JP4508969B2 - Linear interpolation method in drive controller - Google Patents

Description

  The present invention relates to a linear interpolation method for interpolating other transport axes by following the driving of a reference axis in a drive control device.

  2. Description of the Related Art Conventionally, a machine tool such as an NC machine has a plurality of conveying shafts orthogonal to each other and a plurality of drive motors that drive these conveying shafts in order to move a conveyed object to a predetermined position. A drive control device that drives other transport shafts (hereinafter referred to as other shafts) so as to follow the drive of the transport shafts (hereinafter referred to as reference shafts), and drives an object to be transported along each transport shaft. There is something to have.

Further, when the other axis follows the drive of the reference axis, the reference axis is first driven based on the command signal indicating the drive amount of the reference axis and the other axis and the command signal indicating the speed of the reference axis, and then the reference axis There is known an interpolation method for driving the other axis in accordance with the driving amount. At this time, a vector ( gradient ) of the driving amount of the other axis with respect to the driving amount of the reference axis is set in advance based on the command value of the driving amount of the reference axis and the other axis, and then the reference axis is driven at a predetermined speed. Then, for each predetermined period, the actual drive amount of each transport axis is detected, the vector of the drive amount between the reference axis actually driven and the other axis is calculated, and then the vector of the drive amount actually driven There is known an interpolation method in which the speeds of the other axes are calculated and set so as to match a preset driving amount vector (see, for example, Patent Document 1).
JP 2002-215212 A

However, according to the conventional interpolation method, the vector of the driving amount of the other axis with respect to the reference axis is calculated for each predetermined period, and the driving speed of the other axis is calculated and set so as to match the preset vector. Therefore, the processing time for performing the interpolation process becomes longer, and in order to shorten the processing time, a high-speed arithmetic processor integrated circuit is required. As a result, the entire hardware required for the interpolation process becomes complicated, and production There was a risk of impairing sex.

  Therefore, the present invention can simplify the hardware required for the interpolation processing, can perform the interpolation processing quickly, and can accurately follow the other axis with respect to the reference axis, and the linear interpolation method of the drive control device The purpose is to provide.

In order to achieve this object, the invention according to claim 1 is a drive control device for driving a plurality of conveyance shafts orthogonal to each other to drive other conveyance shafts in association with the drive of a reference conveyance shaft. A linear interpolation method in a drive control device , wherein a first step of selecting a reference axis from among the conveying axes and setting a speed of the reference axis based on a command value of a driving amount of the plurality of conveying axes; Based on the speed of the reference axis, the ratio between the speed of the reference axis and the speed of the other transport axis is the ratio of the command value of the drive amount of each reference axis and the command value of the drive amount of the other transport axis. The second step of setting the speed of the other transport axis, and driving the reference axis and the other transport axis based on the set speed, and for each predetermined cycle, A third step of detecting the cumulative travel of other transport axes; Actually moved to the moving amount of theory of the other transport axis by multiplying the ratio of the command value of the drive amount of the command value of the drive amount with the other transport axis of the reference axis with respect to the moving amount of the reference axis A fourth step of calculating a value, and detecting the difference between the actual movement amount of the other transport axis and the theoretical value, so as to cancel the calculated difference, the speed of the other transport axis, A fifth step to increase or decrease by a predetermined amount,
It is characterized by having.

According to the linear interpolation method in the drive control device according to claim 1, the first step of selecting the reference axis and setting the speed of the reference axis based on the command value of the driving amount of each transport axis, and the reference axis The ratio between the speed of the reference axis and the speed of the other transport axis (hereinafter referred to as another axis) is based on the speed of the reference axis, and the command value of the drive amount of each reference axis and the command value of the drive quantity of the other transport axis The second step of setting the speed of the other axis so that the ratio becomes the ratio, and the reference axis and the other axis are driven based on the set speed, and the cumulative movement of the reference axis and the other axis is performed every predetermined period. The third step of detecting the amount, and the other axis movement by multiplying the actual movement amount of the reference axis by the ratio of the command value of the drive amount of the reference axis and the command value of the drive amount of the other transport axis The fourth step of calculating the theoretical value of the amount and the difference between the actual amount of movement of the other axis and the theoretical value are detected and calculated. The fifth step of increasing or decreasing the speed of the other axis by a predetermined amount so as to cancel out the difference is provided, so that the calculation time required for the interpolation processing is shortened compared to the interpolation method of the conventional example. And improve productivity.

  That is, according to the linear interpolation method in the drive control device according to claim 1, the accumulated movement amount is detected every predetermined period, and the movement amount actually moved on the other axis matches the theoretical value. Conventionally, the speed of the other axis is corrected by increasing or decreasing a predetermined amount, so that the gradient of the driving amount of the other axis with respect to the reference axis is calculated and the driving speed of the other axis is calculated and set every predetermined cycle. Compared with this method, the calculation time required for the interpolation process can be shortened, and hence the high-speed calculation processor described in the conventional example is not required, and the hardware for the interpolation process can be simplified.

Next, the invention described in claim 2 is the linear interpolation method in the drive control apparatus according to claim 1, the speed ratio of the reference during acceleration 及 beauty deceleration with the other transport axis and said reference axis The speed of the other transport axis is set so that the ratio of the command value of the drive amount between the shaft and the other transport axis is the same.

According to the linear interpolation method in the drive control device according to claim 2, the speed ratio in acceleration and deceleration between the reference axis and the other transport axis (hereinafter referred to as another axis) is the difference between the reference axis and the other axis. such that the ratio of the command value of the drive amount, so to set the speed of the other shaft, the reference axis and the other axis can match the time to reach the desired speed, the deviation of the movement route leading to the target position Can be reduced.

  Next, according to a third aspect of the present invention, in the drive control device according to the first or second aspect, the transport axis having the largest command value of the drive amount is selected as the reference axis, and the drive amount It is selected for each command value.

  According to the linear interpolation method in the drive control device according to claim 3, the transport axis having the largest drive amount command value is selected as the reference axis, and is selected for each drive amount command value. The other transport axes can be made to follow the drive of the transport axis having the largest drive amount, and the interpolation can be performed with high accuracy.

  The linear interpolation method in the drive control device of the present invention detects the accumulated movement amount of the reference axis and the other axis at every predetermined period, and in advance so that the movement amount actually moved of the other axis matches the theoretical value. Since the speed of other axes is corrected by increasing / decreasing the predetermined amount, the high-speed arithmetic processor described in the conventional example becomes unnecessary, and the hardware required for the interpolation process can be simplified and the interpolation process can be performed quickly. In addition, the other axis can be accurately followed with respect to the reference axis.

Further, the linear interpolation method in the drive control device of the present invention is such that the ratio of the acceleration rate and the deceleration rate between the reference axis and the other axis is the ratio of the command value of the drive amount between the reference axis and the other axis. since setting the speed of the shaft, can be the reference axis and the other axes adjust the time to reach a constant speed, it can be reduced the deviation of the movement route.

  In the linear interpolation method in the drive control device of the present invention, the reference axis is selected as the transport axis having the largest drive amount command value, and is selected for each drive amount command value. Other transport axes can follow the drive of the largest transport axis, and interpolation can be performed with high accuracy.

  Next, a linear interpolation method in the drive control apparatus of one embodiment of the present invention will be described with reference to the drawings. The drive control apparatus according to the present embodiment drives the X axis, the Y axis, and the Z axis for conveying the conveyed object in three directions orthogonal to each other and the W axis that rotates the conveyed object in association with the reference axis. Control. FIG. 1 is a block diagram showing a control system of the drive control apparatus of the present embodiment, FIGS. 2 to 5 are flowcharts showing the procedure of a linear interpolation method in the drive control apparatus of the present embodiment, and FIG. 6 is the present embodiment. It is explanatory drawing showing the interpolation operation example of the X-axis and the Y-axis at the time of driving from the origin PO to the target position P1 in the linear interpolation method of the drive control apparatus.

As shown in FIG. 1, the high-speed pulse generating device 1 in this embodiment is based on an interface 2 that inputs an operation signal from an operator to an MPU ( Central Processing Unit ) 1 and an operation signal that is input from the interface 2. MPU1 that processes the execution of each functional unit in cooperation with ROM and RAM, X-axis drive pulse generator 3 that drives the X-axis, Y-axis drive pulse generator 4 that drives the Y-axis, Z that drives the Z-axis An axis drive pulse generator 5, a W axis drive pulse generator 6 for driving the W axis, and the like are provided.

  The MPU 1 sets the axis with the largest drive amount value as the reference axis based on the command values Xp, Yp, Zp, Wp of the X, Y, Z, and W axis drive amounts input via the interface 2. The reference axis setting unit 30, the speed V of the reference axis and the speed of the other axis (the X axis, the Y axis, the Z axis, and the W axis are the axes excluding the reference axis) are the driving amounts of the reference axis and the other axes. Based on the number of pulses representing the driving amount of the reference axis detected through the other axis speed calculation unit 31 that calculates the speed of the other axis and the pulse counting circuits 19 to 22 so as to match the ratio with the driving amount, The other-axis driving amount theoretical value calculation unit 32 that calculates the theoretical value of the number of pulses that represents the driving amount of the other axis, the number of pulses that represents the driving amount of the other axis detected via the pulse counting circuits 19 to 22 and the theoretical value calculation unit 32 Compare with the theoretical value calculated in step 1, and determine whether or not speed correction is required for the other axis. 33, is constituted by the like.

  In addition, the MPU 1 controls the pulse output circuits 15 to 18 according to the drive amount based on the drive amounts Xp, Yp, Zp, and Wp of the X, Y, Z, and W axes input via the interface 2. Command the output of the number of pulses.

Next, the drive pulse generators 3 to 6 are the original oscillators 7 to 10 that continuously oscillate the clock signal at a predetermined frequency, and the speed command signal that is input from the MPU 1 to the clock signal that is output from the original oscillators 7 to 10. Based on Vx, Vy, Vz, and Vw , a predetermined pulse voltage and a duty ratio are set and output to the pulse output circuits 15 to 18 and output to the pulse output circuits 15 to 18. Based on the pulse number command signal input from the MPU 1, the drive motor Pulse output circuits 15 to 18 for outputting a drive pulse train having a number of pulses corresponding to the drive amount to the motor drive circuits 23 to 26, and pulse counting circuits 19 to 22 for counting the number of pulses in the pulse train output from the pulse output circuits 15 to 18 Etc. In this embodiment, the oscillation frequency of the original oscillator is 4 MHz.

  The speed control circuits 11 to 14 are configured by a frequency divider and a multiplier (multiplier), and the pulse train input from the original oscillators 7 to 10 is based on speed command signals Vx, Vy, Vz, and Vw from the MPU 1. The speed is changed by frequency division and multiplication, and the pulse train whose speed is changed is output to the pulse output circuits 15 to 18. In this embodiment, the multiplier setting range is (1/4096) × (0 to 4096), the frequency divider setting range is (1/1) to (1/65535), and the command pulse number setting range is 1 to 99999999, the speed setting range of each axis is 1 to 2 MHz.

  Further, the pulse output circuits 15 to 18 set the rotation direction of the drive motor to CW (clockwise) or CCW (counterclockwise) based on a command from the MPU 1, and set the motor drive circuits 23 to 26 to the motor drive circuits 23 to 26. The drive pulse train for driving the drive motor is output.

The pulse counting circuits 19 to 22 count the number of pulses input via the pulse output circuits 15 to 18 and input them to the MPU 1, and the counted number of pulses is driven based on a command (not shown) from the MPU 1. When the number of pulses Xp, Yp, Zp, Wp is equal to the number of pulses (which is a command value for the drive amount), a signal for commanding the pulse output to stop is input to the pulse output circuits 15-18. Specifically, the pulse counting circuits 19 to 22 are provided with a start flag (not shown) associated with the pulse output and stop of the pulse output circuits 15 to 18, and this start flag is based on a command from the MPU 1. The pulse output circuits 15 to 18 are turned on at the same time as the pulses are output, and are turned off when the number of pulses detected via the pulse counting circuits 19 to 22 reaches a predetermined driving amount. ˜18, the pulse output of the pulse output circuits 15-18 is stopped.

  Next, a procedure until the MPU 1 receives an operation signal from the operator input from the interface 2 and outputs a drive pulse train to the motor drive circuits 23 to 26 will be described with reference to FIGS. In this processing procedure, the program is provided in a ROM (not shown), and the MPU 1 executes each processing using the program.

  This procedure starts when an activation signal is input to the MPU 1 via the interface 2.

Next, in S101 (S represents a step), past positioning data (so-called data representing the driving amount of each conveyance axis) and the speed of each conveyance axis stored in ROM and RAM (not shown) . Data is initialized, and then the process proceeds to S102.

  Next, in S102, the positioning data Xp, Yp, Zp, Wp of the transport axes (X axis, Y axis, Z axis, W axis) input via the interface 2 are read, and then the process proceeds to S103.

Next, in S 103, the conveyance axis with the largest positioning data is set as the reference axis via the reference axis setting unit 30. The function of the first step in the present invention is expressed by S103.

  Next, in S104, the speed V of the reference axis, the acceleration rate α when the reference axis is driven from the stop state, the deceleration rate β when the reference axis is stopped from the drive state at a constant speed, and the like are acquired from the ROM. . The reference axis speed V, acceleration rate α, and deceleration rate β are preset by an operator and stored in the ROM. In this embodiment, the reference axis is the X axis, and the speed V of the reference axis is replaced with the speed Vx of the X axis, and the following description will be given.

Next, in S105, the speed Sn of the other axis (Y axis, Z axis W axis) is calculated using the arithmetic expression stored in the ROM. The calculation formula of the speed Sn of the other axis is Sn = Vx · (positioning data of the other axis) / ( positioning data of the reference axis), and the Y axis speed Sny = Vx · Yp / Xp is calculated. The Z-axis speed Snz = Vx · Zp / Xp, and the W-axis speed Snw = Vx · Wp / Xp. The function of the second step of the present invention is expressed by S105.

  Next, in S106, the frequency division ratio Dn of the frequency divider in the speed control circuits 11 to 14 is calculated by using an arithmetic expression of Dn = (oscillation frequency of the original oscillator) / (speed of each axis).

Next, in S107, whether or not the value (absolute value) of the speed Sn (Sny, Snz, Snw) of the other axes (Y axis, Z axis, W axis) calculated in S105 is greater than a predetermined value 65535. If Sn is not larger than the predetermined value (No), the process proceeds to S109. On the other hand, when Sn is larger than the predetermined value (Yes) in S107, the process proceeds to S108, and Sn of the axis is replaced with the predetermined value 65535 in S108. In this embodiment, since the configuration of the divider in the speed control circuit 11 to 14 in 16-bit structure of hardware, the maximum value of the division ratio, (the sixteenth power of two) - in the 1 = 65535 Yes.

  Next, in S109, the number of pulses representing the driving amount for each axis positioning data Xp, Yp, Zp, Wp read in S102 is input to the pulse counting circuits 19-22.

Next, in S110, it is determined whether or not the command pulse number Xp, Yp, Zp, Wp of the drive amount set in S109 is greater than 0 (so-called positive or negative), and not greater than 0 . In the case of (No), the process proceeds to S112, the rotation direction of the drive motor in the pulse output circuits 15, 16, 17, 18 is set to CCW (counterclockwise), and then the process proceeds to S113. On the other hand, if it is greater than 0 (Yes) in S110, the process proceeds to S111, the rotation direction of the drive motor in the pulse output circuits 15, 16, 17, 18 is set to CW (clockwise), and then the process proceeds to S113. .

Next, in S113, the value M of the multiplier (multiplier) in the speed control circuits 11 to 14 is set to 1 (so-called multiplier setting range (1/4096) × (0 to 4096)). (1/4096) × (1) is set) In S114, the drive pulse train of the X axis (reference axis) is output from the pulse output circuit 15 in S114.

  Next, in S115, simultaneously with the output of the drive pulse train from the pulse output circuit 15, the start flag in the pulse counting circuits 19 to 22 is turned ON.

  Next, the process proceeds to S116, and 1 msec. Interrupt processing is performed at every cycle. Next, an interrupt processing procedure will be described with reference to FIGS. First, it is determined whether or not the activation flag is turned on in S201. If the activation flag is not turned on (No), the process proceeds to S202 and the interrupt process is terminated. On the other hand, if the activation flag is ON in S201, the process proceeds to S203.

  Next, in S203, it is determined whether or not the drive amount of the X axis (reference axis) has passed the deceleration point. If the deceleration point has passed (Yes), the process proceeds to S204, and the deceleration rate β acquired in S104 is X. The speed of the axis is subtracted, and then the process proceeds to S207. On the other hand, in S203, when the deceleration point has not passed (No), the process proceeds to S205. At this time, the deceleration point represents a deceleration position when moving from driving at a constant speed to stopping, and is determined in advance in association with the driving amount Xp of the reference axis.

Next, in S205, it is determined whether or not the speed value of the X axis (reference axis) is smaller than the upper limit speed value (the speed V acquired in S104). If the speed value is smaller (Yes), the process proceeds to S206. The X-axis speed is added at the acceleration rate α acquired in S104, and then the process proceeds to S207. On the other hand, when the speed value of the X axis (reference axis) is not smaller than the upper limit speed value (the speed V acquired in S104) in S205 (No), the process proceeds to S207.

  Next, in S207, it is determined whether or not the speed value of the X axis (reference axis) is greater than or equal to the upper limit speed value (the speed V acquired in S104). If greater or equal (Yes), The process proceeds to S208, and the speed of the X axis is set to the speed V acquired in S104, and then the process proceeds to S209. On the other hand, in S207, when the X-axis speed value is smaller than the upper limit speed value (No), the process proceeds to S209.

Next, in S209, it is determined whether or not the velocity value of the X axis (reference axis) is less than or equal to 0. If the velocity value is smaller or equal (Yes), the process proceeds to S210 and the velocity of the X axis is set to 1 (1 is 1). This is the minimum value that can be controlled.) On the other hand, if the speed value of the X axis (reference axis) is greater than 0 (No) in S209, the process proceeds to S211.

Next, in S211, the X-axis speed value set in S204, S206, S208, and S210 is input to the speed control circuit 11 for the X-axis (reference axis) as the speed command signal Vx , and then the process proceeds to S212.

Next, in S212, the number of output pulses representing the driving amount of each axis output from the pulse output circuits 15 to 18 is detected via the pulse counting circuits 19 to 22, and then the process proceeds to S213. The function of the third step in the present invention is expressed by S212.

Next, in S213, based on the detected number of pulses (Xpf) of the driving amount of the X axis (reference axis), the theoretical value is calculated to be fed back to the other axes (Y axis, Z axis, W axis). Calculation is performed using the unit 32. At this time, the theoretical value (Ypf) of the Y axis is calculated by an arithmetic expression of (Ypf) = (Xpf) · (Yp / Xp), and the theoretical value (Zpf) of the Z axis is calculated as (Zpf) = (Xpf) The calculation is performed using the equation (Zp / Xp), and the theoretical value (Wpf) of the W axis is calculated using the equation (Wpf) = (Xpf) · (Wp / Xp). The function of the fourth step in the present invention is expressed by S213.

Next, in S214, the speeds of the other axes (Y axis, Z axis, W axis) are set to the ratio between the positioning data of the X axis and the positioning data of the other axes and the speed of the X axis (reference axis) set in S211 ( Vxf). At this time , the velocity (Vyf) of the Y axis is calculated by an arithmetic expression of (Vyf) = (Vxf) · (Yp / Xp), and the velocity (Vzf) of the Z axis is calculated as (Vzf) = (Vxf) · ( Zp / Xp) is calculated using an arithmetic expression, and the W-axis speed (Vwf) is calculated using an arithmetic expression of (Vwf) = (Vxf) · (Wp / Xp).

Next, in S215, it is determined whether or not the theoretical value of the driving amount of the other axis calculated in S213 is smaller than the driving amount fed back in S212. The speed correction value is subtracted by 1 from the speed (Vyf), (Vzf), (Vwf) calculated in S214, and then the process proceeds to S217. On the other hand, if it is not small (No) in S215, the process proceeds to S217.

Next, in S217, it is determined whether or not the theoretical value of the driving amount of the other axis calculated in S213 is equal to the driving amount fed back in S212. The speed correction values of the speeds (Vyf), (Vzf), and (Vwf) calculated in S214 are set to 0, and then the process proceeds to S219. On the other hand, if it is not equal (No) in S217, the process proceeds to S219.

Then, in S 219, the theoretical value of the drive amount of the other axis calculated in S213 it is determined whether large or not the drive amount of feedback in S212, if it is larger (Yes), move to S220, the other shaft The speed correction value is incremented by 1 to the speeds (Vyf), (Vzf), and (Vwf) calculated in S214, and then the process proceeds to S221. On the other hand, if it is not large (No) in S219, the process proceeds to S221.

Next, in S221, the speed correction values set in S216, S218, and S220 are applied to the speed control circuits 12, 13, and 14 of the other axes (Y axis, Z axis, and W axis) to the speeds of the other axes obtained in S214. adding the speed command signal inputted (Vy, Vz, Vw) as, then END, it moves to S117 in FIG. 3. The function of the fifth step in the present invention is expressed by S215 to S221.

  Next, in S117, whether or not the driving amounts detected via the pulse counting circuit for all axes (X axis, Y axis, Z axis, W axis) match the driving amount command value read in S102. If they do not match, the process proceeds to S116, and 1 msec. The interrupt processing from S201 to S221 is repeated every time. On the other hand, if all the axes match in S117, the drive flag is turned off and this procedure is terminated.

  Then, according to the above-described procedure, the interpolation method in the drive control apparatus of the present embodiment, as shown in FIG. 6, for example, when driving the conveyed object to the X-axis and Y-axis target position P1, in S101, Data Xp (6000) representing the drive amount of the X axis and data Yp representing the drive amount of the Y axis are read. In S103, the X axis is set as the reference axis, and in S104 to S109, a predetermined cycle (1 msec.) Every time, interpolation is performed so that the Y-axis follows the drive of the X-axis. In S105, the Y-axis speed is set so that the ratio of the X-axis drive amount (6000) and the Y-axis drive amount (2000) is the ratio of the X-axis speed and the Y-axis speed. In S116, the actual drive amount of the X-axis and the Y-axis is detected at every predetermined period to correct the Y-axis speed, and the Y-axis drive is interpolated so that the actual movement curve matches the ideal movement curve. To do.

Below, the effect of the linear interpolation method in the drive control apparatus of the Example which has the said structure is described.

  According to the linear interpolation method of the drive control apparatus described in the embodiment, the first step of selecting the reference axis and setting the speed of the reference axis based on the command values Xp, Yp, Zp, Wp of the drive amount of each axis Based on (S103) and the speed of the reference axis, the second axis speed Sn is set so that the ratio between the speed of the reference axis and the speed of the other axis becomes the ratio of the command values of the respective drive amounts. A step (S105), a third step (S212) for driving the reference axis and the other axis based on the set speed, and detecting a cumulative movement amount of the reference axis and the other axis for each predetermined period; A fourth step (S213) for calculating the theoretical value of the movement amount of the other axis by multiplying the ratio with the movement amount of the axis, and detecting the difference between the actual movement amount of the other axis and the theoretical value; Increase or decrease the speed of the other axis by a predetermined amount so as to cancel the calculated difference. The fifth step (S215 to S221) is provided, so that the calculation time required for the interpolation process can be reduced and the hardware required for the interpolation process can be simplified and productivity can be improved as compared with the conventional interpolation method. it can.

  That is, according to the linear interpolation method in the drive control apparatus of the present embodiment, a predetermined period of 1 msec. Every time, the cumulative amount of movement is detected, and the speed of the other axis is corrected by increasing or decreasing a predetermined amount so that the amount of movement actually moved on the other axis matches the theoretical value. The described high-speed arithmetic processor is not required, the hardware required for the interpolation process can be simplified, the interpolation process can be performed quickly, and the other axes can follow the reference axis with high accuracy.

Further, according to the linear interpolation method in the drive control apparatus of the present embodiment, as in S214, the speed ratio at the time of acceleration and deceleration between the reference axis and the other axis is the command of the drive amount between the reference axis and the other axis. such that the ratio of the value, so to set the speed of the other shaft, the reference axis and the other axis can match the time to reach the desired speed can be reduced the deviation of the movement route. Further, in the linear interpolation method in the drive control apparatus of the present invention, the reference axis is selected as the transport axis having the largest drive amount command value, and is selected for each drive amount command value. Therefore, the drive amount is always the largest. Other transport axes can be made to follow the drive of the transport axes, and interpolation can be performed with high accuracy.

  As mentioned above, although one Example of this invention was described, this invention is not limited to the said Example, It can take a various aspect. For example, in this embodiment, the speed correction value in S216 and S220 is 1. However, the speed correction value is not limited to 1, and may be other numerical values. Furthermore, when each axis is in the deceleration range and the acceleration range, the speed correction value is small. A numerical value may be set, and a large numerical value may be set when each axis is in a certain speed range. In the present embodiment, the interrupt processing period of S116 is set to 1 msec, but the period may be set to other numerical values, or the period may be changed according to the driving range of each axis.

It is a block diagram showing the control system of the drive control apparatus of one Example of this invention. It is a flowchart showing a part of procedure of the linear interpolation method in the drive control apparatus of the embodiment. It is a flowchart showing a part of procedure of the linear interpolation method in the drive control apparatus of the embodiment. 4 is a flowchart showing a part of the procedure of interrupt processing in FIG. 3. 4 is a flowchart showing a part of the procedure of interrupt processing in FIG. 3. It is explanatory drawing showing the X-axis and Y-axis interpolation operation | movement at the time of driving from the origin PO to the target position P1 in the linear interpolation method of the drive control apparatus of a present Example.

DESCRIPTION OF SYMBOLS 1 ... MPU (central processing unit), 2 ... Interface, 3 ... X-axis drive pulse generation part, 4 ... Y-axis drive pulse generation part, 5 ... Z-axis drive pulse generation part, 6 ... W-axis drive pulse generation part, 7, 8, 9, 10 ... original oscillator, 11, 12, 13, 14 ... speed control circuit, 15, 16, 17, 18 ... pulse output circuit, 19, 20, 21, 22 ... pulse counting circuit, 23 ... X Axis motor drive circuit, 24 ... Y-axis motor drive circuit, 25 ... Z-axis motor drive circuit, 26 ... W-axis motor drive circuit , 30 ... reference axis setting unit, 31 ... other axis speed calculation unit, 32 ... theoretical value calculation unit 33: Other axis speed correction determination unit .

Claims (3)

In a drive control apparatus that drives a plurality of conveyance axes orthogonal to each other, a linear interpolation method in a drive control apparatus that drives other conveyance axes in association with the drive of a reference conveyance axis,
A first step of selecting a reference axis from among the transport axes and setting a speed of the reference axis based on a command value of a drive amount of the plurality of transport axes;
Based on the speed of the reference axis, the ratio between the speed of the reference axis and the speed of the other transport axis is the command value of the drive amount of the reference axis and the command value of the drive amount of the other transport axis . A second step of setting the speed of the other transport axis so as to be a ratio;
A third step of driving the reference axis and the other transport axis based on the set speed, and detecting a cumulative movement amount of the reference axis and the other transport axis for each predetermined period;
The movement amount of the other transport axis is calculated by multiplying the actual movement amount of the reference axis by the ratio of the command value of the drive amount of the reference axis and the command value of the drive amount of the other transport shaft. A fourth step of calculating a value;
The difference between the actual movement amount of the other transport axis and the theoretical value is detected, and the speed of the other transport axis is increased or decreased by a predetermined amount so as to cancel the calculated difference. And the fifth step
A linear interpolation method in a drive control device comprising: As the speed ratio at the time of acceleration 及 beauty deceleration with the other transport axis and said reference axis is the ratio of the command value of the drive amount of the said reference axis and said other conveyor shaft, of the other conveyor shaft The linear interpolation method in the drive control apparatus according to claim 1, wherein a speed is set. As the reference axis, a conveyance axis having the largest command value of the driving amount is selected, and is selected for each command value of the driving amount.
The linear interpolation method in the drive control apparatus according to claim 1, wherein the linear interpolation method is used.

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