JP6773072B2 - Controls, systems and control methods - Google Patents

Description

The present invention relates to a control device, and more particularly to a control device that controls an industrial controller. The present invention also relates to a system and a control method for such control.

Conventionally, as an industrial controller of this type, for example, as disclosed in Patent Document 1 (Patent No. 5029906), the built-in bus is composed of a plurality of units including a built-in bus including a power supply line. Is known to supply a current within the rating required for the operation of each unit.

Japanese Patent No. 5029906 Japanese Patent No. 6166530

However, in Patent Document 1 (Patent No. 5029906), when a large number of control shafts connected to each unit are driven at the same time, the sum of the current consumption flowing through each unit is the rating of the bus. There is a problem of exceeding the current.

In the case described in Patent Document 2 (Patent No. 6166530), since an external power supply is additionally inserted between the units, the sum of the current consumption flowing through each unit is within the rated current. Although it can be accommodated, maintenance becomes complicated due to an increase in the number of wiring processes and an increase in cables.

Therefore, an object of the present invention is to provide a control device, a system, and a control method capable of keeping the sum of the current consumption flowing through each unit within the rated current of the bus.

In order to solve the above problems, the control device of this disclosure is
Power supply unit and
The bus extending from this power supply unit and
A CPU unit connected to the power supply unit via the bus,
A plurality of input / output units sequentially connected to the downstream side of the CPU unit via the bus are provided.
The bus includes a power supply line from the power supply unit and a signal line from the CPU unit.
The power supply unit supplies current to the CPU unit and the plurality of input / output units through the power supply line of the bus.
Control axes are connected to each of the plurality of input / output units, and the CPU unit commands the control axes through the signal line based on a predetermined interpreter type program, and the power supply line. It is designed to be driven by supplying current through
The above CPU unit
A determination unit that analyzes the above program and determines whether or not the sum of the current consumption of the CPU unit, the plurality of input / output units, and the plurality of control axes is within the rated current of the bus.
When the determination unit determines that the sum of the current consumption exceeds the rated current, the operating timing or operating speed of the control shaft defined by the program so that the sum of the current consumption is within the rated current of the bus. On the other hand, it is characterized by having an adjustment unit that delays the operation timing of some of the control axes among a plurality of control axes or creates information that slows down the operation of some or all of the control axes. To do.

In the control device of the present disclosure, the determination unit of the CPU unit analyzes the program, and the sum of the current consumption of the CPU unit, the plurality of input / output units, and the plurality of control axes is within the rated current of the bus. Judge whether or not. When the determination unit determines that the sum of the current consumption exceeds the rated current, the adjusting unit determines that the sum of the current consumption is within the rated current of the bus. Create information that delays the operation timing of some control axes among a plurality of control axes or slows down the operation of some or all control axes with respect to the operation timing or operation speed. Therefore, the sum of the current consumption can be smoothed and kept within the rated current of the bus.

In the control device of one embodiment,
Priority indicating the priority order of operation is defined between the above multiple control axes.
When the determination unit determines that the sum of the current consumption exceeds the rated current, the adjustment unit delays the operation timing of the control axis having the lower priority among the plurality of control axes based on the priority. It is characterized in that it is designed to be slow or slow.

In the control device of this one embodiment, the adjusting unit can actually delay or slow down the operation timing of the control axis having the lower priority among the plurality of control axes based on the priority. .. The operation timing or operation speed of the control axis having the highest priority among the plurality of control axes is as defined by the above program.

In the control device of one embodiment,
Equipped with an input section for inputting information indicating priority
The priority between the plurality of control axes is set according to the input by the input unit.

In the control device of this one embodiment, the user can appropriately set the priority by inputting the priority between the plurality of control axes via the input unit.

In the control device of one embodiment,
The above-mentioned plurality of control axes are divided into a plurality of groups.
The input unit is characterized in that a group-to-group priority indicating an operation priority order is set among the plurality of groups.

In the control device of this one embodiment, the priority between groups indicating the priority order of operations is set among the plurality of groups. Therefore, it is possible to efficiently keep the sum of the current consumption flowing through each unit in a group unit within the rated current of the bus.

In the control device of one embodiment,
The plurality of groups are further divided into groups in a higher hierarchy, and the priority between groups is applied between groups in the higher hierarchy.

In the control device of this one embodiment, the priority between groups is applied between the groups in the upper hierarchy. Therefore, the sum of the current consumption flowing through each unit can be efficiently contained within the rated current of the bus for each group in the upper layer.

In the control device of one embodiment,
Power supply unit and
The bus extending from this power supply unit and
A CPU unit connected to the power supply unit via the bus,
A plurality of input / output units sequentially connected to the downstream side of the CPU unit via the bus are provided.
The bus includes a power supply line from the power supply unit and a signal line from the CPU unit.
The power supply unit supplies current to the CPU unit and the plurality of input / output units through the power supply line of the bus.
Control axes are connected to each of the plurality of input / output units, and the CPU unit commands the control axes through the signal line based on a predetermined interpreter type program, and the power supply line. It is designed to be driven by supplying current through
The above CPU unit
A determination unit that analyzes the program and determines whether or not the sum of the current consumption of the CPU unit, the plurality of input / output units, and the plurality of control axes is within the rated current of the bus.
When the determination unit determines that the sum of the current consumption exceeds the rated current, the operation timing of the control shaft defined by the program is set so that the sum of the current consumption is within the rated current of the bus. The drive times of the plurality of control axes are divided into a plurality of divided drive times so that the drive times of the plurality of control axes do not overlap, and the drive times are switched between the plurality of control axes for each of the divided drive times. It is characterized by having an adjustment unit for creating information for the purpose.

In the control device of this one embodiment, when the determination unit determines that the sum of the current consumption exceeds the rated current, the adjusting unit keeps the sum of the current consumption within the rated current of the bus. The drive time of the plurality of control axes is divided into a plurality of divided drive times so that the drive times of the plurality of control axes do not overlap with the operation timing of the control axes defined by the program. Information for switching between the plurality of control axes for each of the divided drive times is created. Therefore, the sum of the current consumption flowing through each unit can be effectively kept within the rated current of the bus according to the drive time switched for each divided drive time.

In the control device of one embodiment,
The above input / output unit has an interface and
The interface is characterized in that it can be switched between analog and pulse.

In the control device of this one embodiment, the interface can be switched between analog and pulse. Therefore, a single interface can be shared by a plurality of types of control methods.

In another aspect, this disclosure system
Power supply unit and
The bus extending from this power supply unit and
A CPU unit connected to the power supply unit via the bus,
A plurality of input / output units sequentially connected to the downstream side of the CPU unit via the bus,
With a computer connected to the above CPU unit,
The bus includes a power supply line from the power supply unit and a signal line from the CPU unit.
The power supply unit supplies current to the CPU unit and the plurality of input / output units through the power supply line of the bus.
Control axes are connected to each of the plurality of input / output units, and the CPU unit commands the control axes through the signal line based on a predetermined interpreter type program, and the power supply line. It is designed to be driven by supplying current through
The above computer
A determination unit that analyzes the above program and determines whether or not the sum of the current consumption of the CPU unit, the plurality of input / output units, and the plurality of control axes is within the rated current of the bus.
When the determination unit determines that the sum of the current consumption exceeds the rated current, the operating timing or operating speed of the control shaft defined by the program so that the sum of the current consumption is within the rated current of the bus. On the other hand, information is created to delay the operation timing of some control axes among a plurality of control axes, or to slow down the operation of some or all control axes, and the above program is executed according to this information. It is characterized by having a program change unit to be changed.

In the system of this disclosure, the program change unit of the computer delays the operation timing of some of the control axes among the plurality of control axes with respect to the operation timing or operation speed of the control axes defined by the program, or , Create information to slow down the operation of some or all control axes, and change the above program according to this information. Therefore, the modified program can be used to keep the sum of the current consumption within the rated current of the bus.

In another aspect, the control method of this disclosure
A power supply unit, a bus extending from the power supply unit, a CPU unit connected to the power supply unit via the bus, and a plurality of CPU units sequentially connected to the downstream side of the CPU unit via the bus. The bus includes a power supply line from the power supply unit and a signal line from the CPU unit, and the power supply unit includes the CPU unit and the plurality of input / output units. A control shaft is connected to each of the plurality of input / output units by supplying current through the power supply line of the bus, and the CPU unit is connected to these control shafts based on a predetermined interpreter type program. Is a control method of a control device in which a command is given through the signal line and a current is supplied and driven through the power supply line.
The above CPU unit
The program is analyzed to determine whether the sum of the current consumption of the CPU unit, the plurality of input / output units, and the plurality of control axes is within the rated current of the bus.
When it is determined that the sum of the current consumption exceeds the rated current, the operating timing or speed of the control shaft defined by the program is set so that the sum of the current consumption is within the rated current of the bus. It is characterized in that information is created that delays the operation timing of some control axes among a plurality of control axes or slows down the operation of some or all control axes.

In the control method of the present disclosure, when the CPU unit determines that the sum of the current consumption exceeds the rated current, the program determines the sum of the current consumption within the rated current of the bus. Create information that delays the operation timing of some of the control axes or slows down the operation of some or all of the control axes with respect to the operation timing or speed of the control axes. As a result, the sum of the current consumption can be kept within the rated current of the bus.

As is clear from the above, the control device, system and control method of the present disclosure can keep the sum of the current consumption flowing through each unit within the rated current of the bus.

It is a figure which shows the schematic structure of the system of one Embodiment which concerns on this disclosure. It is a figure which shows the block structure of the control device included in the said system. It is a figure which shows typically the example of the operation of the control axis in the XYZ Cartesian coordinate system. FIG. 4A is a diagram showing the relationship between the analog output voltage and the speed of the servomotor when the control shaft is a servomotor driven by an analog output. FIG. 4B is a diagram showing the relationship between the current consumption of the line driver and the pulse frequency when the control shaft is a line driver driven by a pulse output. It is an operation flow diagram of the said control device. It is a figure which exemplifies the priority between groups defined between axis groups with respect to the hierarchical structure of a task, an axis group and an axis. FIG. 7A is a diagram showing a change in current consumption with the passage of time when the shaft group # 1 and the shaft group # 2 are operated at the same time. FIG. 7B is a diagram showing a change in current consumption with the passage of time when the operation of the axis group # 2 is delayed with respect to the operation of the axis group # 1 based on the priority. FIG. 8A is a diagram showing the same change in current consumption as in FIG. 7A. FIG. 8B shows consumption over time when the speed of the axis group # 2 is reduced during the operation of the axis group # 1 and the speed of the axis group # 2 is increased after the operation of the axis group # 1 is completed. It is a figure which shows the change of the current. FIG. 9 (A) is a diagram showing changes in current consumption with the passage of time when operating based on the command of FIG. 9 (B). FIG. 9B is a diagram showing a command output by the CPU unit to the input / output unit. FIG. 10A is a diagram showing changes in current consumption with the passage of time when operating based on the command of FIG. 10B. FIG. 10B is a diagram showing a command to be switched for each divided drive time output by the CPU unit to the input / output unit. It is a figure which shows the operation flow of the automatic adjustment by a computer. It is a figure which illustrates the hierarchical structure of a task, an axis group and an axis. It is a figure which shows the screen of the computer which inputs a priority for a task, an axis group and an axis.

Hereinafter, embodiments of this disclosure will be described in detail with reference to the drawings.

(System configuration)
FIG. 1 shows a schematic configuration of a motion control system (the whole is indicated by reference numeral 1000) according to an embodiment of the control device of this disclosure.

As shown in FIG. 1, the motion control system 1000 is roughly classified into a motion controller 2000, a computer 4, a touch panel 5, a servo driver 703, and a servomotor 701. As shown in FIG. 2, the motion controller 2000 has a configuration in which a power supply unit 6, a CPU unit 1, and motion units 2, 2, ... Which are a plurality of input / output units are sequentially connected and connected through a bus 10. Have. In the motion controller 2000, a current is supplied from the power supply unit 6 connected to the external power supply 3000, and the CPU unit 1 controls the operations of the servo driver 703 and the servomotor 701 corresponding to the control axis through the motion unit 2. In this example, the motion controller 2000 controls the posture of each control axis (X, Y, Z, U, V) (hereinafter, appropriately referred to as “axis”) included in the robot (not shown).

As shown in FIG. 1, the CPU unit 1 includes a display 102, an input button 103, a network port 100, and a motion network port 101 on the surface of the housing. The display 102 displays various information and the sum of the current consumption of all the units. The input button 103 is used by the user to input an operation command and various information. As shown in FIG. 2, the CPU unit 1 includes a CPU 20, a memory 23, a power supply circuit 24, and a network port 100. The CPU 20 includes a determination unit 21 and an adjustment unit 22 as its functions. The CPU 20 outputs a command through the signal line 12 of the bus 10. The power supply circuit 24 is connected to the power supply line 11 of the bus 10 and supplies current to each part. The memory 23 stores a program for controlling the control axis and is used as a work area for various data. As will be described later, the CPU unit 1 analyzes a program for the determination unit 21 to control the servo driver 703 and the servo motor 701, which are control axes, and the CPU unit 1, the plurality of motion units 2, and the servo driver 703 It is determined whether or not the sum of the current consumption of the servomotor 701 is within the rated current of the bus 10. When the determination unit 21 determines that the sum of the current consumption exceeds the rated current, the adjustment unit 22 controls a part of the plurality of control axes with respect to the operation timing or operation speed of the control axes defined by the above program. The sum of the current consumption is kept within the rated current of the bus 10 by creating information for delaying the operation timing of the shafts or slowing down the operation of some or all of the control shafts.

As shown in FIG. 1, the motion unit 2 has a motor output in which a status relay interface 200, a servo driver 703 and a servo motor 701 corresponding to each control axis are connected to the surface of the housing via a signal command cable 704. Interfaces 201-1 to 201-4 (collectively referred to by reference numeral 201) and encoder input interfaces 202-1 to 201-4 (collectively referred to by reference numeral 202) connected via an encoder cable 705. , A general-purpose digital input / output interface 203 is provided. In this example, only one set of the servo driver 703 and the servo motor 701 is shown, but the number can be increased according to the number of control axes. As shown in FIG. 2, each motion unit 2 includes a DA (digital / analog conversion circuit) 211, a pulse output circuit 212, an encoder circuit 213, and a power supply circuit 214. A motor output interface 201 is connected to the DA211 and the pulse output circuit 212. An encoder input interface 202 is connected to the encoder circuit 213. The power supply circuit 214 is supplied with a current from the power supply line 11 of the bus 10, and supplies a current to the DA211, the pulse output circuit 212, and the encoder circuit 213. The DA211 and the pulse circuit output an output signal to the motor output interface 201 according to a command received from the signal line 12 of the bus 10. In this example, the analog voltage is output to the servo driver 703 via the DA211.

In this example, the motion network connection type servo driver 700 and the servo motor 701 can be connected from the motion network port 101 of the CPU unit 1 via the motion network cable 702. As this motion network, EtherCAT (registered trademark) that realizes ultra-high speed and high efficiency communication is used. In this example, the motion network is composed of, but is not limited to, the wiring form of the daisy chain.

In this example, the motor output interface 201 can be switched between analog output and pulse output. As a result, a single interface can be shared by a plurality of types of control methods.

Power is supplied to the power supply unit 13 of the power supply unit 6 from the external power supply 3000 via the power supply terminal 600. The power supply unit 13 generates a current to be supplied to the power supply line 11 included in the bus 10. The power supply unit 6 is connected to a CPU unit 1 connected to the downstream side of the power supply unit 6, a plurality of motion units 2, 2, ... Sequentially connected to the downstream side of the CPU unit 1, and a bus 10. Current is supplied through the power supply line 11.

The bus 10 includes a signal line 12 and a power supply line 11. The rated current of the power supply line 11 is specified as 6A or 8A in this example.

The computer 4 shown in FIG. 1 is a general-purpose computer, and is connected to the network port 100 of the CPU unit 1 together with the touch panel 5 via an Ethernet (registered trademark) cable 301 and a hub 3. The computer 4 is used for developing a program for operating the control axis and monitoring the motion control system 1000. The touch panel 5 is used for operation at the site where the motion control system 1000 is installed.

(Program example)
The CPU unit 1 analyzes in advance a program for the determination unit 21 to control the drive shaft. In this example, an interpreted program is used.

As an example of this interpreted program, FIG. 3 shows an example of linear interpolation operation of the control axis. As shown in FIG. 3, it starts from the origin P0 (0,0,0) of the three-dimensional Cartesian coordinates consisting of the X-axis, the Y-axis and the Z-axis, and then moves to P1 (100,100,0). Then, an example of moving to P2 (100, 100, 100) and returning to P0 (0, 0, 0) is shown in Table 1 below. Here, G01 represents a linear interpolation operation command.
Table 1

In this example, since the CPU unit 1 is an interpreter type program, it is possible to perform look-ahead. That is, by reading in advance the line that is executed after the line that is currently being executed, it is possible to grasp in advance what kind of operation will be performed thereafter. As a result, the sum of the currents consumed by the CPU unit 1, the motion unit 2, the servo driver 703 as the drive shaft, and the servo motor 701 can be obtained in advance by a series of operations performed by the program.

(Relationship between current consumption and servo motor speed)
FIG. 4A shows the relationship between the analog output voltage and the speed of the servomotor when the control shaft is a servomotor driven by the analog output. An analog output voltage is applied to the servo driver 703 via the motor output interface 201 of the motion unit 2. As shown in FIG. 4A, the analog output voltage and the rotation speed of the servomotor 701 are in a proportional relationship. Therefore, as the analog output voltage increases, the current consumption of the servomotor 701 increases.

FIG. 4B shows the relationship between the current consumption of the line driver and the pulse frequency when the control axis is a line driver driven by a pulse output. The pulse output can be output via the motor output interface 201 of the motion unit 2. As shown in FIG. 4B, there is a positive correlation between the current consumption of the line driver and the pulse frequency. Therefore, as the pulse frequency increases, the current consumption of the line driver increases.

(Example of delaying the operation timing of the control axis)
In the motion controller 2000, a priority representing an operation priority is defined among a plurality of control axes to be driven, and the plurality of control axes are divided into a plurality of groups.

As shown in FIG. 6, in this example, there is a task # 1 in the upper hierarchy, and this task # 1 has a plurality of axes # 1 (X), axes # 2 (Y), axes # 3 (Z), and axes #. It represents the smallest unit of work performed by 4 (U) and axis # 5 (V). Between these plurality of axes, an axis group # 1 including an axis # 1 (X), an axis # 2 (Y), and an axis # 3 (Z) is defined. Further, an axis group # 2 including an axis # 4 (U) and an axis # 5 (V) is defined. Axis group # 1 defines a priority High as an intergroup priority, and axis group # 2 defines a priority Medium as an intergroup priority. Priority High has a higher priority than Priority Medium.

In this example, the determination unit 21 simulates the program in Table 2 below in advance.
Table 2

FIG. 7A shows a case where the shaft group # 1 of the current consumption I1 and the shaft group # 2 of the current consumption I2 are operated at the same time according to the above program. In this case, both the current consumption I1 and the current consumption I2 are lower than the rated current IR. However, the sum I1 + I2 of the current consumption exceeds the rated current IR of the bus 10. Therefore, the determination unit 21 determines that the sum I1 + I2 of the current consumption exceeds the rated current IR of the bus 10 (in this example, I1 + I2> IR). As a result, the adjusting unit 22 executes the shaft group # 1 of the high-priority current consumption I1 at the predetermined timing of the above program based on the priority of the shaft group # 1 and the shaft group # 2, and the priority is given. Reprogram the program to delay axis group # 2 with low current consumption I2.

7 (B) shows the priority High and axis group # 2 of the axis group # 1 (axis # 1 (X), axis # 2 (Y) and axis # 3 (Z)) shown in FIG. 6 after reprogramming. The figure which delayed the axis group # 2 (axis # 4 (U) and axis # 5 (V)) according to the priority Medium of (axis # 4 (U) and axis # 5 (V)) is shown. The adjusting unit 22 delays the axis group # 2 (axis # 4 (U) and axis # 5 (V)) with respect to the timing in the program. Therefore, the adjusting unit 22 executes the shaft group # 1 of the high-priority current consumption I1 at a predetermined timing of the above program, and operates the shaft group # 2 of the low-priority current consumption I2 after the operation is completed. Both the current consumption I1 and the current consumption I2 are lower than the rated current IR. As a result, the sum of the current consumption can be kept within the rated current IR of the bus 10.

In this example, the adjusting unit 22 of the CPU unit 1 can delay the operation timing of the low-priority control shaft. The operation timing of the high-priority control axis is as defined by the program.

The above-mentioned example is an example of delaying the operation timing of the operation axis, but is not limited to this. Next, an example of slowing down the operation of the control axis is shown.

(Example of slowing down the operation of the control axis)
FIG. 8A shows a case where the same shaft group # 1 of the current consumption I1 and the shaft group # 2 of the current consumption I2 are simultaneously operated as in FIG. 7A. In this case, as in the above case, both the current consumption I1 and the current consumption I2 are lower than the rated current IR. However, the sum I1 + I2 of the current consumption exceeds the rated current IR of the bus 10. Therefore, the determination unit 21 determines that the sum I1 + I2 of the current consumption exceeds the rated current IR of the bus 10 (in this example, I1 + I2> IR). As a result, the adjusting unit 22 executes the shaft group # 1 of the current consumption I1 having a high priority based on the priority of the shaft group # 1 and the shaft group # 2 at the predetermined timing of the above program, and the priority is given. Reprogram the program to slow down the operation of axis group # 2 with low current consumption I2.

8 (B) shows the axis group # 1 (axis # 1 (X), axis # 2 (Y) and axis # 3 (Z)) according to the priority High of the axis group # 1 shown in FIG. 6 after reprogramming. 2 (axis # 4 (U) and axis # 5 (V)) is shown at low speed. The adjusting unit 22 reduces the speed of the shaft group # 2 of the low-priority current consumption I2 during the operation of the shaft group # 1 of the current consumption I1. Assuming that the current consumption of the shaft group # 2 driven at low speed is i2 (<I2), the sum of the current consumption at this time is I1 + i2, which is lower than the rated current IR (in this example, I1 + i2 <IR). Become). After the operation of the axis group # 1 is completed, the speed of the axis group # 2 is increased. As a result, the sum of the current consumption can be kept within the rated current IR of the bus 10 at any time.

In the region shown by the middle ellipse A in FIG. 8B, the current consumption decreases in accordance with the deceleration of the shaft group # 1. However, since the shaft group # 2 accelerates, the current consumption increases. Therefore, the current consumption does not decrease sharply, but gradually decreases.

In this example, the adjusting unit 22 of the CPU unit 1 can reduce the operating speed of the low-priority control shaft. The operating speed of the high-priority control axis is as defined by the program.

For example, when the current consumption I1 of the shaft group # 1 and the current consumption I2 of the shaft group # 2 are both higher than the rated current IR, the operation of all the control shafts of the shaft group # 1 and the shaft group # 2 is slowed down. It may be. As a result, the sum of the current consumption can be kept within the rated current IR of the bus 10.

By defining the priority as in the above example, the adjustment unit 22 of the CPU unit 1 operates the control axis of a part of the plurality of control axes with respect to the operation timing or the operation speed of the control axis defined by the program. The timing can be delayed or the operation of some or all control axes can be slowed down.

(Control device operation flow)
FIG. 5 shows the overall operation flow performed by the motion controller 2000. This flow is started, for example, when the motion controller 2000 receives an operation start instruction from the user via the network port 100 of the CPU unit 1, the input button 103, or the like.

First, the determination unit 21 reads the program stored in the memory 23 (step S101).

Next, the determination unit 21 executes a simulation of the program (step S102).

Next, the determination unit 21 determines whether or not the sum of the currents consumed by the CPU unit 1, the motion unit 2, the servo driver 703, and the servo motor 701 is within the rated current of the bus 10 (step S103). When the sum of the current consumption is within the rated current of the bus 10 (when “YES” in step S103), the process ends. On the other hand, when the maximum value of the sum of the current consumption exceeds the rated current of the bus 10 (when "NO" in step S103), the process proceeds to step S104, and the adjusting unit 22 advances to the operation timing or operation of the control axis defined by the program. Information is created that delays the operation timing of some of the control axes among the plurality of control axes or slows down the operation of some or all of the control axes with respect to the speed (step S104). After this, the process ends.

In this example, in the CPU unit 1, the determination unit 21 analyzes the program and determines whether or not the sum of the current consumption of the CPU unit 1, the plurality of motion units 2, and the plurality of control axes is within the rated current of the bus 10. To do. When the determination unit 21 determines that the sum of the current consumption exceeds the rated current, the adjusting unit 22 determines that the sum of the current consumption is within the rated current of the bus 10 so that the operation timing or operation speed of the control shaft determined by the program is kept. On the other hand, information is created that delays the operation timing of some of the control axes among the plurality of control axes, or slows down the operation of some or all of the control axes. Therefore, the sum of the current consumption can be smoothed and kept within the rated current of the bus 10.

In this example, the adjusting unit 22 delays the operation timing of a part of the control axes among the plurality of control axes, or controls a part or all of the operation timing or the operation speed of the control axes determined by the program. Reprogram the program by creating information that slows down the axis movement. Further, the adjusting unit 22 delays the operation timing of some of the control axes among the plurality of control axes, or delays the operation timing of some or all of the control axes with respect to the operation timing or speed of the control axes defined by the above program. It is also possible to create information in real time that slows down the operation of.

(Example by time division)
In this example, the CPU unit 1 separately drives a plurality of drive shafts so that the drive times of the plurality of control axes do not overlap with the operation timing of the operation axes defined by the program. It is divided into time T and switched between the plurality of control axes for each divided drive time T. In this example, the control cycle CT is 62.5 μsec, and since it is divided into four, the division drive time T is set to about 16 μsec.

FIG. 9B shows a command that the CPU unit 1 outputs to the axes # 11, the axes # 12, and the axes # 13 as control axes connected to the motion unit 2. Each command is output for each corresponding control axis and is shown with the time axis aligned for ease of understanding. Each command indicates that the corresponding control axis is operated when the level is high, while the operation of the corresponding control axis is stopped when the level is low (same as in FIG. 10B described later). .).

The three steps from the top of FIG. 9A show the consumption of axes # 11, axes # 12, and axes # 13 over time when the motion unit 2 operates based on the command of FIG. 9B. The changes of the currents I1, I2 and I3 are shown. The bottom graph of FIG. 9A shows the sum of their current consumption. Since the command value changes for each control cycle CT, the current consumption of each axis changes for each control cycle CT. In this example, in the next control cycle CT, the current consumption I1 of the shaft # 11 is the current consumption I1', the current consumption I2 of the shaft # 12 is the current consumption I2', and the current consumption I3 of the shaft # 13 is the current consumption I3. Each has changed to'. In this example, as shown in the lowermost part of FIG. 9A, the sum of current consumption I1 + I2 + I3, I1'+ I2'+ I3'exceeds the rated current IR. Therefore, the determination unit 21 determines that the sum of the current consumption exceeds the rated current IR of the bus 10 (in this example, I1 + I2 + I3> IR and I1'+ I2'+ I3'> IR). .. As a result, the adjusting unit 22 divides the driving time of the plurality of driving shafts into a plurality of divided driving times T so that the driving times of the plurality of control axes do not overlap with the operation timing of the operating axes defined by the program. Then, the program for switching between the plurality of control axes for each divided drive time T is reprogrammed. Specifically, it is as follows.

FIG. 10B shows a command that the CPU unit 1 outputs to the motion unit 2 with respect to the axis # 21, the axis # 22, and the axis # 23. The CPU unit 1 outputs a command by switching the command to the axis # 23 for each divided drive time T so that the drive times do not overlap with respect to the axis # 21 and the axis # 22.

10 (A) shows the axis # 21 of the current consumption I1 and I1'when the motion unit 2 operates, the axis # 22 of the current consumption I2 and I2', and the current consumption when the motion unit 2 operates based on the command of FIG. 10B. The change of the current consumption with the passage of time of the axis # 23 of I3, I3' is shown. The lower graph shows the sum of current consumption. In the motion unit 2, current consumption is generated based on a command switched for each divided drive time T so that the drive times of the axes # 21, the axes # 22, and the axes # 23 do not overlap. The sum of the current consumption is calculated by combining these current consumption. In this example, the adjusting unit 22 can accommodate the sum I1 + I2, I3, I1'+ I2', I3'of the current consumption with the passage of time within the rated current IR of the bus 10, respectively.

Therefore, when the determination unit 21 determines that the sum of the current consumption exceeds the rated current IR, the adjusting unit 22 determines that the sum of the current consumption is within the rated current IR of the bus 10. The drive times of the plurality of control axes are divided into a plurality of divided drive times T so that the drive times of the plurality of control axes do not overlap with respect to the operation timing, and the divided drive times T are divided among the plurality of control axes. Create information for switching each time. As a result, the sum of the current consumption flowing through each unit can be effectively contained within the rated current IR of the bus according to the drive time switched for each divided drive time T.

(Operation of the system connected to the computer)
Returning to FIG. 1, the CPU unit 1 is connected to the computer 4 via the cable 301 and the hub 3. The CPU unit 1 can be operated from the computer 4 for program development.

The computer 4 includes a determination unit and a program change unit as computer functions. The determination unit analyzes the program and determines whether or not the sum of the current consumption of the CPU unit 1, the plurality of motion units 2, and the plurality of control axes is within the rated current of the bus 10. When the determination unit determines that the sum of the current consumption exceeds the rated current, the program change unit determines the operation timing or operation speed of the control axis determined by the program so that the sum of the current consumption is within the rated current of the bus 10. On the other hand, the program is changed so that the operation timing of some of the control axes among the plurality of control axes is delayed, or the operation of some or all of the control axes is slowed down.

(Example of automatic program adjustment function by computer)
The computer 4 can automatically adjust the program so that the sum of the current consumption is within the rated current of the bus 10. In this example, when the operation by the X-axis, the Y-axis and the Z-axis is simulated, the operation is performed within the rated current, but it is assumed that the rated current of the bus 10 is exceeded when the U-axis and the V-axis are added. Therefore, when the priority of the U-axis and the V-axis is low, the command to make the U-axis and the V-axis wait is automatically inserted into the original program as follows. Examples are shown in Tables 3 and 4 below. Table 3 shows the original (before adjustment) program, and Table 4 shows the adjusted program. Here, the G04 command is a dwell (pause) command.

Table 3 (before adjustment)

Table 4 (after adjustment)

なる指令が自動挿入される。これにより、Ｕ軸およびＶ軸の動作が待たされ、消費電流の和は、バス１０の定格電流内に収めることができる。 That is, for the original program

Command is automatically inserted. As a result, the operation of the U-axis and the V-axis is awaited, and the sum of the current consumption can be kept within the rated current of the bus 10.

Here, when "G04 P1000" on the 004th line is automatically inserted, the execution of the program is waited for 1000 milliseconds. After 1000 milliseconds, the U-axis and V-axis operations on line 005 can be started.

The automatic adjustment function of the program is not limited to the above example. Next, an example of automatically adjusting the speed is shown in Tables 5 and 6 below. Table 5 shows the original (before adjustment) program, and Table 6 shows the adjusted program.

Table 5 (before adjustment)

Table 6 (after adjustment)

なる指令が自動挿入される。これにより、Ｕ軸およびＶ軸の速度が低下させられ、消費電流の和は、バス１０の定格電流内に収めることができる。 That is, for the original program

Command is automatically inserted. As a result, the speeds of the U-axis and the V-axis are reduced, and the sum of the current consumption can be kept within the rated current of the bus 10.

(Operation flow of automatic adjustment by computer)
FIG. 11 shows the overall operation flow of the automatic adjustment performed by the computer 4. This flow is started, for example, when the computer 4 receives an operation start instruction from the user via a keyboard, a mouse, or the like.

First, the keyboard or mouse of the computer 4 is used to set the axes and axis groups (step S201).

Next, either the above-mentioned priority method for controlling based on the above-mentioned priority or the above-mentioned speed adjustment method for automatic adjustment by a computer is set (step S202).

Next, the user creates an interpreted program that controls the control axis with the motion controller 2000 (step S203).

Next, the computer 4 executes a simulation of the program (step S204).

Next, the computer 4 determines whether or not the sum of the current consumption of the CPU unit 1, the plurality of motion units 2, and the plurality of control axes is within the rated current of the bus 10 (step S205), and the sum of the current consumption is calculated. When the current is within the rated current of the bus 10 (when “YES” in step S205), the process ends. On the other hand, when the sum of the current consumption exceeds the rated current of the bus 10 (when "NO" in step S205), the process proceeds to step S206.

Next, the program changing unit of the computer 4 inserts an instruction for waiting for the start of operation or an instruction for adjusting the speed to be delayed in the program (step S206). With the above, the operation flow of the automatic adjustment is completed.

(Task, axis group, axis hierarchy)
FIG. 12 illustrates a hierarchical structure of tasks, axis groups, and axes. The program executed by the motion controller 2000 is composed of a plurality of layers. The plurality of hierarchies consist of tasks, axis groups, and axes in order from the highest hierarchy.

A program may include multiple higher-level tasks. A task can include multiple axis groups or multiple axes. A single axis group may include multiple axes. In addition, priorities indicating the priority order of operations are defined for the axis group and the axes that do not belong to the axis group. In this example, the priority cannot be specified for the axes belonging to the axis group.

Priority is defined between each task. In this example, a priority of 20 is specified for task # 1, a priority of 19 is specified for task # 2, and a priority of 18 is specified for task # 3. Also, priority High for axis group # 1, priority Medium for axis group # 2, priority High for axis group # 3, priority High for axis # 10, and axis # 11. The priority is High, the priority Medium is defined for the axis # 12, and the priority Low is defined for the axis # 13. The order of priority is High, Media, and Low. Here, the higher the priority value, the higher the priority of execution. Therefore, in this program, the axis group # 1 of task # 1 is executed with the highest priority.

(Example of task, axis group, axis priority input screen)
FIG. 13 shows a screen of the computer 4 for inputting priorities for tasks, axis groups, and axes. From the screen of the computer 4, the user can input the tasks in the upper hierarchy, the axis group in the lower hierarchy, and the priority indicating the priority of the operation in the axes by using the keyboard or the mouse which is the input unit.

Task # 1 in the upper layer is displayed in the tabular column 401 at the upper left (FIG. 13 (A)) of the screen of the computer 4. In this example, a pull-down window 402 is displayed, and for task # 1, a numerical value of the intertask priority indicating the priority order between tasks can be input from among 20, 19, 18, and the like.

At the lower left of the screen of the computer 4 (FIG. 13B), it is possible to input the intergroup priority High, Media, and Low indicating the priority order of operations between the constituent axes and the plurality of groups with respect to the axis group. At the lower right of the screen of the computer 4 (FIG. 13 (C)), numerical values such as inter-axis priorities 20, 19, and 18 indicating the priority order of operations between the axes can be input with respect to the axes.

In this example, the user can input the priority by the input unit, and it is possible to set the priority between tasks, groups, and axes that represent the priority order of operations between multiple tasks, groups, and axes. is there. Therefore, the sum of the current consumption flowing through each unit can be efficiently contained within the rated current of the bus 10 for each task, group, and axis.

The above embodiment is an example, and various modifications can be made without departing from the scope of the present invention. Each of the plurality of embodiments described above can be established independently, but combinations of the embodiments are also possible. Further, although various features in different embodiments can be established independently, it is also possible to combine features in different embodiments.

1 CPU unit 2 Motion unit 4 Computer 6 Power supply unit 10 Bus 11 Power supply line 12 Signal line 20 CPU
21 Judgment unit 22 Adjustment unit 703 Servo driver 701 Servo motor 1000 Motion control system 2000 Motion controller

Claims (9)

Power supply unit and
The bus extending from this power supply unit and
A CPU unit connected to the power supply unit via the bus,
A plurality of input / output units sequentially connected to the downstream side of the CPU unit via the bus are provided.
The bus includes a power supply line from the power supply unit and a signal line from the CPU unit.
The power supply unit supplies current to the CPU unit and the plurality of input / output units through the power supply line of the bus.
Control axes are connected to each of the plurality of input / output units, and the CPU unit commands the control axes through the signal line based on a predetermined interpreter type program, and the power supply line. It is designed to be driven by supplying current through
The above CPU unit
A determination unit that analyzes the above program and determines whether or not the sum of the current consumption of the CPU unit, the plurality of input / output units, and the plurality of control axes is within the rated current of the bus.
When the determination unit determines that the sum of the current consumption exceeds the rated current, the operating timing or operating speed of the control shaft defined by the program so that the sum of the current consumption is within the rated current of the bus. On the other hand, it is characterized by having an adjustment unit that delays the operation timing of some of the control axes among a plurality of control axes or creates information that slows down the operation of some or all of the control axes. Control device. In the control device of claim 1,
Priority indicating the priority order of operation is defined between the above multiple control axes.
When the determination unit determines that the sum of the current consumption exceeds the rated current, the adjustment unit delays the operation timing of the control axis having the lower priority among the plurality of control axes based on the priority. A control device characterized by being slow or slow. In the control device of claim 2,
Equipped with an input section for inputting information indicating priority
A control device characterized in that the priority between the plurality of control axes is set according to an input by the input unit. In the control device of claim 3,
The above-mentioned plurality of control axes are divided into a plurality of groups.
The input unit is a control device characterized in that a group-to-group priority indicating an operation priority order is set among the plurality of groups. In the control device of claim 4,
The control device is characterized in that the plurality of groups are further divided into groups of a higher hierarchy, and the priority between the groups is applied between the groups of the higher hierarchy. Power supply unit and
The bus extending from this power supply unit and
A CPU unit connected to the power supply unit via the bus,
A plurality of input / output units sequentially connected to the downstream side of the CPU unit via the bus are provided.
The bus includes a power supply line from the power supply unit and a signal line from the CPU unit.
The power supply unit supplies current to the CPU unit and the plurality of input / output units through the power supply line of the bus.
Control axes are connected to each of the plurality of input / output units, and the CPU unit commands the control axes through the signal line based on a predetermined interpreter type program, and the power supply line. It is designed to be driven by supplying current through
The above CPU unit
A determination unit that analyzes the program and determines whether or not the sum of the current consumption of the CPU unit, the plurality of input / output units, and the plurality of control shafts is within the rated current of the bus, and the determination unit When it is determined that the sum of the current consumption exceeds the rated current, the plurality of controls are performed with respect to the operation timing of the control shaft defined by the program so that the sum of the current consumption is within the rated current of the bus. The drive times of the plurality of control axes are divided into a plurality of divided drive times so that the drive times of the axes do not overlap, and information for switching between the plurality of control axes for each of the divided drive times is created. A control device including an adjusting unit. In the control device according to any one of claims 1 to 6,
The above input / output unit has an interface and
The interface is a control device characterized in that it can be switched between analog and pulse. Power supply unit and
The bus extending from this power supply unit and
A CPU unit connected to the power supply unit via the bus,
A plurality of input / output units sequentially connected to the downstream side of the CPU unit via the bus,
With a computer connected to the above CPU unit,
The bus includes a power supply line from the power supply unit and a signal line from the CPU unit.
The power supply unit supplies current to the CPU unit and the plurality of input / output units through the power supply line of the bus.
Control axes are connected to each of the plurality of input / output units, and the CPU unit commands the control axes through the signal line based on a predetermined interpreter type program, and the power supply line. It is designed to be driven by supplying current through
The above computer
A determination unit that analyzes the above program and determines whether or not the sum of the current consumption of the CPU unit, the plurality of input / output units, and the plurality of control axes is within the rated current of the bus.
When the determination unit determines that the sum of the current consumption exceeds the rated current, the operating timing or operating speed of the control shaft defined by the program so that the sum of the current consumption is within the rated current of the bus. On the other hand, information is created to delay the operation timing of some control axes among a plurality of control axes, or to slow down the operation of some or all control axes, and the above program is executed according to this information. A system characterized by having a program change unit to be changed. A power supply unit, a bus extending from the power supply unit, a CPU unit connected to the power supply unit via the bus, and a plurality of CPU units sequentially connected to the downstream side of the CPU unit via the bus. The bus includes a power supply line from the power supply unit and a signal line from the CPU unit, and the power supply unit includes the CPU unit and the plurality of input / output units. A control shaft is connected to each of the plurality of input / output units by supplying current through the power supply line of the bus, and the CPU unit is connected to these control shafts based on a predetermined interpreter type program. Is a control method of a control device in which a command is given through the signal line and a current is supplied and driven through the power supply line.
The above CPU unit
The program is analyzed to determine whether or not the sum of the current consumption of the CPU unit, the plurality of input / output units, and the plurality of control axes is within the rated current of the bus.
When it is determined that the sum of the current consumption exceeds the rated current, the operating timing or speed of the control shaft defined by the program is set so that the sum of the current consumption is within the rated current of the bus. A control method characterized in that information is created that delays the operation timing of some control axes among a plurality of control axes or slows down the operation of some or all control axes.

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