting a motion program for positioning and outputs a start signal for starting a motion program specified in the sequence program, a motion program unit for storing the motion program, A data storage unit for storing data used in the motion program, and a positioning command including a target speed based on the motion program indicated by the activation signal and the data in the data storage unit upon receipt of the activation signal and output You A first control unit, and a motion control unit and a second control unit for outputting a drive command for synchronizing the driving speed of the synchronized device at a timing based on the driving speed detected in the speed detecting unit , a servo amplifier for controlling the control target device according to the positioning command, when the driving instruction is input, to increase or decrease the target speed of the positioning command on the basis of the drive command, increase or decrease the target speed And a servo amplifier for controlling the device to be controlled in accordance with the positioning command , and positioning the device to be controlled in synchronization with the drive speed of the device to be synchronized .

  According to the present invention, the sequence control unit outputs a motion program start signal specified in the sequence program to be executed to the motion control unit, and the motion control unit receives the start signal to specify the motion program. And the motion control unit can synchronize the drive command corresponding to the drive speed detected by the speed detection unit in order to operate the control target device in synchronization with the synchronization target device. Since it is output to the servo amplifier at a timing based on the drive speed of the device, it is possible to eliminate the variation in the position of the synchronization target device that occurs when the synchronization operation starts according to the change in the drive speed of the synchronization target device. Accurate synchronous operation is achieved.

In the next invention, the data before Symbol data storage unit stores the constant value used to calculate the determination count value for determining the timing of outputting the drive command, the second control of the motion control unit The unit calculates a determination count value using the driving speed detected by the speed detection unit and the constant value, calculates an acceleration / deceleration amount of the synchronization target device from the driving speed detected by the speed detection unit, Further, a displacement count value obtained by accumulating the acceleration / deceleration amount for a predetermined period is calculated, and the drive command is output when the displacement count value exceeds the determination count value.

  According to this invention, in the motion control unit, the count value calculated by accumulating the acceleration / deceleration amount of the synchronization target device from the driving speed detected by the speed detection unit is the data. Since it is the time when the judgment count value stored in the storage unit has been exceeded, a more accurate control target that eliminates the variation in the position of the synchronization target device that occurs when the synchronization operation starts according to the change in the drive speed of the synchronization target device A synchronized operation of the device is achieved.

  The positioning control device according to the next invention is characterized in that the determination count value is indicated in a motion program.

  According to the present invention, since the determination count value is indicated in the motion program, the determination count value can be set for each motion program, and the optimal synchronous operation of the control target device according to the control content indicated by the motion program becomes possible. .

  In the positioning control device according to the next invention, the motion control unit is indicated by the acceleration / deceleration amount of the synchronization target device calculated from the driving speed detected by the speed detecting unit and the positioning command as the driving command. A speed increase / decrease signal generated using the speed is output.

  According to this invention, the motion control unit uses, as the drive command, the acceleration / deceleration amount of the synchronization target device calculated from the drive speed detected by the speed detection unit and the speed indicated in the positioning command. Since the calculated speed increase / decrease signal is output, the control target device can be accurately synchronized with the speed corresponding to the acceleration / deceleration amount of the synchronization target device.

  According to the present invention, the sequence control unit outputs a motion program start signal specified in the sequence program to be executed to the motion control unit, and the motion control unit receives the start signal to specify the motion program. And the motion control unit can synchronize the drive command corresponding to the drive speed detected by the speed detection unit in order to operate the control target device in synchronization with the synchronization target device. Since it is output to the servo amplifier at a timing based on the drive speed of the device, it is possible to eliminate the variation in the position of the synchronization target device that occurs when the synchronization operation starts according to the change in the drive speed of the synchronization target device. Accurate synchronous operation is achieved.

  According to the next invention, in the motion control unit, the count value calculated by accumulating the acceleration / deceleration amount of the synchronization target device from the drive speed detected by the speed detection unit is the timing at which the drive command is output. Since the determination count value stored in the data storage unit is exceeded, more accurate control that eliminates the variation in the position of the synchronization target device that occurs when the synchronization operation starts according to the change in the drive speed of the synchronization target device Synchronous operation of the target device is achieved.

  According to the next invention, since the determination count value is indicated in the motion program, it is possible to set the determination count value for each motion program, and it is possible to perform the optimum synchronous operation of the control target device according to the control content indicated by the motion program. Become.

  According to the next invention, the motion control unit uses, as the drive command, the acceleration / deceleration amount of the synchronization target device calculated from the drive speed detected by the speed detection unit and the speed indicated in the positioning command. Since the speed increase / decrease signal calculated in this way is output, the control target device can be accurately synchronized with the speed corresponding to the acceleration / deceleration amount of the synchronization target device.

  Embodiments of a positioning control device according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a schematic configuration of the positioning control device according to the first embodiment. In FIG. 1, a positioning control device according to the first embodiment includes a servo motor 13 to be controlled, an encoder 14 that detects the position and speed of the servo motor 13, a servo amplifier 11 that drives the servo motor 13, The motion control unit 5 transmits a drive signal for driving the servo motor 13 to the servo amplifier 11, and the sequence control unit 1 transmits a control signal to the motion control unit 5 based on a sequence program.

  Further, the sequence control unit 1 includes a sequence program unit 3 that stores a sequence program as shown in FIG. 2, a control unit 2 that generates an activation signal and the like based on the sequence program stored in the sequence program unit 3, and a control And an interface unit 4 that transmits an activation signal or the like generated in the unit 2 to the motion control unit 5. The sequence program in FIG. 2 is an example of a program that is input and set by the user via a keyboard or the like (not shown) that is a peripheral device.

  The motion control unit 5 includes an interface unit 8 that receives an activation signal transmitted from the sequence control unit 1 (specifically, the interface unit 4), and a motion program unit 9 that stores a motion program as shown in FIG. A control unit 6 that generates a drive signal based on the activation signal received in the interface unit 8 and a motion program stored in the motion program unit 9; a memory 7 that stores data used in the control unit 6; And an interface unit 10 that transmits a drive signal generated in the control unit 6 to the servo amplifier 11. The motion program in FIG. 3 is an example of a program that is input and set by the user via a keyboard or the like (not shown) that is a peripheral device.

  Here, the interface unit 8 includes a memory (not shown) capable of sequentially storing activation signals transmitted from the sequence control unit 1, and corresponds to each of the sequence programs transmitted continuously. An activation signal or the like can be read by the control unit 6.

  The servo amplifier 11 includes an interface unit 12 that receives a drive signal transmitted from the motion control unit 5 (more specifically, the interface unit 10). The drive signal received by the interface unit 12 and the position detected by the encoder 14 The servo motor 13 is driven from the signal and the speed signal.

  Next, the operation of this positioning control device will be described. First, in the sequence control unit 1, the control unit 2 reads the sequence program shown in FIG. 2 from the sequence program unit 3 in which the sequence program is stored. Here, the control unit 2 determines whether or not the operation condition indicated in the read sequence program is satisfied, and when the operation condition is satisfied, the program number indicating the number of the motion program to be executed (here, “No1”). A signal and an activation signal that prompts activation of the motion program are generated, and these signals are transmitted to the interface unit 4. The interface unit 4 receives the program number signal and the activation signal transmitted from the control unit 2, and transmits these signals to the motion control unit 5 (specifically, the interface unit 8).

  The subsequent operation in the motion control unit 5 will be described with reference to the flowcharts shown in FIGS. First, in FIG. 4, the control unit 6 of the motion control unit 5 determines whether an activation signal is received by the interface unit 8. In particular, in the interface unit 8, a start flag indicating the ON / OFF state of the start signal is prepared, and when the start signal is received, the start flag is turned ON. The control unit 6 determines whether or not the activation flag is in the ON state (step S101). In step S101, when the activation flag is not in the ON state, the process in the flowchart of FIG.

  In step S101, when the activation flag is in the ON state, the operation flag indicating the operation state of the process executed in the motion control unit 5 (in this case, the process based on the instruction of the previous sequence program) indicates the ON state. (Step S102). In step S102, when the operation flag does not indicate the ON state, that is, when the operation flag indicates the OFF state, the program number is acquired from the program number signal received by the interface unit 8, and the program number The motion program shown is designated from the motion program section 9 (step S103). Further, the activation flag is changed to the OFF state and the operation flag is changed to the ON state (step S104). Then, a process (described later) based on the motion program designated in step S103 is performed (step S105), and the process in the flowchart of FIG.

  In step S102, when the operation flag indicates the ON state, the processing in the flowchart of FIG. 4 is terminated without performing error processing or the like.

  Next, the process of step S105 in FIG. 4 will be described with reference to FIG. Here, it is assumed that the motion program number acquired in step S103 indicates “No1” and the motion program number “No1” shown in FIG. 3 is executed. First, the control unit 6 of the motion control unit 5 initializes a start count value indicating the number of times the start flag has changed from the OFF state to the ON state (step S201). This activation count value means the number of times that the interface unit 8 receives the activation signal during the operation of the motion program, that is, the number of motion programs that are continuously operated.

Next, the control part 6 decodes the motion program shown in FIG. 3 as follows (step S202).
INC-1 POINT TO POINT incremental value command positioning operation Axis 1,1000. Position one axis at a position of 1000 mm in the + direction from the current position. Feed rate = 100mm / min
Count MAX. 1 Maximum start count value = 1

  Here, the maximum activation count value indicates the maximum number of motion programs that are continuously operated, and is stored in the memory 7 together with the activation count value as shown in FIG. 6 (step S203). As a result, the maximum count value can be set for each motion program, and the optimum motion program can be continuously operated according to the control content indicated by the motion program.

  After the processing in step S203, the servo amplifier 11 (specifically, the interface unit 12) corresponding to the axis 1 is positioned at a feed rate of 100 mm / min from the current position to the position of 1000 mm in the positive direction. A drive signal indicating this is transmitted (step S204). When the servo amplifier 11 receives the drive signal at the interface unit 12, the servo amplifier 11 rotates the servo motor 13 to the target position at the speed indicated by the received drive signal. The encoder 14 detects the position of the servo motor 13, and when the servo motor 13 reaches the target position, an operation completion signal indicating the operation completion of the servo motor 13 is sent to the interface unit 12 of the servo amplifier 11. Is transmitted to the motion control unit 5 via. The control unit 6 of the motion control unit 5 determines whether the servo motor 13 has reached the target position by determining whether the operation completion signal has been received (step S205).

  When the completion of the operation of the servo motor 13 is detected in step S205, it is determined whether the activation count value indicates 0 (step S206). If the activation count value indicates 0 in step S206, the operation flag described above is changed to the OFF state (step S207), and the process shown in the flowchart of FIG. 5, that is, the process of the motion program ends.

  In step S206, if the activation count value does not indicate 0, that is, if the interface unit 8 has received the activation signal during the operation of the motion program, the result obtained by subtracting 1 from the activation count value is again set as the activation count value. Write to memory 7. That is, the activation count value is decremented here (step S212).

  Subsequently, the program number is acquired from the oldest program number signal received and stored in the interface unit 8, and the motion program indicated by the program number is designated from the motion program unit 9 (step S213). Then, the process returns to step S202, and execution of the designated motion program is started.

  If the completion of the operation of the servo motor 13 is not detected in step S205, that is, if the motion program is operating, it is determined whether the activation flag is in the ON state (step S208). In step S208, if the activation flag indicates the ON state, it is determined whether the activation count value is equal to or greater than the maximum activation count value (step S209). By this determination, it is possible to prevent a continuous operation of a large number of motion programs for a long time, and further, it is possible to prevent a useless storage capacity for storing a motion program start signal and the like.

  In step S209, if the activation count value does not indicate a value greater than or equal to the maximum activation count value, the result obtained by adding 1 to the activation count value is written again into the memory 7 as the activation count value. That is, here, the activation count value is incremented (step S210). Then, the activation flag is changed to the OFF state (step S211).

  After the processing in step S211, if the start flag does not indicate an ON state in step S208, and if the start count value indicates a value greater than or equal to the maximum start count value in step S209, it indicates that the motion program is in operation. The operation completion confirmation in step S205 is repeated.

  As described above, according to the positioning control apparatus according to the first embodiment, the specified motion program is executed along with the establishment of the operation condition indicated by the sequence program, and a new sequence program is executed during the operation of the motion program. When an activation signal is received, the activation count value indicating the number of times it is received is added, so by checking the activation count value after completion of the motion program, the motion program to be executed next can be operated quickly and without interruption. Therefore, the servo motor can be positioned smoothly based on a plurality of continuously executed motion programs.

Embodiment 2. FIG.
FIG. 7 is a block diagram showing a schematic configuration of the positioning control apparatus according to the second embodiment. In FIG. 7, the positioning control apparatus according to the second embodiment includes a servo motor 13 that is a control target device, an encoder 14 that detects the position and speed of the servo motor 13, a servo amplifier 11 that drives the servo motor 13, A motion control unit 5 that transmits a drive signal for driving the servo motor 13 to the servo amplifier 11, a sequence control unit 1 that transmits a control signal to the motion control unit 5 based on a sequence program, and a signal that can be input by the user And an input unit 21.

  Further, the sequence control unit 1 includes a sequence program unit 3 that stores a sequence program as shown in FIG. 2, a control unit 2 that generates an activation signal and the like based on the sequence program stored in the sequence program unit 3, and a signal The interface unit 20 that receives the signal input from the input unit 21 and identifies the restart signal, the start signal generated by the control unit 2, and the restart signal received by the interface unit 20 are used as the motion control unit 5. And an interface unit 4 for transmitting to.

  The motion control unit 5 stores an interface unit 8 that receives a start signal and the restart signal transmitted from the sequence control unit 1 (specifically, the interface unit 4) and a motion program as shown in FIG. The motion program unit 9, the control unit 6 that generates a drive signal based on the activation signal received by the interface unit 8 and the motion program stored in the motion program unit 9, and data used in the control unit 6 are stored And an interface unit 10 that transmits the drive signal generated in the control unit 6 to the servo amplifier 11. The motion program in FIG. 8 is an example of a program that is input and set by the user via a keyboard or the like (not shown) that is a peripheral device.

  The servo amplifier 11 includes an interface unit 12 that receives a drive signal transmitted from the motion control unit 5 (more specifically, the interface unit 10). The drive signal received by the interface unit 12 and the position detected by the encoder 14 The servo motor 13 is driven from the signal and the speed signal.

  Next, the operation of this positioning control device will be described. First, in the sequence control unit 1, the control unit 2 reads the sequence program shown in FIG. 2 from the sequence program unit 3 in which the sequence program is stored. Here, the control unit 2 determines whether or not the operation condition indicated in the read sequence program is satisfied, and when the operation condition is satisfied, the program number indicating the number of the motion program to be executed (here, “No1”). A signal and an activation signal that prompts activation of the motion program are generated, and these signals are transmitted to the interface unit 4. The interface unit 4 receives the program number signal and the activation signal transmitted from the control unit 2, and transmits these signals to the motion control unit 5 (specifically, the interface unit 8).

  The subsequent operation in the motion control unit 5 will be described with reference to the flowcharts shown in FIGS. The flowchart shown in FIG. 4 has been described in Embodiment 1, and is therefore omitted here. Therefore, the process of step S105 in FIG. 4, that is, the process of the motion program will be described.

  Here, it is assumed that the motion program number acquired in step S105 indicates “No1” and the motion program number “No1” shown in FIG. 8 is executed. 9, first, the control unit 6 of the motion control unit 5 initializes restart signal information indicating the presence or absence of a restart signal from the signal input unit 21 (step S301). This restart signal information is data stored in the memory 7 as shown in FIG. 10 via the interface unit 20, the interface unit 4 and the interface unit 8 when a restart signal is issued from the signal input unit 21. It is.

Next, the control unit 6 decodes the motion program shown in FIG. 8 as follows (step S302).
INC-1 POINT TO POINT incremental value command positioning operation Axis 1,1000. Position one axis at a position of 1000 mm in the + direction from the current position. Feed rate = 100mm / min
Restart signal X1 Signal recognized as restart signal = X1

  Here, the restart signal X1 is a signal that is recognized as a restart signal when the interface unit 20 receives a signal indicating "X1", and the restart signal information is stored even when the motion program is operating. It can be changed to the ON state.

  After the processing in step S302, the servo amplifier 11 (specifically, the interface unit 12) corresponding to the axis 1 is positioned at a feed rate of 100 mm / min from the current position to the position of 1000 mm in the positive direction. A drive signal indicating this is transmitted (step S303). When the servo amplifier 11 receives the drive signal at the interface unit 12, the servo amplifier 11 rotates the servo motor 13 to the target position at the speed indicated by the received drive signal. The encoder 14 detects the position of the servo motor 13, and when the servo motor 13 reaches the target position, an operation completion signal indicating the operation completion of the servo motor 13 is sent to the interface unit 12 of the servo amplifier 11. Is transmitted to the motion control unit 5 via. The control unit 6 of the motion control unit 5 determines whether the servo motor 13 has reached the target position by determining whether the operation completion signal has been received (step S304).

  If the completion of the operation of the servo motor 13 is detected in step S304, it is determined whether the restart signal information indicates an ON state (step S305). If the restart signal information does not indicate the ON state in step S305, that is, if the restart signal information indicates the OFF state, the operation flag described above is changed to the OFF state (step S306), and is shown in the flowchart of FIG. The process, that is, the motion program process is terminated.

  In step S305, when the restart signal information indicates the ON state, that is, when the restart signal is input from the signal input unit 21 during the operation of the motion program or immediately after the operation is completed, the motion program whose operation has been completed immediately before is again displayed. The process returns to step S301 so as to operate. If the completion of the operation of the servo motor 13 is not detected in step S304, it indicates that the motion program is in operation, and the operation completion confirmation in step S304 is repeated.

  As described above, according to the positioning control device according to the second embodiment, the specified motion program is executed along with the establishment of the operation condition indicated by the sequence program, and the signal input unit operates during the operation of the motion program. When a restart signal is issued, the same motion program can be operated again after the motion program being operated is completed.Therefore, the sequence program for the number of times is executed to make the servo motor repeat the same operation. Without preparation, the same motion program can be quickly and repeatedly operated without any interruption by only a simple input from the signal input unit, and a desired smooth servo motor positioning can be achieved.

  In addition, the motion control unit 5 can receive the restart signal and change the restart signal information to the ON state even while the motion program is in operation, and thus waits for the completion of the motion program operation. In addition, a continuous and efficient motion program restart operation can be executed, and after the motion program operation is completed, the restart signal is received and the restart signal information can be changed to the ON state. In this case, the motion program can be restarted at a desired timing.

Embodiment 3 FIG.
FIG. 11 is a block diagram showing a positioning control device according to the third embodiment. In FIG. 11, this positioning control device detects a speed by being attached to a servo motor 13 to be controlled, an encoder 14 for detecting the position and speed of the servo motor 13, and a drive shaft (not shown) such as a conveyor. Encoder 23, servo amplifier 11 that drives servo motor 13, motion control unit 5 that transmits a drive signal for causing servo amplifier 11 to drive servo motor 13, and motion control based on a predetermined sequence program And a sequence control unit 1 that transmits a control signal to the unit 5.

  The sequence control unit 1 includes a sequence program unit 3 that stores a sequence program as shown in FIG. 2, a control unit 2 that generates an activation signal and the like based on the sequence program stored in the sequence program unit 3, And an interface unit 4 that transmits an activation signal or the like generated in the control unit 2 to the motion control unit 5.

  The motion control unit 5 includes an interface unit 8 that receives an activation signal transmitted from the sequence control unit 1 (specifically, the interface unit 4), and a motion program unit 9 that stores a motion program as shown in FIG. The control unit 6 that generates a drive signal based on the activation signal received in the interface unit 8 and the motion program stored in the motion program unit 9 and the interface that transmits the drive signal generated in the control unit 6 to the servo amplifier 11 The unit 10 includes an interface unit 24 for inputting the number of pulses based on the speed detected by the encoder 23, and a memory 7 for storing the number of pulses received by the interface unit 24. The motion program in FIG. 12 is an example of a program that is input and set by the user via a keyboard or the like that is a peripheral device.

  The servo amplifier 11 includes an interface unit 12 that receives a drive signal transmitted from the motion control unit 5 (more specifically, the interface unit 10). The drive signal received by the interface unit 12 and the position detected by the encoder 14 The servo motor 13 is driven from the signal and the speed signal.

  Next, the operation of this positioning control device will be described. First, in the sequence control unit 1, the control unit 2 reads the sequence program shown in FIG. 2 from the sequence program unit 3 in which the sequence program is stored. Here, the control unit 2 determines whether or not the operation condition in the read sequence program is satisfied, and when the operation condition is satisfied, a program number signal indicating the number of the motion program to be executed (here, “No1”) and An activation signal is generated and transmitted to the interface unit 4. The interface unit 4 receives the program number signal and the activation signal transmitted from the control unit 2, and transmits these signals to the motion control unit 5 (specifically, the interface unit 8).

The subsequent operation in the motion control unit 5 is the same as the processing shown in the flowcharts of FIGS. 4 and 5 described above, and thus the description thereof is omitted. Here, specific processing based on the motion program shown in FIG. 12 will be described with reference to FIG. In step S202 of FIG. 5, the control unit 6 of the motion control unit 5 decodes the motion program shown in FIG. 12 as follows.
INC-1 POINT TO POINT incremental value command positioning operation Axis 1,1000. Position the shaft 1 at a position of 1000 mm in the + direction from the current position. Feed rate = 100mm / rev
V1 2000 judgment speed pulse V1 = 2000
E1 2000 Optimal displacement pulse at V1 = 2000
V2 300 judgment speed pulse V2 = 300
Optimal displacement pulse at E2 6000 V2 = 6000

  In the motion program shown in FIG. 12, V1, E1, V2, and E2 are stored in the memory 7 as shown in FIG. As described above, since the determination count value (described later) calculated by using these values is specified in the motion program, the determination count value can be set for each motion program, and can be set according to the control content indicated by the motion program. This makes it possible to perform optimal synchronized operation of controlled devices.

  Based on the motion program shown in FIG. 12, the control unit 6 sends the shaft 1 to the position of 1000 mm in the + direction from the current position to the servo amplifier 11 (specifically, the interface unit 12) corresponding to the shaft 1 in particular. A drive signal indicating that positioning is performed at a speed of 100 mm / rev is transmitted. When the servo amplifier 11 receives the drive signal at the interface unit 12, the servo amplifier 11 rotates the servo motor 13 to the target position at the speed indicated by the received drive signal.

  While this rotation operation is being executed, the control unit 6 of the motion control unit 5 reads the number of pulses detected in the encoder 23 at a certain time (hereinafter referred to as encoder detection value) from the interface unit 24 ( Step S401). This encoder detection value represents the rotational speed of a drive shaft such as a conveyor (hereinafter referred to as a conveyor drive shaft). It should be noted that the time for measuring the number of pulses for detecting the encoder detection value (the above-mentioned fixed time) is a sufficiently short time such as several milliseconds, for example.

Next, the read encoder detection value is written in the memory 7 as the current value as shown in FIG. 14 (step S402). That is, the current value indicates the latest encoder detection value. Then, ΔP is calculated by subtracting the current value and the previously detected encoder detection value (previous value) by the following equation (step S403).
ΔP = current value-previous value

  Here, ΔP indicates the amount of change between the two detected rotation speeds (in this case, the previous value and the current value), that is, the acceleration amount, and is written in the memory 7 in the same manner as the current value. After the process in step S403, the value indicated by the current value is set as the previous value for the next process (step S404).

  Next, a displacement count value indicating a cumulative value of the number of pulses corresponding to acceleration / deceleration increase / decrease of the conveyor drive shaft is obtained from a certain timing (step S405). That is, the displacement count value indicates the cumulative value of ΔP calculated in step S403, and is calculated by adding ΔP to the previous displacement count value.

Then, by dividing the current value set in step S402 by the fixed time (measurement time) in which the number of pulses is measured in step S401, the current rotation speed V of the conveyor drive shaft is obtained as shown in the following equation. Calculate (step S406).
V = current value / calculation cycle

Subsequently, using the V calculated in step S406 and V1, E1, V2, and E2 stored in the memory 7, a determination count value is calculated as shown in the following equation.
Determination count value = (V−V1) × (E2−E1) / (V2−V1) + E1

  Here, the determination count value is a value determined for each current rotation speed V of the conveyor drive shaft, and depending on the determination count value, the timing at which the drive signal indicating increase / decrease of the feed speed is transmitted to the servo motor 13. decide.

  Subsequently, it is determined whether the displacement count value calculated in step S405 is larger than the determination count value calculated in step S407 (step S408). In step S408, if the displacement count value does not indicate a value larger than the determination count value, the process of this flowchart is terminated without transmitting a drive signal for the synchronous operation of the servo motor 13.

In step S408, if the displacement count value is larger than the determination count value, ΔP calculated in step S403, and the number of one rotation pulse serving as a predetermined reference (written in the memory 7) are set. ΔL is calculated by the following equation using the feed speed F (100 mm / rev in this case) set in the motion program (step S409).
ΔL = F × ΔP / number of rotation pulses

  Here, ΔP / 1 number of rotation pulses indicates an increase / decrease in the number of rotations of the conveyor drive shaft per fixed time, and is detected by the encoder 23 by multiplying this by the feed speed F set in the servo motor 13. Rotational speed increase / decrease amount ΔL for following the rotational speed of the conveyor drive shaft is obtained.

  Next, the signal indicated by ΔL calculated in step S409 is transmitted to the interface unit 10 as a servo amplifier command value. The interface unit 10 transmits the received ΔL signal to the servo amplifier 11 (specifically, the interface unit 12) (step S410), and the servo amplifier 11 drives the servo motor 13 at a feed rate increased or decreased based on the ΔL signal. Let Thereby, the rotational drive of the servomotor 13 synchronized with the operation speed of different drive systems, such as a conveyor drive shaft, is achieved.

  After the process in step S410, the displacement count value is initialized (step S411) in order to determine the next drive signal transmission (corresponding to the process in step S408), and the process in this flowchart ends.

  As described above, according to the positioning control device according to the third embodiment, the speed of the drive shaft such as the conveyor in the operation of the servo motor based on the motion program executed together with the establishment of the operation condition indicated by the sequence program. By determining the determination count value according to the frequency and comparing the determination count value with the cumulative increase / decrease value of the pulse corresponding to the rotational speed of the drive shaft of the conveyor, the feed rate of the servo motor The synchronous operation of the servo motor is achieved by changing it based on the servo amplifier command value calculated from the rotational speed of the drive shaft.

  In particular, in the positioning control device according to the third embodiment, the speed command to the servo motor is given depending on the displacement count value corresponding to the displacement amount of the drive shaft of the conveyor, etc. When the rotational speed of the drive shaft increases abruptly, variations in synchronization deviation caused by changes in the rotational speed of the drive shaft such as a conveyor are prevented such that the speed following operation of the servo motor is performed in a shorter cycle.

1 is a block diagram illustrating a schematic configuration of a positioning control device according to a first embodiment. FIG. 3 is a diagram illustrating an example of a sequence program in the positioning control device according to the first embodiment. 6 is a diagram illustrating an example of a motion program in the positioning control device according to Embodiment 1. FIG. 3 is a flowchart showing an operation of the positioning control apparatus according to the first embodiment. 3 is a flowchart showing an operation of the positioning control apparatus according to the first embodiment. It is a figure explaining the value stored in memory in the positioning control apparatus which concerns on Embodiment 1. FIG. FIG. 6 is a block diagram illustrating a schematic configuration of a positioning control device according to a second embodiment. It is the figure which showed the example of the motion program in the positioning control apparatus which concerns on Embodiment 2. FIG. 6 is a flowchart showing the operation of the positioning control device according to the second embodiment. It is a figure explaining the value stored in memory in the positioning control apparatus which concerns on Embodiment 2. FIG. FIG. 10 is a block diagram illustrating a schematic configuration of a positioning control device according to a third embodiment. FIG. 10 is a diagram illustrating an example of a motion program in a positioning control device according to a third embodiment. 10 is a flowchart showing the operation of the positioning control apparatus according to the third embodiment. It is a figure explaining the value stored in memory in the positioning control apparatus which concerns on Embodiment 3. FIG. It is a block diagram which shows schematic structure in the conventional positioning control apparatus. It is the figure which showed the example of the sequence program in the conventional positioning control apparatus. It is the figure which showed the example of the motion program in the conventional positioning control apparatus. It is a flowchart which shows operation | movement of the conventional positioning control apparatus. It is a flowchart which shows operation | movement of the conventional positioning control apparatus. It is the block diagram which showed schematic structure in the other example of the conventional positioning control apparatus. It is the figure which showed the example of the motion program in the other example of the conventional positioning control apparatus. It is a flowchart which shows operation | movement of the other example of the conventional positioning control apparatus. It is a figure explaining the value stored in memory in the other example of the conventional positioning control apparatus.

Explanation of symbols

1 sequence controller,
2,6 control unit,
3 Sequence program part,
4, 8, 12, 20, 24 interface part,
5 Motion controller,
7 memory,
9 Motion program part,
11 Servo amplifier,
13 Servo motor,
14,23 Encoder,
21 Signal input section.

Claims (4)

In a positioning control device for positioning a control target device at a target position,
A speed detection unit for detecting a driving speed of the synchronization target device for causing the control target device to perform a synchronous operation;
Storing a sequence program for starting a motion program for positioning the device to be controlled at a target position, and outputting a start signal for starting a motion program specified in the sequence program; and
Based on a motion program unit that stores the motion program, a data storage unit that stores data used in the motion program, a motion program that receives the activation signal and indicates the activation signal, and data in the data storage unit A first control unit that sequentially generates and outputs a positioning command including a target speed, and a drive command for synchronizing with the drive speed of the synchronization target device at a timing based on the drive speed detected by the speed detection unit A motion control unit having a second control unit;
A servo amplifier for controlling the control target device according to the positioning command, when the driving instruction is input, to increase or decrease the target speed of the positioning command on the basis of the drive command, is increased or decreased the target speed A servo amplifier that controls the device to be controlled in accordance with a positioning command ;
And a positioning control device that positions the control target device in synchronization with the drive speed of the synchronization target device.   A constant value used to calculate a determination count value for determining the timing of outputting the drive command is stored as data in the data storage unit, and a second control unit of the motion control unit is configured to detect the speed detection A determination count value is calculated using the driving speed detected by the unit and the constant value, an acceleration / deceleration amount of the synchronization target device is calculated from the driving speed detected by the speed detection unit, and the acceleration / deceleration amount is further calculated. The positioning control device according to claim 1, wherein a displacement count value accumulated for a predetermined period is calculated, and the drive command is output when the displacement count value exceeds the determination count value. .   The positioning control device according to claim 2, wherein the determination count value is indicated in a motion program.   The motion control unit generates a speed increase / decrease signal generated using the acceleration / deceleration amount of the synchronization target device calculated from the drive speed detected by the speed detection unit and the target speed of the positioning command as the drive command. The positioning control device according to claim 1, wherein the positioning control device outputs the positioning control device.

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