JP4542668B2 - Pulse oscillation IC and motor positioning control method and apparatus using the IC - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a pulse oscillation IC for controlling a motor and the like, a motor positioning control method using the pulse IC, and an apparatus therefor.
[0002]
[Prior art]
Conventionally, as this kind of motor positioning control device, there is a diagram for explaining the change in the frequency of the control pulse with respect to time, which is generated by the device, as shown in FIG. 6, for example. In FIG. 6A, after the motor is started, the motor linearly accelerates at a constant rate and operates at a constant speed, and then decelerates linearly at a constant rate and stops. In FIG. 6A, the portions indicated by broken line circles 1, 2, 3, and 4 are points where the motor acceleration changes. FIG. 6B shows the change in acceleration at this time, and FIG. 6C shows the change in jerk. When the speed of the control pulse changes in a trapezoidal shape with respect to time in this manner, the jerk changes rapidly and the fluctuation of the torque applied to the motor increases, so as shown in FIG. There is a problem that the response of the motor becomes vibration.
[0003]
However, this problem is solved by the technique disclosed in, for example, Japanese Patent Laid-Open No. 63-19708.
That is, FIG. 7 shows a configuration block diagram of an example of the motor positioning control device. According to FIG. 7, the device 30 performs sequence control of a servo motor 31 connected to a load by a control circuit 32, and the control circuit 32 calculates acceleration / deceleration curve data corresponding to a target position in advance. The result is obtained and stored in a writable RAM (digital memory) 33.
[0004]
Thereafter, a frequency dividing constant is set in the programmable frequency dividing timer 35 that divides the output pulse of the pulse oscillator 34, and the counter 36 is cleared to zero. When the frequency dividing timer 35 is started, the counter 36 starts counting up, and the acceleration data written in the RAM 33 is sequentially read out. Based on the acceleration data, the motor 31 is driven to the vicinity of the target position by the speed control servo system I. Next, the motor 31 driven to the vicinity of the target position is positioned at the target position by the positioning position control servo system II.
Thus, the motor 31 is accelerated / decelerated in accordance with the read acceleration / deceleration curve data, and is positioned at the target position. In addition, 37 is a motor drive circuit, 38 is a position detector, 39 is a differentiator which calculates the difference of the target position data from the said control circuit 32, and the present position data from the said position detector 38. FIG.
[0005]
[Problems to be solved by the invention]
However, in the conventional positioning control device 30 for the motor 31, all the acceleration / deceleration curve data to be read is calculated in order to read the acceleration / deceleration curve data at regular intervals so that the acceleration / deceleration is a beautiful curve. Thus, it must be stored in the RAM 33 of the corresponding address. In other words, when the speed (pulse frequency) change with respect to time of the present invention has different accelerations as shown in FIGS. 1A and 1B, acceleration data must be calculated for each.
For this reason, each time the target position changes, recalculation must be performed, and the calculation result must be stored in the RAM 33 again. This results in a problem that the calculation time for acceleration / deceleration and the data setting in the RAM 33 become longer. there were.
[0006]
Further, in order to drive the positioning operation in as short a time as possible and to reduce the vibration of the motor 31, the acceleration / deceleration is gently changed only in a portion where vibration is likely to occur, and linear acceleration / deceleration is performed in other portions. It is desirable to do. In particular, when the position and speed deviation of the motor response to the pulse command become equal at the beginning of the change of acceleration and the end of the change, the state of the motor 31 is kept equal even though the speed has changed.
For this reason, it is effective to make the time when the acceleration changes equal to the vibration period of the device 30 incorporating the motor 31.
[0007]
However, the vibration period of the device 30 greatly depends on the mechanism and load used, and is difficult to predict. For this reason, in order to set the optimum acceleration / deceleration profile for the device 30 incorporating the motor 31, it is necessary to actually adjust the acceleration / deceleration profile set while operating the device 30.
[0008]
In the conventional motor positioning control device 30, in order to perform such adjustment, a function for obtaining acceleration / deceleration curve data for that purpose is prepared. Every time adjustment is performed, all acceleration / deceleration data is recalculated and reset. Therefore, there is a problem that the control becomes difficult.
[0009]
The present invention has been made in view of the above points, and its object is to solve the above problems, and even when the target position changes, calculation time of acceleration / deceleration and data setting in a writable digital memory (RAM) are possible. It is an object of the present invention to provide a pulse oscillation IC that does not take a long time, a motor positioning control method using the IC, and an apparatus therefor.
[0010]
Another object of the present invention is to suppress the vibration of the motor while keeping the positioning time of the motor short, and to perform pulse oscillation in which the control state of the motor to be positioned before and after the acceleration / deceleration changes is stable. It is an object of the present invention to provide an IC and a motor positioning control method and apparatus using the IC.
[0011]
[Means for Solving the Problems]
The configuration of the present invention for achieving the above object is as follows.
[0012]
Data register that sets the number of moving pulses and the pulse speed for the four sections where the acceleration of the motor changes, such as when the motor starts, when switching from acceleration to constant speed, when switching from constant speed to deceleration, and when stopping And a sequence control circuit unit that controls start, acceleration, constant speed, deceleration, and stop commands, the number of movement pulses during acceleration / deceleration, a speed determination unit, and acceleration / deceleration control according to the set operation instruction command Unit, a speed control unit, a pulse generation unit, an acceleration / deceleration constant unit in which constants for linearly changing acceleration or deceleration are stored, and an acceleration / deceleration constant selection unit. When a start command is input to the operation instruction command of the control circuit unit, the data register receives the speed determination unit, the acceleration / deceleration control unit, the speed control unit, and the pulse generation unit. The parameter value corresponding to each is output and set, and the speed determination unit sets the pulse frequency counter value sent from the speed control unit and the pulse frequency as the parameter value set from the data register. The acceleration / deceleration constant selection unit outputs a select signal to the acceleration / deceleration constant selection unit, and the acceleration / deceleration constant selection unit is set in the acceleration / deceleration constant unit according to the select signal output from the speed determination unit. select deceleration constants are, and outputs the deceleration control unit, the deceleration control unit, the set from the data register, the acceleration or deceleration as the parameter value, from the acceleration and deceleration constant selector The output acceleration / deceleration constant is multiplied and the result is output as the current acceleration to the speed control unit. The speed control unit receives the acceleration from the acceleration / deceleration control unit. The pulse frequency counter is incremented or decremented every time proportional to the output, and the counter value is output to the speed determination unit and the pulse generation unit. The pulse generation unit outputs the pulse frequency counter output from the speed control unit. The pulse oscillation IC generates a pulse signal of a value and outputs a pulse signal for driving the motor.
[0013]
In the motor positioning control method that constitutes one operation in the constant acceleration range, constant speed range, and constant deceleration range of the motor, the interval from the stop state to the constant acceleration range, the constant acceleration range is constant. The range from the constant speed range to the constant deceleration range, and the range of the four sections from the constant deceleration range to the stop state are separately set in the pulse oscillation IC. This is a motor positioning control method using the pulse oscillation IC that allows the motor to perform smooth operation through setting and adjustment and a motor drive unit.
[0014]
In the motor positioning control device that constitutes one operation in the three constant acceleration regions, constant velocity regions, and constant deceleration regions of the motor, the interval from the stop state to the constant acceleration region, the constant acceleration region is constant. The pulse oscillation IC is set separately for the range from the constant speed range to the constant deceleration range, and from the constant deceleration range to the stop state. This is a motor positioning control device using the pulse oscillation IC that adjusts and makes the motor operate smoothly by the motor drive unit.
[0015]
According to the above configuration of the present invention, as shown in FIG. 1 (a), the acceleration / deceleration curve data of the motor to be positioned is controlled, a) at startup, b) when switching from acceleration to constant speed, c) When switching from constant speed to deceleration, d) S-shaped acceleration / deceleration sections 1, 2, 3, and 4 in which the speed of the motor gradually changes are provided at four positions at the time of stop. By simply specifying the range of these four S-shaped acceleration / deceleration sections 1, 2, 3, and 4, the part where the S-shaped acceleration / deceleration section is set automatically draws a beautiful acceleration / deceleration curve, Acceleration / deceleration is performed linearly.
[0016]
Further, in order to enable adjustment so as to obtain an optimum profile for the motor mechanism including the load to be used, the four S-shaped acceleration / deceleration sections 1, 2, 3, and 4 are individually set. It has been made possible. FIG. 1B shows the change in acceleration at that time, and FIG. 1C shows the change in jerk.
[0017]
In driving the motor, when the acceleration changes, the torque applied to the motor also changes.
The reason why the motor vibrates is that the fluctuation of torque applied to the motor is large and the motor cannot follow the pulse command.
In the present invention, as shown in FIG. 1B, the change in the acceleration is moderated to reduce the torque fluctuation and suppress the vibration of the motor.
Further, the S-shaped acceleration / deceleration sections 1, 2, 3, and 4 are set equal to the vibration period of the positioning control device, and the deviation of the position and speed of the motor response before the acceleration is switched and the deviation after the switching. Can be made equal. The state of vibration of the motor at this time is shown in FIG.
[0018]
Further, since the four S-shaped acceleration / deceleration sections 1, 2, 3, and 4 can be individually set, the speed is curved only at a necessary portion as shown in FIGS. 3 and 4 respectively. It can be adjusted to shorten the time required for acceleration and deceleration.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, exemplary embodiments of the invention will be described in detail with reference to the drawings.
2 to 5 are diagrams showing an embodiment of the pulse oscillation IC of the present invention and a motor positioning control device using the IC, and FIG. 2 is a functional block configuration diagram inside the pulse oscillation IC, FIG. 3 is a diagram for explaining a frequency change (motor speed change) of a control pulse output from the pulse oscillation IC, and shows a case where acceleration is different from a and b in the figure. FIG. 4 is a diagram for explaining the frequency change (motor speed change) of the control pulse output from the pulse oscillation IC, where a and b in the figure are different in the setting of the S-shaped acceleration / deceleration section. Show. FIG. 5 is a block configuration diagram showing an example of a motor positioning control device using the pulse oscillation IC according to the present embodiment.
[0020]
In FIG. 2, the pulse oscillation IC: IC switches from constant speed to deceleration when the motor M starts (S-shaped acceleration / deceleration section 1) and switches from acceleration to constant speed (S-shaped acceleration / deceleration section 2). Set parameters such as the number of moving pulses and pulse speed with respect to time in the four sections where acceleration and deceleration change, such as at the time (S-shaped acceleration / deceleration section 3) and when stopped (S-shaped acceleration / deceleration section 4) According to the data register 1 set in each part 2, 3, 4 and 5 described later, and the set operation instruction command, the motors corresponding to start, acceleration, constant speed, deceleration, stop commands and acceleration / deceleration time A sequence control circuit unit 8 that manages or controls the number of movement pulses representing the movement distance of M, a speed determination unit 2, an acceleration / deceleration control unit 3, a speed control unit 4, a pulse generation unit 5, and the motor M Multiplied by the acceleration or deceleration of Pressurizing the motor M, the acceleration and deceleration constant portion 6 represented constants are stored in the binary fraction for linearly slowly varying deceleration, consisting deceleration constant selector 7.
[0021]
When an activation command is input (written) to the operation instruction command of the sequence control circuit unit 8, first, the data register 1, the speed determination unit 2, and the acceleration / deceleration control unit 3 from the sequence control circuit 8. An operation enable signal is output to each of the speed control unit 4 and the pulse generation unit 5.
When the operation enable signal 1 is input from the sequence control circuit 8, the data register 1 is supplied to the speed determination unit 2, the acceleration / deceleration control unit 3, the speed control unit 4, and the pulse generation unit 5. , Output corresponding setting parameter values, that is, the motor speed, the pulse frequency value as the motor acceleration, and the number of movement pulses representing the movement distance.
[0022]
The speed determination unit 2, the acceleration / deceleration control unit 3, the speed control unit 4 and the pulse generation unit 5 operate including an oscillation operation while the operation enable signal from the sequence control circuit 8 is 1, The operation is stopped while the operation enable signal is 0.
When the operation enable signal becomes 1, the speed control unit 4 sets a pulse frequency value for starting the motor in the pulse frequency counter, and the value of the pulse frequency counter is determined based on the speed determination unit 2 and the pulse generation circuit 5. In addition, it is output sequentially as time elapses.
[0023]
The speed determination unit 2 is one of the four sections in which the pulse frequency counter value sent from the speed control unit 4 and the start frequency, constant speed frequency, and acceleration / deceleration set from the data register 1 change. These pulse frequency values are compared, and a select signal is output to the acceleration / deceleration constant selection unit 7.
The speed determination unit 2 outputs a select signal to the acceleration / deceleration constant selection unit 7 each time it compares with the set pulse frequency value every time the pulse frequency counter value changes.
[0024]
The acceleration / deceleration constant selection unit 7 selects an acceleration / deceleration constant stored in the acceleration / deceleration constant unit 6 in accordance with a select signal output from the speed determination unit 2, and uses the acceleration / deceleration constant as the acceleration / deceleration control. Send to part 3. The acceleration / deceleration constant unit 6 stores a constant represented by a binary decimal for multiplying the acceleration or deceleration and linearly and gently changing the acceleration or deceleration.
[0025]
The acceleration / deceleration control unit 3 uses the set pulse frequency value as the acceleration set from the data register 1 during acceleration, and similarly sets the set pulse frequency as the deceleration set from the data register 1 during deceleration. A value is selected and multiplied by the acceleration / deceleration constant sent from the acceleration / deceleration constant selection unit 7, and the result is used as the current acceleration / deceleration, and the pulse frequency in a cycle proportional to the acceleration / deceleration A signal that supports (or indicates) acceleration or deceleration of the value is output to the speed control unit 4.
[0026]
The speed control unit 4 receives the pulse frequency value signal output from the acceleration / deceleration control unit 3 and performs an up-counting operation on the pulse frequency counter by one count from the starting frequency at the time of acceleration. Stops the count operation, and at the time of deceleration, counts down one count at a time, outputs the pulse frequency counter value to the speed determination unit 2 and the pulse generation unit 5, and determines the speed determination based on the pulse frequency counter value. The operations from the unit 2 to the acceleration / deceleration constant selection unit 7 and the acceleration / deceleration control unit 3 are sequentially repeated as time passes.
[0027]
The pulse generation unit 5 outputs a control pulse having a frequency proportional to the frequency counter value of the speed control unit 4 to the outside and uses it as a control signal for driving the motor M.
At the same time, in the operation of designating the number of movement pulses, the sequence control circuit unit 8 outputs a deceleration instruction when the number of oscillated speed pulses becomes equal to the number of pulses for starting deceleration. When the number of pulses oscillated after deceleration becomes equal to the set number of moving pulses, the operation is stopped, and the data register 1, the speed determination unit 2, the acceleration / deceleration control unit 3, the speed control unit 4 and the pulse generation unit 5 are stopped. The operation enable signal output to 1 becomes 0. At the same time, a reset signal is output to each of the units 1, 2, 3, 4 and 5, and the units 2, 3, 4, and 5 other than the data register 1 in which the parameter values are set are initialized. It is returning.
[0028]
Next, the operation of the pulse oscillation IC: IC shown in FIG. 2 will be described with reference to FIGS.
FIG. 3 is a diagram showing the speed (pulse frequency) change of the control pulse output from the pulse oscillation IC: IC of FIG. 2 with respect to time. In FIG. 3, a and b in FIG. FIG. 4 is also a diagram showing the speed (pulse frequency) change of the control pulse output from the pulse oscillation IC: IC of FIG. 2 with respect to time, and in particular, a in the figure is the four S-shaped. B is the case where different values are set in the four S-shaped acceleration / deceleration zones 1, 2, 3, 4 when the zone-like acceleration / deceleration zones 1, 2, 3, 4 are equal. 4 will be described.
[0029]
First, when the motor M is in a stopped state, the speed determination unit 2, the acceleration / deceleration control unit 3, the speed control unit 4, and the pulse generation units 2, 3, 4, and 5 are in a reset state.
After the activation, the acceleration / deceleration enable signal output from the sequence control circuit unit 8 to the acceleration / deceleration control unit 3 becomes 1, and the acceleration / deceleration control unit 3 becomes ready for acceleration / deceleration. The control pulse frequency output from the pulse generator 5 enters the S-shaped acceleration / deceleration section 1. Each S-shaped acceleration / deceleration section is further differentiated as section 1, section 2, section 3, and section 4 for each section in which the acceleration / deceleration constant is changed.
[0030]
In the speed control circuit in the speed determination unit 2, a signal indicating that the current pulse frequency is a pulse frequency corresponding to the first section 1 of the S-shaped acceleration / deceleration section is sent to the acceleration / deceleration constant selection section. 7 to the selector.
Upon receiving this signal, the selector of the acceleration / deceleration constant selection unit 7 selects the smallest value among the acceleration / deceleration constants represented by binary decimal numbers stored in the acceleration / deceleration constant unit 6 and selects the value described above. Output to the acceleration / deceleration control unit 3. As the pulse frequency accelerates with the second and third sections 2 and 3, the output signal of the speed determination unit 2 changes, and the acceleration / deceleration constant of the acceleration / deceleration constant unit 6 gradually increases. It will be selected.
[0031]
When switching from the S-shaped acceleration / deceleration section 1 to the linear acceleration section, the selected acceleration / deceleration constant becomes 1, and the value continues while in the linear acceleration section. When further accelerating and entering the S-shaped acceleration / deceleration section 2, the acceleration / deceleration constant selected by the acceleration / deceleration constant section 6 becomes as the section 1, section 2,... It gets smaller.
When the operating frequency is equal to the constant speed frequency set to 1, the acceleration / deceleration enable signal output from the sequence control circuit unit 8 to the speed control unit 4 becomes 0, and the speed control unit 4 Keep the counter value constant.
[0032]
Next, when the sequence control circuit unit 8 is in a deceleration start state, the acceleration / deceleration enable signal becomes 1 again. When the operating frequency enters the S-shaped acceleration / deceleration section 3, the acceleration / deceleration constant of the acceleration / deceleration constant unit 6 gradually increases as the pulse frequency decelerates. When switching from the S-shaped acceleration / deceleration section 3 to the linear deceleration section, the selected acceleration / deceleration constant is 1, and the value continues while in the linear deceleration section.
When the motor further decelerates and enters the S-shaped acceleration / deceleration section 4, the acceleration / deceleration constant gradually decreases as the pulse frequency decelerates.
[0033]
As described above, the acceleration changes in the four S-shaped acceleration / deceleration sections 1, 2, 3, and 4 are performed individually.
B in FIG. 4 represents a change in pulse frequency when the S-shaped acceleration / deceleration section 3 and the S-shaped acceleration / deceleration section 4 are zero. At this time, since the deceleration is all in the linear deceleration section, 1 is always output from the selector of the acceleration / deceleration constant selection unit 7, and the deceleration calculated by the acceleration / deceleration control unit 3 is set to 1. Equal to the deceleration.
[0034]
Next, in FIG. 5, the motor positioning control device 20 using the pulse oscillation IC: IC includes a controller 21 incorporating the pulse oscillation IC: IC and a CPU (central processing unit), and the pulse. Oscillation IC: a motor drive unit 22 that drives a motor M based on the control pulse input from the IC, and the motor M. The motor M has a constant acceleration range, a constant speed range, and a constant deceleration range. One action.
[0035]
From the stop state of the motor M to the constant acceleration range, from the constant acceleration range to the constant speed range, from the constant speed range to the constant deceleration range, and from the constant deceleration range The motor drive is performed by setting and adjusting the four sigmoidal acceleration / deceleration sections 1, 2, 3, and 4 separately in the pulse oscillation IC: IC for the range of the four sections until reaching the stop state. The unit 22 can cause the motor M to perform a smooth operation.
[0036]
Note that the technology of the present invention is not limited to the technology in the above-described embodiment, and may be implemented by means of other modes that perform the same function. The technology of the present invention may be variously modified within the scope of the above-described configuration. Addition is possible.
[0037]
【The invention's effect】
As is apparent from the above description, according to the present invention, the speed of the motor is reduced in the four S-shaped acceleration / deceleration sections at the time of start-up, when switching from acceleration to constant speed, when switching from constant speed to deceleration, and when stopping. Since the curve changes automatically and changes linearly outside the S-shaped acceleration / deceleration section, vibration of the motor can be suppressed while keeping the positioning time of the motor short. Further, since the S-shaped acceleration / deceleration section can be easily adjusted so as to be equal to the vibration cycle of the apparatus incorporating the motor, the position and speed of the motor response before and after the acceleration changes The deviation can be made equal and the state of the motor can be stabilized.
[0038]
In addition, the only necessary settings for this are acceleration, deceleration, the four S-shaped acceleration / deceleration sections, and acceleration / deceleration mode, and the data calculation and setting time in the data register are shortened. There is an effect that can be.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining a control pulse and motor operation generated by a pulse oscillation IC of the present invention, in which FIG. 1 (a) shows a frequency change (motor speed change) of the control pulse; FIG. 1B is a diagram illustrating a change in acceleration of the control pulse, FIG. 1C is a diagram illustrating a change in jerk of the control pulse, and FIG. 1D is a diagram illustrating a motor operation.
FIG. 2 is a diagram showing an embodiment of the pulse oscillation IC of the present invention and a motor positioning control device using the IC, and is a functional block configuration diagram inside the pulse oscillation IC.
FIG. 3 is a diagram for explaining a frequency change (motor speed change) of a control pulse generated from the pulse oscillation IC according to the present embodiment, where a and b in the figure have different accelerations.
FIG. 4 is a diagram for explaining a frequency change (motor speed change) of a control pulse generated from the pulse oscillation IC according to the present embodiment, in which a and b are S-shaped acceleration / deceleration sections; Is different.
FIG. 5 is a block diagram showing an embodiment of a motor positioning control apparatus using the pulse oscillation IC of the present invention.
6A and 6B are diagrams for explaining a control pulse generated by a conventional motor positioning control device and a motor operation. FIG. 6A is a diagram showing a frequency change (motor speed change) of the control pulse. FIG. 6B is a diagram illustrating the change in acceleration of the control pulse, FIG. 6C is a diagram illustrating the change in jerk of the control pulse, and FIG. 6D is a diagram illustrating the motor operation.
FIG. 7 is a block diagram of a conventional apparatus.
[Explanation of symbols]
IC Pulse oscillation IC
M Motor 1 Data register 2 Speed determination unit 3 Acceleration / deceleration control unit 4 Speed control unit 5 Pulse generation unit 6 Acceleration / deceleration constant unit 7 Acceleration / deceleration constant selection unit 8 Sequence control circuit unit 20 Motor positioning control device using pulse oscillation IC 21 Controller 22 Motor drive unit

Claims (4)

Data register that sets the number of moving pulses and the pulse speed for the four sections where the acceleration of the motor changes, such as when the motor starts, when switching from acceleration to constant speed, when switching from constant speed to deceleration, and when stopping When,
A sequence control circuit unit that controls start, acceleration, constant speed, deceleration, stop, and the number of movement pulses during acceleration / deceleration according to the set operation instruction command;
A speed determination unit, an acceleration / deceleration control unit, a speed control unit, a pulse generation unit, an acceleration / deceleration constant unit in which constants for linearly changing acceleration or deceleration are stored, and an acceleration / deceleration constant Consisting of a selection part,
When a start command is input to the operation instruction command of the sequence control circuit unit, the data register corresponds to the speed determination unit, the acceleration / deceleration control unit, the speed control unit, and the pulse generation unit, respectively. Output and set parameter values,
The speed determination unit compares the pulse frequency counter value sent from the speed control unit with the pulse frequency value as a parameter value set from the data register, and selects the acceleration / deceleration constant selection unit. Output signal,
The acceleration / deceleration constant selection unit selects an acceleration / deceleration constant set in the acceleration / deceleration constant unit according to a select signal output from the speed determination unit, and outputs the acceleration / deceleration constant to the acceleration / deceleration control unit ,
The acceleration / deceleration control unit multiplies the acceleration or deceleration as a parameter value set from the data register by the acceleration / deceleration constant output from the acceleration / deceleration constant selection unit, and uses the result as the current acceleration. , Output to the speed control unit,
The speed control unit increases or decreases a pulse frequency counter every time proportional to the acceleration from the acceleration / deceleration control unit, and outputs the counter value to the speed determination unit and the pulse generation unit,
The pulse oscillation IC, wherein the pulse generation unit generates a pulse signal of the pulse frequency counter value output from the speed control unit, and outputs a pulse signal for driving the motor. A data register that sets the motor start frequency, constant speed frequency, acceleration, deceleration, four sections where acceleration / deceleration changes, the number of moving pulses, etc.
A sequence control circuit section for setting operation instruction commands and accelerating, constant speed, decelerating instructions, managing the number of moving pulses, etc.
Contains constants expressed in binary decimals for multiplying linearly and slowly by multiplying the speed judgment unit, acceleration / deceleration control unit, speed control unit, pulse generation unit, acceleration and deceleration It consists of an acceleration / deceleration constant part and an acceleration / deceleration constant selection part.
When an operation start command is written in the operation instruction command of the sequence control circuit unit, each of the data register, the speed determination unit, the acceleration / deceleration control unit, the speed control unit, and the pulse generation unit from the sequence control circuit unit An operation enable signal is output for
The data register outputs a setting parameter value to each of the speed determination unit, the acceleration / deceleration control unit, the speed control unit, and the pulse generation unit when the operation enable signal becomes 1. ,
Each of the speed determination unit, the acceleration / deceleration control unit, the speed control unit, and the pulse generation unit operates while the operation enable signal is 1 and stops during 0.
When the operation enable signal becomes 1, the speed control unit sets a starting frequency in a frequency counter, and the value of the frequency counter is sequentially output to the pulse generation unit and the speed determination unit,
The speed judgment unit compares the frequency counter value sent from the speed control unit with the four sections in which the start frequency, constant speed frequency, and acceleration / deceleration set in the data register change, and Outputs a select signal for the deceleration constant selection section,
The acceleration / deceleration constant selection unit selects an acceleration / deceleration constant of the acceleration / deceleration constant unit according to the select signal output from the speed determination unit,
The acceleration / deceleration control unit selects the acceleration set in the data register at the time of acceleration, the deceleration at the time of deceleration, and multiplies the acceleration / deceleration constant sent from the acceleration / deceleration constant selection unit. Used as a speed, outputs a signal that indicates frequency acceleration or deceleration at a cycle proportional to acceleration / deceleration,
In response to the signal output from the acceleration / deceleration control unit, the speed control unit increments the frequency counter by one from the starting frequency when accelerating, stops the count operation at a constant speed, and performs a down count during deceleration.
The pulse generator outputs a control pulse having a frequency proportional to the frequency counter value of the speed controller, and in the case of an operation instructing the number of moving pulses, the sequence control circuit starts the number of pulses oscillated and deceleration. When the number of pulses to be equalized, a deceleration instruction is output. The operation enable signal output to each of the control unit and the pulse generation unit becomes 0, a reset signal is output to each unit, and each unit other than the data register in which the parameters are set is in an initial state. A pulse oscillation IC characterized by being returned to In the motor positioning control method that constitutes one operation in three of the constant acceleration range, the constant speed range, and the constant deceleration range of the motor,
Section from stop state to constant acceleration range, section from constant acceleration range to constant speed range, section from constant speed range to constant deceleration range, and from constant deceleration range to stop state The range of each of the four sections is separately set and adjusted in the pulse oscillation IC, and the motor is operated smoothly through the motor drive unit. A motor positioning control method using the pulse oscillation IC described in 1. In the motor positioning control device that constitutes one operation in three of the constant acceleration range, the constant speed range, and the constant deceleration range of the motor,
Section from stop state to constant acceleration range, section from constant acceleration range to constant speed range, section from constant speed range to constant deceleration range, and from constant deceleration range to stop state The range of each of the four sections is set and adjusted separately for the pulse oscillation IC, and the motor driving unit causes the motor to perform a smooth operation. Motor positioning control device using pulse oscillation IC.

Images