JP4707935B2 - Positioning controller - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a positioning controller for a servo motor such as an electronic component mounting machine for mounting electronic components on a printed circuit board.LaIt is related.
[0002]
[Prior art]
Conventionally, the communication system between the positioning controller of an electronic component mounting machine and the servo driver is the pulse train system, and even when using a driver of a different servo driver manufacturer, it is possible to connect to the positioning controller using the pulse train communication system. it can.
However, in recent years, as a communication method between the positioning controller and the servo driver, a serial communication method capable of high-speed communication has been used due to an increase in data capacity.
When serial communication systems become mainstream in this way, each servo driver manufacturer has created a communication system for serial communication that differs for each manufacturer, so the communication speed and communication format (data type, data arrangement, data There are many servo drivers with different capacities (number of bytes, communication cycle, etc.).
[0003]
FIG. 7 shows different communication methods A and B as an example. As shown in FIG. 7A, the communication method A has a data amount of 8 bytes, a communication cycle of 0.8 ms, and a communication speed of 1 Mbps. In the communication method B, the data amount is 10 bytes, the communication cycle is 1 ms, and the communication speed is 5 Mbps.
In communication method A, as shown in FIG. 7B, the data array is composed of a 2-byte operation command, a 4-byte target position, and a 2-byte parameter A, and communication method B is shown in FIG. 7C. Thus, the data array is composed of a target position of 3 bytes, an operation command of 1 byte, a parameter A of 2 bytes, a parameter B of 2 bytes, and a parameter C of 2 bytes.
[0004]
For this reason, if a servo driver that employs a certain communication method is used for communication between the positioning controller and the servo driver, a servo driver that employs another communication method cannot be used.
In particular, because the interface of the host controller differs with the communication method (target position, target speed, target acceleration, operation command, etc., setting data unit, number of set bytes, data address, etc. (characteristics of each communication method) When switching from one communication method to another communication method servo driver, not only the communication method with the servo driver but also the host controller interface must be changed. There was a problem.
[0005]
8 shows a configuration in which servo drivers 2A, 2B, and 2C having different communication methods A, B, and C are connected to the host controller 1, respectively.
Here, in the communication method A, the data array is composed of a 2-byte operation command, a 4-byte target position, and a 2-byte parameter A, and in the communication method B, a 3-byte target position, a 1-byte operation command, a 2-byte parameter A, 2 bytes. The communication method C has a data amount of 8 bytes, a communication cycle of 2 ms, a communication speed of 10 Mbps, a 4-byte target position, a 2-byte operation command, and a 2-byte parameter. The data array is A.
The servo drivers 2A, 2B, and 2C having different communication methods are connected to positioning controllers 3A, 3B, and 3C connected to the host controller 1, respectively.
[0006]
The positioning controller 3A has a speed calculation unit 5A having a communication function unit capable of communicating with the host interface 4A and the servo driver 2A, and the positioning controller 3B has a communication function capable of communicating with the host interface 4B and the servo driver 2B. The positioning controller 3C includes a speed calculation unit 5C including a communication function unit capable of communicating with the host interface 4C and the servo driver 2C.
[0007]
The upper interface 4A is an interface for communication system A, and for example, the number of set bytes for the target position of the input data is 4 bytes, the maximum speed is 2 bytes, and the acceleration is 2 bytes.
The upper interface 4B is an interface for communication system B, and for example, the number of set bytes for the target position of the input data is 3 bytes, the maximum speed is 2 bytes, and the acceleration is 2 bytes.
The upper interface 4C is an interface for the communication system C, and for example, the set number of bytes for the target position of the input data is 4 bytes, the maximum speed is 3 bytes, and the acceleration is 3 bytes.
As described above, when controlling the servo drivers 2A, 2B, and 2C of the different communication methods A, B, and C by the upper controller 1, the upper interfaces 4A, 4B, 4C, which are compatible with the communication methods A, B, and C, respectively. And connected via the speed calculation units 5A, 5B, 5C.
[0008]
In addition, when a large number of servo drivers are connected and the servo driver communication method is mixed, such as an electronic component mounting machine, there are multiple interfaces from the perspective of the host controller, and development items tailored to each interface There were problems such as an increase in the number of positioning controllers and a plurality of positioning controllers.
As an example of the prior art of the positioning controller corresponding to these multiple communication methods, a positioning controller having a plurality of different communication functions is initialized at the same time as turning on the power of the positioning controller, and differently connected to the positioning controller. Data is transmitted / received to / from a plurality of control devices having a communication function by serial communication, and sequentially determines whether the communication function of the positioning controller is matched, and is matched with a communication method suitable for that (for example, Patent Document 1).
[0009]
[Patent Document 1]
JP-A-10-198413
[0010]
[Problems to be solved by the invention]
However, the above prior art is based on the premise that serial communication between the positioning controller and the servo driver has been established. Therefore, even if the communication speed and the communication cycle are the same among the communication formats, they can be handled, but they are different. In this case, since communication cannot be transmitted / received, there may be a situation in which it cannot be handled. In addition, a determination circuit for sequentially determining the communication method is required, which causes a problem of increasing the cost.
[0011]
  The present invention has been made in view of the above circumstances, and is an economical positioning controller capable of connecting and controlling a servo driver of a different communication method without changing the host interface.LaIt is intended to provide.
[0012]
[Means for Solving the Problems]
  The above object can be achieved by the following configuration.
  UpA host interface that receives a command from a position controller, a positioning command calculator that receives a command from the host controller via the host interface, and generates a positioning command to the target position of the servo motor, and a positioning command calculator A positioning controller having a communication unit that transmits the command data to the servo driver that drives the servo motor, wherein the communication unit includes a plurality of communication function units having different communication methods, and the communication method of the servo driver The communication function unit corresponding to the switching unit can be selected by the switching unit, and the positioning command calculation unit is formatted according to the communication method of the communication function unit selected by the switching unit based on the command of the host controller. Generate the positioning command withThe switching means switches the communication method by a mechanical switch.Positioning controller.
[0013]
  In this positioning controller, communication with servo drivers of different communication methods can be performed while maintaining the same high-order interface as the interface with the high-order controller. Also,mechanicalSince the communication function unit corresponding to the communication method is selected by the changeover switch, a determination circuit or the like is unnecessary, which is extremely economical.
[0014]
  in frontCommunication departmentIsServo drivers with different communication methods can be connected to these communication units..
[0015]
  This positioning controller communicates without changing the interface with the host controller even when a large number of servo drivers are connected and the communication methods of many connected servo drivers are mixed, as in an electronic component mounter. Can do.
[0016]
  in frontSwitching methodIsThe communication method is switched by a mechanical switch..
[0017]
  Since this positioning controller is switched by a mechanical switch, it can be easily switched by a simple operation.
[0018]
  in frontSwitching methodIs,As reference,Switching the communication method by changing the control program of the positioning command calculatorIs possible.
[0019]
  In this way,By switching by changing the control program according to the communication method, the communication method is switched in software, and the design change becomes easy.
[0020]
  in frontSwitching methodIs, Remove at least part of the communication function section for unused communication methods and switch communication methods.
[0021]
  In this way,By mounting the components for the communication method to be used without mounting the components of the communication function unit for the communication method that is not used on the board, it is possible to make a circuit configuration without waste and contribute to cost reduction.
[0022]
  in frontPositioning command calculatorIsDifferentCerealIt is provided corresponding to the servo driver of the communication method, and each servo driverCerealGenerate commands for each communication methodYou can also.
[0023]
  In this way,Each servo motor can be reliably controlled via a servo driver of a different communication method by a command generated by each positioning command calculation unit corresponding to the servo driver.
[0024]
  in frontPositioning command calculatorIsThe servo driverCerealA command from the host controller that is input by a specified communication method that does not depend on the communication method is sent to each servo driver.CerealTransmitted after converting to communication methodIt can be.
[0025]
  In this way,Just by inputting the command from the host controller to the positioning command calculation unit using the specified communication method, regardless of the servo driver communication method, the command data is sent from the positioning command calculation unit based on the communication method of each servo driver. Since it is transmitted, the control on the host controller side can be greatly simplified, and the degree of freedom in designing the positioning controller is improved.
[0026]
  As a reference for the control method of the positioning controller,A step of receiving a command from the host controller, a generation step of generating a positioning command up to the target position of the servo motor, and the generated command data to the servo driver that drives the servo motorUsing serial communication methodA communication control step for transmitting, wherein in the communication step, a communication function unit corresponding to the communication method of the servo driver is selected from a plurality of communication function units having different communication methods. And a positioning control method for generating the positioning command in a format according to the communication method of the selected communication function unit based on the command of the host controller.Is.
[0027]
  Like thisIn the positioning control method, communication with a servo driver of a different communication method can be performed very easily, and since a communication function unit corresponding to the communication method is selected, a determination circuit or the like is unnecessary, which is extremely economical. is there.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
  Hereinafter, the positioning controller according to the present invention.La'sEmbodiments will be described with reference to the drawings.For reference, a positioning control method will also be described.
  FIG. 1 is a block diagram of an NC control system of an electronic component mounting machine provided with a positioning controller.
  As shown in the figure, a positioning controller 100 constituting the NC control system is connected to a host controller 11.
  The positioning controller 100 can be connected to a servo driver 13 having a serial communication method A connected to the communication loop R1 and a servo driver 14 having a serial communication method B connected to the communication loop R2. .
[0029]
The host controller 11 controls the entire system of the electronic component mounting machine, and a positioning command is issued from the host controller 11 to the positioning controller 100. The positioning controller 100 receives a command from the host controller 11 and generates a positioning command to each of the servo drivers 13 and 14.
[0030]
The positioning controller 100 has a host interface 15 that receives an operation command from the host controller 11.
The upper interface 15 is a common interface for both the serial communication systems A and B. For example, the unit of setting data such as the target position, target speed, target acceleration, and operation command, the number of setting bytes, and the address of these data are all common. It is said that. Thus, when viewed from the host controller 11, the interface with the positioning controller 100 does not depend on the communication method of the servo driver.
[0031]
Here, the upper interface 15 is set such that the number of set bytes with respect to the target position of the input data is 4 bytes, the maximum speed is 2 bytes, and the acceleration is 2 bytes.
Positioning command calculators 16 and 17 are connected to the host interface 15, and these positioning command calculators 16 and 17 receive operation commands from the host controller 11 via the host interface 15.
[0032]
The positioning command calculation units 16 and 17 each receive an operation command from the host controller 11 and generate a positioning command (speed command to a target position). The positioning command calculation unit 16 outputs a positioning command for the communication loop R1. The positioning command calculation unit 17 generates a positioning command for the communication loop R2.
[0033]
Here, the positioning command calculation units 16 and 17 are formatted according to the serial communication systems A and B according to the command data from the host interface 15 (data type, data arrangement, data capacity, communication cycle, etc.). To generate a positioning command (speed command to the target position).
Here, for example, the communication method A has a data amount of 8 bytes, a communication cycle of 0.8 ms, a communication speed of 1 Mbps, a data array including a 2-byte operation command, a 4-byte target position, and a 2-byte parameter A. Method B has a data array of 10 bytes, a communication cycle of 1 ms, a communication speed of 5 Mbps, a target position of 3 bytes, an operation command of 1 byte, a 2-byte parameter A, a 2-byte parameter B, and a 2-byte parameter C. Has been.
[0034]
The positioning command calculation units 16 and 17 absorb the difference in format and communication cycle between the host interface 15 and each of the serial communication methods A and B. In addition, it is good to comprise so that the switching at the time of producing | generating according to the format of each serial communication system A and B in this positioning command calculating part 16 and 17 may be performed by software programmablely.
[0035]
Communication function units 18 and 19 constituting the communication unit 23 are connected to the positioning command calculation unit 16. The communication function unit 18 has a function of transmitting based on the serial communication method A, and the communication function unit 19 has a function of transmitting based on the serial communication method B.
In addition, communication function units 20 and 21 constituting the communication unit 25 are connected to the positioning command calculation unit 17. The communication function unit 20 has a function of transmitting based on the serial communication method A, and the communication function unit 21 has a function of transmitting based on the serial communication method B.
[0036]
The communication function units 18, 19, 20, and 21 communicate the data generated by the positioning command calculation units 16 and 17 to the servo drivers 13 and 14, and send the data according to the communication speed with the servo drivers 13 and 14. Send. Thereby, the difference of each communication speed is absorbed. The communication function units 18, 19, 20, and 21 are preferably constituted by communication chips such as communication ICs.
[0037]
A changeover switch 27 is provided as a switching means between the positioning command calculation unit 16 and each of the communication function units 18 and 19. The changeover switch 27 selectively selects and connects the positioning command calculation unit 16 to one of the communication function units 18 and 19.
Similarly, a changeover switch 29 is provided between the positioning command calculation unit 17 and the communication function units 20 and 21. The changeover switch 29 selectively selects and connects the positioning command calculation unit 17 to one of the communication function units 20 and 21. In addition to the switching by the changeover switch 29, the pattern wiring on the substrate is switched so as to be connected to the communication chip of the communication method to be used. For example, a mechanical dip switch or the like is used as the changeover switches 27 and 29. However, the present invention is not limited to this, and an electrical switch capable of changing the state such as a memory may be used.
[0038]
The communication function units 18 and 19 are respectively connected to the connection port 31 of the positioning controller 100, and the communication function units 20 and 21 are respectively connected to the connection port 33 of the positioning controller 100.
Here, the servo driver 13 having the serial communication method A is connected to the connection port 31, and the servo driver 14 having the serial communication method B is connected to the connection port 32.
[0039]
In the positioning controller 100 configured as described above, the communication function unit 18 is connected to the positioning command calculation unit 16 by the changeover switch 27 to form a communication loop R1, and the communication function unit is connected to the positioning command calculation unit 17 by the changeover switch 29. 21 is connected to the communication loop R2 so that the serial communication system A servo driver 13 is connected to the port 31 of the communication loop R1, and the serial communication system B servo is connected to the port 33 of the communication loop R2. The driver 14 is connected, and the servo motors of the electronic component mounting machines can be controlled by the servo drivers 13 and 14.
[0040]
Further, for example, when the servo driver 13 of the serial communication system A is connected to the port 33 of the communication loop R2, it is only necessary to connect the positioning command calculation unit 17 to the communication function unit 20 by the changeover switch 29 in advance.
As described above, according to the positioning controller 100, the higher-level interface 15 that is an interface between the higher-level controller 11 and the positioning controller 100 maintains the same configuration without changing the communication mode, and the servo drivers 13 of the different communication modes A and B are used. , 14 can be communicated. Further, since the communication function units 18, 29, 20, and 21 corresponding to the communication system are selected by the changeover switches 27 and 29, it is not necessary to provide a determination circuit or the like, and an economical configuration can be achieved.
[0041]
Here, an example of servo driver control by the positioning controller 100 will be described.
FIG. 2 is a flowchart showing an example of the processing procedure of the positioning controller. Here, the movement operation command is “03” for communication method A, “02” for communication method B, the servo driver communication synchronization is 1 ms for communication method A, and 0.5 ms for communication method B. Assuming that
[0042]
First, when a command of “10 mm movement” is issued from the host controller 11 to the servo driver 13 (S1), the host interface 15 and the positioning command calculation unit 16 are in the communication mode A. “03 (movement)” and movement amount “10 mm” are set (S2). Then, different processing is performed depending on the communication method of the servo driver, whichever is A or B (S3, S4).
[0043]
When the servo driver 13 to be processed is the communication system A (in this embodiment, the communication system A is used), “03 (movement)” is transmitted as an operation command to the communication function unit, and the position command is transmitted. As (1) 2 mm, (2) 6 mm, and (3) 2 mm, (1), (2), and (3) are transmitted to the communication function unit every 1 ms (S3).
[0044]
On the other hand, when the servo driver 13 is the communication system B, “02 (movement)” is transmitted to the communication function unit as the operation command, and (1) 1 mm, (2) 1 mm, (3) 3 mm, (4) 3 mm, (5) 1 mm, and (6) 1 mm, and each of (1) to (6) is transmitted to the communication function unit every 0.5 ms.
[0045]
As described above, the positioning command calculation unit calculates the command content that matches each communication method, and sends the command to the communication function unit based on each communication direction. And the servo driver can be operated accurately.
[0046]
Accordingly, even when a large number of servo drivers are connected and communication methods of a large number of connected servo drivers are mixed as in an electronic component mounting machine, communication can be performed without changing the interface between the host controller 11 and the positioning controller 100. The cost can be reduced. That is, since the command from the host controller 11 only needs to be input to the positioning command calculation unit by a prescribed communication method that does not depend on the communication method of the servo driver, the control on the host controller 11 side can be greatly simplified. The degree of design freedom for is improved.
[0047]
In the above example, the two positioning command calculation units 16 and 17 are provided so as to correspond to the communication systems A and B, respectively, and the positioning command calculation units 16 and 17 perform positioning corresponding to the communication systems A and B. Although the command is generated, as shown in FIG. 3, the positioning controller 200 may generate a positioning command corresponding to each communication method A and B by one positioning command calculation unit 35. With such a configuration, the positioning controller can be further simplified.
[0048]
  Next, in the present inventionAboutSwitching of the communication method in the positioning command calculation unit 16 is performed without using the changeover switch 27 as shown in FIG.Explain with reference to things.
  FIG. 4 shows a block diagram of an NC control system that does not use a changeover switch.
  ThisIn the positioning controller 300, the positioning command calculation unit 16 having a storage unit such as a flash ROM of the CPU corresponds to this communication method in accordance with the communication method (here, communication method A) of the servo driver 13 to be connected. The control program is downloaded from another storage device (not shown) via the host interface 15 and loaded into the storage unit. That is,ThisThe switching means switches the communication method by changing the control program.
[0049]
According to this configuration, it is possible to perform communication based on the communication method of the servo driver 13 by switching the control program used by the CPU of the positioning command calculation unit 16 according to the communication method to be used. This eliminates the need to use hardware and contributes to cost reduction. Further, since only the necessary control program is downloaded and stored, the storage unit can have a minimum storage capacity and can be economically configured.
[0050]
Further, in addition to switching the program to be operated by the positioning command calculation unit 16, only the communication function unit to be used (in this case, the communication function unit 18) is mounted on the substrate in accordance with the communication method to be used, and the communication function unit not used. (Here, the communication function unit 19) is not mounted. According to this configuration, since only the communication function unit to be used is mounted on the substrate, unnecessary components such as a communication IC are not mounted, which can contribute to cost reduction.
[0051]
  Next, the positioning controller according to the present inventionRegardingSwitching of the communication system in the positioning command calculation unit 16 is performed by a communication setting switch as a switching means prepared separately.Explain things.
  FIG. 5 shows a block diagram of an NC control system in which a communication setting switch is separately provided.
  The positioning controller 400 of the present embodiment first switches the communication setting switch 37 prepared separately according to the communication method to be used. The positioning command calculation unit 16 refers to the setting contents of the communication setting switch 37, downloads the program corresponding to the set communication method in the same manner as described above, and performs the positioning command calculation by the set communication method. Further, the line between the positioning command calculation unit and the communication function unit is switched by the changeover switch 30 in accordance with the setting of the communication setting switch 37. The communication setting switch may be a mechanical switch such as a dip switch, or may be an electrical switch such as switching according to the contents written in the memory.
  According to this configuration, it is possible to flexibly cope with a change in communication method by a simple switching operation.
[0052]
  Next, the positioning controller according to the present inventionRegardingSwitching the communication method automaticallyExplain things with reference.
  FIG. 6 shows a block diagram of the NC control system that automatically sets the communication method.
  ThisThe positioning controller 400 includes a communication detection unit 39 that detects a communication method between the communication function units 18 and 19 and the servo driver 13, and a positioning command calculation unit according to the communication method detected by the communication detection unit 39. 16 performs a positioning command calculation. The communication detection unit 39 switches the line between the positioning command calculation unit 16 and the communication function units 18 and 19 by the changeover switch 30. As a result, it is possible to automatically adjust to the communication method actually used, and the usability of the controller 400 is improved.
[0053]
Note that the positioning controller according to the present invention can be configured by appropriately combining the configurations of the positioning controller in each embodiment without departing from the spirit of the invention.
[0054]
【The invention's effect】
  Positioning controller of the present inventionLaAccordingly, it is possible to perform communication with a servo driver of a different communication method while maintaining the same upper interface as an interface with the upper controller. In addition, since the communication function unit corresponding to the communication method is selected by the switching means, an expensive determination circuit or the like is unnecessary, which is extremely economical.
  This enables communication without changing the interface with the host controller even when a large number of servo drivers are connected and communication methods of many connected servo drivers are mixed, as in an electronic component mounter. it can.
[Brief description of the drawings]
FIG. 1 is a functional block diagram illustrating a configuration of a positioning controller according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating an example of a processing procedure of a positioning controller.
FIG. 3 is a functional block diagram illustrating a configuration of a positioning controller according to another embodiment of the present invention.
FIG. 4 is a block diagram of an NC control system that does not use a changeover switch.
FIG. 5 is a block diagram of an NC control system separately provided with a communication setting switch.
FIG. 6 is a block diagram of an NC control system that automatically sets a communication method.
FIG. 7 is an explanatory diagram for explaining a communication method of a servo driver.
FIG. 8 is a functional block diagram showing a configuration of a conventional positioning controller to which a plurality of communication system servo drivers are connected.
[Explanation of symbols]
11 Host controller
13, 14 Servo driver
15 Host interface
16, 17, 35 Positioning command calculator
18, 19, 20, 21 Communication function section
23, 25 Communication Department
27, 29 selector switch
37 Communication setting switch
39 Communication detector
100, 200, 300, 400, 500 Positioning controller

Claims (1)

A host interface that receives commands from the host controller;
A positioning command calculation unit that receives a command from the host controller through the host interface and generates a positioning command to the target position of the servo motor;
A positioning controller having a communication unit that transmits command data generated by the positioning command calculation unit to a servo driver that drives the servo motor using a serial communication method;
The communication unit includes a plurality of communication function units having different communication methods, and a communication function unit corresponding to the communication method of the servo driver can be selected by a switching unit.
The positioning command calculation unit generates the positioning command in a format according to the communication method of the communication function unit selected by the switching unit, based on the command of the host controller .
A positioning controller in which the switching means switches a communication method by a mechanical switch .

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