JP6849713B2 - Control devices, control methods, control programs, and recording media - Google Patents

Description

The present invention relates to a control device, a control method, a control program, and a recording medium.

Regarding a control device that controls the operation of a robot or the like, for example, in Patent Document 1, the difference between the target locus and the actual operation locus with respect to a command value is calculated as a servo delay time for each axis, and a predetermined servo delay time is used as a reference time. Then, a method of calculating the compensation torque for each axis based on the servo delay time for each axis and the reference time, and outputting a command value reflecting the compensation torque for each axis to each servo to control the operation of the robot. Is described.

Japanese Unexamined Patent Publication No. 2009-151527

However, the above-mentioned conventional method has a problem that the calculation of the compensation torque based on the servo delay time for each axis and the reference time and the calculation of the command value reflecting the compensation torque become complicated. Therefore, in order to solve this problem, the applicant has already proposed a control device or the like capable of suppressing a locus deviation caused by a variation in response delay time between a plurality of axes (for example, a plurality of servomotors). (Japanese Patent Laid-Open No. 2017-102616).

In addition, when performing trigger control (for example, synchronous control of shooting, sorting, grasping, etc.) of an object such as a work driven or operated by a servomotor or a robot equipped with a servomotor, the object In addition to the response delay time between the multiple axes that drive the object, the response after the target device for trigger control (hereinafter referred to as "trigger control device"; the same shall apply in the claims) receives the timing signal. There is a possibility that a synchronization shift may occur due to the delay time. As a result, even if the variation in the response delay time on the servomotor side is eliminated, a slight positional deviation corresponding to the distance the object moves may occur during the response delay time difference on the trigger control device side.

More specifically, for example, when a moving object is photographed for inspection or the like, a slight positional deviation occurs between the image when the image is photographed at the original target position and the actual photographed image. It ends up. That is, since the timing at which the object passes the shooting position and the timing of the trigger control are not completely synchronized, there is a concern that the shooting position may shift with each shooting. This also applies when the trigger control device for shooting moves with respect to the object, and when the relative movement speed between the object and the trigger control device for shooting changes (acceleration motion), the speed The magnitude of the misalignment also changes according to the change in.

Therefore, in one aspect, the present disclosure has been made in view of such circumstances, and when the object and the trigger control device move relative to each other, the object and / or the plurality of axes that drive the trigger control device are used. It is an object of the present invention to provide a control device, a control method, a control program, and a recording medium capable of suppressing a displacement due to a response delay time on the trigger control device side while coping with variations in the response delay time of the above. To do.

The present invention employs the following configuration in order to solve the above-mentioned problems.

[1] An example of the control device according to the present disclosure is a control device that gives a servo command to at least one or more servo control devices and a trigger command to the trigger control device, and each response of the servo control device. The response delay time acquisition unit that acquires the delay time and the response delay time of the trigger control device, and the device including the servo control device and the trigger control device that has the maximum response delay time are used as reference devices. , The servo command timing to the servo control device other than the reference device is only the difference between the response delay time of the reference device and the response delay time of the servo control device other than the reference device than the command timing to the reference device. The servo command control unit that delays and outputs a servo command (signal) to the servo control device at each servo command timing, and the trigger command timing to the trigger control device other than the reference device are commanded to the reference device. The response delay time of the reference device and the response delay time of the trigger control device other than the reference device are delayed by the difference from the timing, and a trigger command (signal) is output to the trigger control device at each trigger command timing. A trigger command control unit is provided.

In this configuration, since the response timings of the servomotors in the servo control device are aligned (synchronized) by the servo command control unit, it is possible to suppress the locus deviation caused by the variation in the response delay time between the servo control devices. Further, since the trigger command is output to the trigger control device by adding the response delay time of the trigger control device to the response delay time of the servo control device, the servo control device and the trigger control device can be more accurately synchronized. .. As a result, when the object and / or the trigger control device is driven by the servo control device and the object and the trigger control device move relative to each other, the response delay time on the servo control device side and the response delay on the trigger control device side Both time-induced misalignments can be suppressed. Therefore, for example, when an object is photographed by a trigger control device, the object can be reliably photographed at the original target position.

[2] In the above configuration, specifically, when the reference device is any of the servo control devices, the trigger command control unit has a response delay time of the servo control device and the trigger control device. The first time as the trigger command timing to the trigger control device may be calculated based on the response delay time of the above, and the trigger command may be output to the trigger control device at the first time. .. In this configuration, the servo control device and the trigger control device can be reliably and easily synchronized.

[3] In the above configuration, the trigger command control unit calculates a second time when the servo control device reaches the target position based on the response delay time of the servo control device, and the second time and the second time and The first time may be calculated based on the response delay time of the trigger control device. In this configuration, the first time for outputting the trigger command to the trigger control device can be calculated by adding the response delay time of the trigger control device to the second time when the servo control device reaches the target position in synchronization. it can.

[4] In the above configuration, the servo control device may drive an object and / or the trigger control device. In this configuration, since the object and the trigger control device move relative to each other, the present invention in which the object can be reliably photographed at the original target position by the trigger control device becomes more effective.

[5] In the above configuration, more specifically, the trigger control device is a photographing device for the object.

[6] In the above configuration, a vibration damping control unit that suppresses vibration during movement of the object and / or the trigger control device may be provided. In this configuration, vibration when the object and the trigger control device move is suppressed, so that it is possible to prevent misalignment due to vibration at the synchronous position of the servo control device and the trigger control device that drive the object. it can.

[7] In the above configuration, the servo control device may have a portion to be triggered and controlled. In this configuration, the servo command control unit can control the servo control device by including the response delay time at the time of the trigger command of the trigger-controlled portion in the response delay time of the servo control device. Alternatively, the trigger command control unit can calculate the first time by including the response delay time of the portion of the servo control device that is triggered and controlled in the response delay time of the servo control device. As a result, more accurate synchronous control of the servo control device and the trigger control device can be performed.

[8] In the above configuration, the servo command may be a position command based on the target locus. In this way, for example, when the servo control device drives the object and / or the trigger control device, the object and the trigger control device can be synchronized with each other at the original target position.

[9] In the above configuration, the response delay time of the servo control device may be indicated by the reciprocal of the position loop gain of the servo driver corresponding to each of the servo motors. As a result, the response delay time of each servo control device can be acquired as an accurate and easy-to-compare value.

[10] In the above configuration, the servo command control unit may issue the servo command so that an amount of correction proportional to each acceleration is added when each acceleration of the servo motor changes. According to such a configuration, it is possible to suppress the locus deviation caused by the position deviation when the acceleration changes.

[11] In the above configuration, the servo command is at least one command form of a position command, a speed command, and a torque command, and the trigger command is a digital output command, an analog output command, and a pulse output command. It may be in at least one command form. According to such a configuration, the timing control of the servo control device and the trigger control device can be effectively performed even in the control of the servo control device and the trigger control device by various different command forms.

[12] In another example of the control method according to the present disclosure, a servo command is given to at least one or more servo control devices, and a trigger command is given to the trigger control device, and the servo control device and the trigger control device are given. The first step of acquiring the response delay time of each of the servo control devices and the response delay time of each of the trigger control devices, and the servo control device and the trigger control device. Among the included devices, the device having the maximum response delay time is set as the reference device, and the servo command timing to the servo control device other than the reference device is set to the response delay time of the reference device rather than the command timing to the reference device. The second step of delaying the response delay time of the servo control device other than the reference device and the response delay time of the servo control device other than the reference device and outputting the servo command (signal) to the servo control device at each servo command timing, and the other than the reference device. The trigger command timing to the trigger control device is delayed by the difference between the response delay time of the reference device and the response delay time of the trigger control device other than the reference device, and the trigger command timing is delayed from the command timing to the reference device. It includes a third step of outputting a trigger command (signal) at each trigger command timing.

[13] Further, in an example of the control program according to the present disclosure, the computer is made to execute the first to third steps.

[14] Further, an example of the recording medium according to the present disclosure is a computer-readable non-transient recording medium on which a control program for causing a computer to execute the first to third steps is recorded.

In the present disclosure, the "part" and "device" do not simply mean physical means, but also include a configuration in which the functions of the "part" and "device" are realized by software. Further, the functions of one "part" and "device" may be realized by two or more physical means or devices, or the functions of two or more "parts" and "devices" may be realized by one physical. It may be realized by physical means or equipment. Further, "part" and "device" are concepts that can be paraphrased as, for example, "means" and "system".

According to the present disclosure, it is possible to suppress the locus deviation caused by the variation in the response delay time between the servo control devices. Not only that, when the object and the trigger control device move relative to each other, the response delay time on the trigger control device side and the response delay time on the trigger control device side are taken into consideration to make them more accurate. Since synchronization is realized, complicated control and adjustment are not required, and operability by the user and convenience by the user can be improved.

It is a schematic diagram which shows an example (example of a multi-axis configuration) of the application situation of the control device which concerns on one Embodiment of this disclosure. (A) and (B) are reference diagrams for explaining the principle of locus deviation due to the difference in response delay time between axes. (A) and (B) are explanatory views explaining an example of servo command (position command) control in the control device which concerns on one Embodiment of this disclosure. It is a reference figure explaining the principle of the position shift due to the response delay time of a trigger control device. It is explanatory drawing explaining an example of the trigger command (digital output command) control in the control device which concerns on one Embodiment of this disclosure. It is a top view which shows typically the hardware composition of the control device which concerns on one Embodiment of this disclosure. It is a top view which shows typically an example of the functional structure (functional module) of the control device which concerns on one Embodiment of this disclosure. It is a schematic diagram which shows the structural example of each servo driver provided in each servo control device which concerns on one Embodiment of this disclosure. It is a flowchart which shows the processing procedure in the example of the control device which concerns on one Embodiment of this disclosure.

Hereinafter, embodiments according to an example of the present disclosure will be described with reference to the drawings. However, the embodiments described below are merely examples, and are not intended to exclude the application of various modifications and techniques not specified below. That is, an example of the present disclosure can be implemented in various modifications without departing from the spirit of the present disclosure. Further, in the description of the following drawings, the same or similar parts are designated by the same or similar reference numerals, and the drawings are schematic and do not necessarily match the actual dimensions and ratios. Further, the drawings may include parts having different dimensional relationships and ratios from each other. Further, it goes without saying that the embodiments described below are only a part of the embodiments of the present disclosure and not all the embodiments. Further, any other embodiment obtained by those skilled in the art based on the embodiments of the present disclosure without the need for creative acts is included in the scope of protection of the present disclosure.

Furthermore, in the following, a plurality of servo controls including a three-axis (X-axis, Y-axis, Z-axis) configuration synchronization group (“plurality of servomotors” and corresponding “plurality of servodrivers” as shown in FIG. 1). Although it corresponds to a device), the synchronization group of the present embodiment may have a configuration including one or more servo control devices and one or more trigger control devices. Furthermore, in the following, the object moves on the three axes (X-axis, Y-axis, Z-axis) as shown in FIG. 1, but the movement form of the object is translational motion, rotational motion, and those in at least one axial direction. It may be any combination of.

§1 Application example FIG. 1 is a schematic diagram showing an example (example of a multi-axis configuration) of an application scene of the control device according to the embodiment of the present disclosure. In the present disclosure, an object (workpiece, etc.) for imaging inspection is driven and moved by a plurality of servomotors constituting the three axes shown in FIG. 1 and a servo control device including a servo driver corresponding to each servomotor. The object being photographed is photographed by an imaging device as a trigger control device. Here, in the three-axis configuration as shown in FIG. 1, for example, the X-axis servo driver that receives the servo command from the control device controls the X-axis servo motor, and the object (work Wx) is controlled by the X-axis servo motor. ) Moves in the X-axis direction (the operation information of the X-axis servomotor is fed back to the X-axis servo driver). Further, the Y-axis servo driver that receives the servo command from the control device controls the Y-axis servo motor, and the Y-axis servo motor moves the object (work Wy) in the Y-axis direction (Y-axis servo). The operation information of the motor is fed back to the Y-axis servo driver). Further, the Z-axis servo driver that receives the servo command from the control device controls the Z-axis servo motor, and the Z-axis servo motor moves the object (work Wz) in the Z-axis direction (Z-axis servo). The operation information of the motor is fed back to the Z-axis servo driver).

[Servo command control: Suppression of misalignment due to variation in response delay time on the servo control device side]
Generally, the servo commands (position commands) to the X-axis servo driver, Y-axis servo driver, and Z-axis servo driver are synchronized, but the corresponding servo motor responds after each servo driver receives the position command. The time until the response (response delay time) varies between the axes.

For example, when there is almost no response delay (small) in the Y-axis system and the response delay is large in the Z-axis system, the command speed and the feedback speed are almost the same in the Y-axis system, whereas the command speed in the Z-axis system. And the feedback speed are time-shifted, so that the rise in the corner locus in the Z-axis direction is delayed, resulting in a locus outside the target (see FIG. 2 of Japanese Patent Application Laid-Open No. 2017-102616 by the applicant).

Here, FIGS. 2 (A) and 2 (B) are reference diagrams for explaining the principle of locus deviation due to the difference in response delay time between axes. As shown in FIG. 2A, the driving device 10 which is a servo control device for driving an object includes a servo driver SDx for the X-axis, a servo driver SDy for the Y-axis, and a servo driver SDz for the Z-axis. A servomotor SMx for the X-axis, a servomotor SMy for the Y-axis, and a servomotor SMz for the Z-axis connected to them are provided. Here, first, the response delay time of the servo driver SDx is Rx, the response delay time of the servo driver SDy is Ry, and the response delay time of the servo driver SDz is Rz. Then, when the position commands Cx, Cy, Cz (servo command signal) from the control device 100 arrive in synchronization with the time t with respect to the servo drivers SDx, SDy, SDz, the response time of the servo motor SMx is Tx ( = T + Rx), the response time of the servomotor SMy with the minimum response delay time is Ty (= t + Ry), and the response time of the servomotor SMz with the maximum response delay time is Tz (= t + Rz). As described above, the three servomotors SMx, SMy, and SMz respond differently in time, follow a locus deviated from the target locus as shown in FIG. 2 (B), and a positional deviation from the target position occurs. It ends up.

Therefore, in this application example, in order to suppress the locus deviation caused by the difference between the axes of the response delay time, as shown in FIGS. 3 (A) and 3 (B), the position commands Cx to the servo drivers SDx, SDy, SDz , Cy, Cz are staggered in time. 3A and 3B are explanatory views illustrating an example of servo command (position command) control in the control device according to the embodiment of the present disclosure. In this application example, the case where the response delay time of any of the servo control devices and the trigger control device is the maximum is illustrated, but as described later, the response delay time of the trigger control device is the maximum. (For example, see the first embodiment), the present disclosure is also applicable.

Specifically, as illustrated in FIGS. 3A and 3B, the drive device 10 having the servomotor SMz having the maximum response delay time is used as a reference device, and the servomotor is synchronized with the response time T of the servomotor SMz. Make SMx and SMy respond. That is, with respect to the command time tz to the servo driver SDz that controls the servo motor SMz, the command time tx to the servo driver SDx is set to dx (difference in response delay time between the servo motor SMz and the servo motor SMx in the reference device = Delay by Rz-Rx). Further, the command time ty to the servo driver SDy is delayed by dy (difference in response delay time between the servo motor SMz and the servo motor SMy in the reference device = Rz-Ry).

For example, if the coordinates of the target position at a certain time (for example, the shooting time of an object driven by the servomotors SMx, SMy, SMz) are (Px, Py, Pz), the position command Cx of Px to the servo driver SDx Is delayed by dx from the position command Cz of Pz to the servo driver SDz, and the position command Cy of Py to the servo driver SDy is delayed by dy from the position command Cz of Pz to the servo driver SDz. As a result, as shown in FIG. 3B, the servomotors SMx, SMy, SMz respond in synchronization with the time T, follow a locus close to the target locus, and mechanically the servomotors SMx, SMy, SMz. The target position can be reached at the time T2 when a predetermined reaction time Rp has elapsed. In other words, by shifting the command times tx, ty, and tz of the position commands Cx, Cy, and Cz in this way, the servomotors SMx, SMy, and SMz respond in accurate synchronization so as to reach the shooting target position. Therefore, the positional deviation from the shooting target position is suppressed.

[Trigger command control: Suppression of misalignment due to response delay time on the trigger control device side]
Further, the trigger command (digital output command) to the photographing device 20 which is the trigger control device is given based on, for example, the position commands Cx, Cy, Cz to the servo drivers SDx, SDy, SDz in the drive device 10, and is triggered. Although the response time on the control device side is configured to be as short as possible, the response delay time (time resolution of digital output processing, etc.) due to the device performance on the trigger control device side may inevitably occur. In this case, although sequence control using a programmable logic controller (PLC) may be effective for the trigger control device, the control cycle at that time is the time resolution of the output timing of the trigger command. It ends up. Therefore, due to the time resolution, it becomes difficult to accurately control the output timing of the trigger command signal, and an unavoidable response delay time may occur.

Then, even when the servomotors SMx, SMy, SMz respond in synchronization with each other so as to reach the coordinates (Px, Py, Pz) of the target position by the servo command (position command) control described above, the servomotor SMx When an object driven by SMy, SMz is photographed by an imaging device as a trigger control device, the actual imaging position may deviate from the imaging target position.

Here, FIG. 4 is a reference diagram for explaining the principle of misalignment due to the response delay time of the trigger control device. As shown in FIG. 4, the photographing device 20 which is a trigger control device includes an image processing unit DU and a camera DC connected to the image processing unit DU. Here, first, the response delay time of the photographing device 20 is set to Rt. Then, after the servomotors SMx, SMy, SMz respond to the position commands Cx, Cy, Cz at the time T, a mechanically predetermined reaction time Rp elapses and the time T2 (second time; When the digital output command Ct (trigger command signal) from the control device 100 to the photographing device 20 arrives in synchronization with FIG. 3B), the response time of the photographing device 20 becomes Tt (= T2 + Rt). .. As described above, the photographing device 20 responds with a delay to the time T2 when the object driven by the three servomotors SMx, SMy, and SMz reaches the photographing target position, and the photographing target position and the actual photographing position A misalignment will occur between the and. As a result, for example, there is a concern that the object may not be photographed at a predetermined position or a predetermined angle in the field of view of the photographing device 20.

Therefore, in this application example, in order to suppress the imaging position shift due to the response delay time of the imaging device 20 which is the trigger control device, as shown in FIG. 5, the digital output command Ct to the imaging device 20 is temporally issued. Do it by shifting. FIG. 5 is an explanatory diagram illustrating an example of trigger command (digital output command) control in the control device according to the embodiment of the present disclosure.

Specifically, as illustrated in FIG. 5, the photographing device 20 is made to respond so that the object is photographed at the time T2 (second time) when the servomotors SMx, SMy, and SMz reach the photographing target position. .. That is, the trigger command time T1 (first time) to the photographing device 20 is advanced by the response delay time Rt of the photographing device 20 with respect to the time T2 when the servomotors SMx, SMy, and SMz reach the photographing target position. As a result, the object driven by the synchronized servomotors SMx, SMy, SMz reaches the photographing target position, and at the same time, the object can be photographed by the photographing device 20.

§2 Configuration example [Hardware configuration]
Next, an example of the hardware configuration of the control device 100 according to the present embodiment will be described. FIG. 6 is a plan view schematically showing an example of the hardware configuration of the control device 100.

The control device 100 is connected to the drive device 10 and the photographing device 20 illustrated in FIGS. 4 and 5, and is connected to the control calculation unit 101, the communication interface (I / F) unit 102, the storage unit 103, the input unit 104, and the output unit 105. Can be communicably connected to each other via the bus line 106.

The control calculation unit 101 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and controls each component and performs various calculations according to information processing.

The communication I / F unit 102 is a communication module for communicating with other components "unit" and "device" by wire or wirelessly, for example. The communication method used by the communication I / F unit 102 for communication is arbitrary, and examples thereof include LAN (Local Area Network) and USB (Universal Serial Bus), and an appropriate communication line equivalent to the bus line 106 is applied. You can also do it. The drive device 10 and the photographing device 20 can be provided so as to be able to communicate with the control calculation unit 101 and the like via the communication I / F unit 102.

The storage unit 103 is, for example, an auxiliary storage device such as a hard disk drive (HDD) or a solid state drive (SSD), and various programs (calculations for executing various processes) executed by the control calculation unit 101. From the program, a database containing control processing for controlling the operation of the drive device 10 and the photographing device 20, calibration conditions, measurement conditions, image processing conditions (recognition parameters of the object, etc.), and the photographing device 20. The output captured image (measurement data), image processing result data, three-dimensional model data of the object, and the like are stored. As described above, by executing the calculation program and the control program stored in the storage unit 103 in the control calculation unit 101, various processing functions in the function configuration example described later are realized.

The input unit 104 is an interface device for receiving various input operations from a user who uses the drive device 10, the photographing device 20, and the control device 100, and can be realized by, for example, a mouse, a keyboard, a touch panel, a voice microphone, or the like. .. The output unit 105 is an interface device for notifying a user or the like who uses the drive device 10, the photographing device 20, and the control device 100 of various information by display, audio output, print output, or the like, and is, for example, a display. , Speakers, printers, etc.

[Functional configuration]
Next, an example of the functional configuration (functional module) of the control device 100 will be described. FIG. 7 is a plan view schematically showing an example of the functional configuration of the control device 100 according to the present embodiment.

The control calculation unit 101 of the control device 100 shown in FIG. 6 described above expands various programs (control programs, calculation programs, etc.) stored in the storage unit 103 into RAM, interprets and executes these various programs by the CPU. To control each component. As a result, as illustrated in FIG. 7, the control device 100 according to the present embodiment can realize a configuration including a prediction synchronization calculation unit 30, a servo command control unit 40, and a trigger command control unit 50. The functions of each of these functional units will be described together with the operation of the control device 100 in the "operation example" described later.

In this embodiment, an example in which each function realized by the control device 100 is realized by a general-purpose CPU has been described, but some or all of the above functions are one or more dedicated processors or dedicated circuits. (For example, it may be realized by ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), etc.). Further, a part of the processing may be assigned to an external device connected to the network. Further, as for the functional configuration of the control device 100, of course, the functions may be omitted, replaced, or added as appropriate according to the embodiment or the configuration example. Further, the "control device" can be understood as a general information processing device (for example, a computer, a workstation, etc.). For the functions of the predictive synchronization calculation unit 30 and the servo command control unit 40 below, refer to FIG. 8 of Japanese Patent Application Laid-Open No. 2017-102616 and its description by the applicant.

§3 Operation example Hereinafter, a control method realized by an example of the control device according to the embodiment of the present disclosure will be described with reference to FIG. FIG. 9 is a flowchart showing a processing procedure in an example of the control device according to the embodiment of the present disclosure. The processing procedure described below is only an example, and each processing may be changed as much as possible within the scope of the technical idea of the present disclosure. Further, in the processing procedure described below, steps can be omitted, replaced, and added as appropriate according to the embodiment and each configuration example.

(Step S1)
First, in step S1, the predictive synchronization calculation unit 30 uses the servo drivers SDx, SDy, SDz of the drive device 10, which is a synchronization group preset in the drive device 10, to drive parameters (servo parameters such as position loop gain of each axis). ) Is read and acquired, and the imaging parameters are read and acquired from the imaging device 20.

(Step S2)
Next, in step S2, the prediction synchronization calculation unit 30 acquires the response delay times Rx, Ry, Rz of the servo drivers SDx, SDy, and SDz, and the response delay time Rt of the photographing apparatus 20 (FIG. 3 (FIG. 3). A) and Fig. 5). In this way, the prediction synchronization calculation unit 30 calculates the prediction position synchronization correction parameters including the response delay times Rx, Ry, Rz, and Rt. As described above, the prediction synchronization calculation unit 30 corresponds to an example of the “response delay time acquisition unit” in the present disclosure, and the process in step S2 corresponds to an example of the “first step” in the present disclosure.

Here, FIG. 8 is a schematic diagram showing a configuration example of each servo driver provided in each servo control device according to the embodiment of the present disclosure. As shown in the figure, the servo driver SDx includes an X-axis position control unit that receives a position command from the control device 100, an X-axis speed control unit that receives an output from the X-axis position control unit, and an X-axis speed control unit. Includes an X-axis current control unit (X-axis torque control unit) that receives output from. In such a configuration, the rotating unit of the servomotor SMx is driven by the output of the X-axis current control unit, and the output of the encoder of the servomotor SMx is sent to the X-axis position control unit, the X-axis speed control unit, and the X-axis current control unit. Be fed back. The X-axis position control unit outputs the position loop gain to the control device 100, and the X-axis speed control unit outputs the speed loop gain to the control device 100.

Further, the servo driver SDy receives the Y-axis position control unit that receives the position command from the control device 100, the Y-axis speed control unit that receives the output from the Y-axis position control unit, and the output from the Y-axis speed control unit. Includes a Y-axis current control unit (Y-axis torque control unit). In such a configuration, the rotating unit of the servomotor SMy is driven by the output of the Y-axis current control unit, and the output of the encoder of the servomotor SMy is sent to the Y-axis position control unit, the Y-axis speed control unit, and the Y-axis current control unit. Be fed back. The Y-axis position control unit outputs the position loop gain to the control device 100, and the Y-axis speed control unit outputs the speed loop gain to the control device 100.

Further, the servo driver SDz receives the Z-axis position control unit that receives the position command from the control device 100, the Z-axis speed control unit that receives the output from the Z-axis position control unit, and the output from the Z-axis speed control unit. Includes a Z-axis current control unit (Z-axis torque control unit). In such a configuration, the rotating unit of the servomotor SMz is driven by the output of the Z-axis current control unit, and the output of the encoder of the servomotor SMz is sent to the Z-axis position control unit, the Z-axis speed control unit, and the Z-axis current control unit. Be fed back. The Z-axis position control unit outputs the position loop gain to the control device 100, and the Z-axis speed control unit outputs the speed loop gain to the control device 100.

Then, in step S2, the response delay time Rx on the X-axis is calculated as the inverse of the position loop gain, which is one of the servo parameters of the servo driver SDx, and the response delay time Ry on the Y-axis is the servo parameter of the servo driver SDy. It is calculated as the inverse of the position loop gain, which is one of the above, and the response delay time Rz of the Z axis is calculated as the inverse of the position loop gain, which is one of the servo parameters of the servo driver SDz. Then, the maximum value of the response delay time Rx, Ry, Rz, and Rt is set as the reference response delay time.

(Step S3)
The servo command control unit 40 includes a servo command generation unit 41, a servo command correction unit 42, and a servo command unit 43. In step S3, the servo command generation unit 41 moves the target position based on the target locus. Coordinates (Px, Py, Pz) are generated, and a position command based on the target position is output to the servo command correction unit 42. The servo command correction unit 42 has an X-axis position correction unit, a Y-axis position correction unit, and a Z-axis position correction unit, and the X-axis command position corresponding to the X coordinate (Px) of the target position is the X-axis position. The Y-axis command position that is input to the correction unit and corresponds to the Y coordinate (Py) of the target position is input to the Y-axis position correction unit, and the Z-axis command position that corresponds to the Z coordinate (Pz) of the target position is the Z-axis position. It is input to the correction unit.

(Step S4)
In step S4, the position command correction unit 42 compares the response delay times Rx, Ry, Rz, and Rt with each other, and here, for example, the maximum response delay time Rz of the servo driver SDx having the maximum delay is used as the reference response delay time. Calculate as. Further, here, for example, the difference dx, dy between the response delay times Rx, Ry, Rz and the reference response delay time is calculated and output to the position command correction unit 42.

(Step S5)
In step S5, the X-axis position correction unit, the Y-axis position correction unit, and the Z-axis position correction unit of the servo command correction unit 42 obtain the response delay times Rx, Ry, and Rz included in the predicted position synchronization correction parameters. Using the difference dx and dy from the obtained reference response delay time, the X-axis command position, the Y-axis command position, and the Z-axis command position in the position command are corrected, respectively (see FIGS. 3 (A) and 5). ). As described above, the synchronization process for the drive device 10 that performs the position commands Cx, Cy, and Cz can also be referred to as "predicted position synchronization correction".

(Step S6)
The servo command unit 43 of the servo command control unit 40 has an X-axis position command unit, a Y-axis position command unit, and a Z-axis position command unit. Based on the corrected Y-axis command position and the corrected Z-axis command position, the corrected position commands Cx, Cy, and Cz are executed for the servo drivers SDx, SDy, and SDz (FIG. 3 (A)). And FIG. 5). Further, the servo command control unit 40 also outputs the position commands Cx, Cy, and Cz to the trigger command control unit 50. As described above, the servo command control unit 40 corresponds to an example of the "position command control unit" in the present disclosure, and the processes in steps S3 to S6 correspond to an example of the "second step" in the present disclosure.

(Step S7)
The trigger command control unit 50 includes a trigger command generation unit 51, a trigger command correction unit 52, and a trigger command unit 53. In step S7, the trigger command generation unit 51 is corrected by the servo command control unit 40. Calculate the time T in which the servomotors SMx, SMy, SMz respond in synchronization with the X-axis command position, the corrected Y-axis command position, and the position commands Cx, Cy, and Cz based on the corrected Z-axis command position. (See FIGS. 3 (A) and 3 (B) and FIG. 5). Further, the trigger command generation unit 51 generates a trigger command for making the photographing device 20 respond at that time T, and outputs the trigger command to the trigger command correction unit 52.

(Step S8)
Next, in step S8, the trigger command correction unit 52 is based on the time T in which the servomotors SMx, SMy, SMz respond in synchronization and the mechanically predetermined reaction time Rp of the servomotors SMx, SMy, SMz. Then, the time T2 (second time) at which the object reaches the shooting target position is calculated. Further, the trigger command correction unit 52 corrects the trigger command by adding the predicted position synchronization correction parameter to the time T2. Examples of this correction include corrections related to the response delay time Rt of the photographing device 20 (see FIGS. 3A and 5), thereby outputting a trigger command to the photographing device 20 at time T1 (first time). Is calculated. As described above, the synchronization process for the photographing apparatus 20 that performs the digital output command Ct can also be referred to as "predictive digital output synchronization correction".

(Step S9)
Then, in step S9, the trigger command unit 53 of the trigger command control unit 50 executes the corrected digital output command Ct to the photographing device 20 so that the photographing device 20 responds to the time T1 (FIG. 5). See), take a picture of the object. As described above, the trigger command control unit 50 corresponds to an example of the "trigger command control unit" in the present disclosure, and the processes in steps S7 to S9 correspond to an example of the "third step" in the present disclosure.

§4 Action / Effect As described above, according to the control device 100 according to the present embodiment and an example of the control method using the control device 100, the response timings of the servomotors SMx, SMy, and SMz are aligned by the servo command control unit 40. Since (synchronized), it is possible to suppress the trajectory deviation caused by the variation in the response delay times Rx, Ry, and Rz of those servomotors. Further, the time T2 (second time) is calculated based on the response delay times Rx, Ry, and Rz of the servomotors SMx, SMy, and SMz, and the response delay time Rt of the photographing device 20 is added to the time T2. Since the time T1 (first time) is calculated and the digital output command Ct is output to the photographing device 20 at that time T1, the servomotors SMx, SMy, SMz and the photographing device 20 can be accurately synchronized. it can. As a result, not only the position shift caused by the response delay time Rx, Ry, Rz on the servomotors SMx, SMy, SMz side but also the position shift caused by the response delay time Rt on the photographing device 20 side can be suppressed. .. As a result, it is possible to reliably photograph the object at the original target position.

§5 Modifications Although the embodiments as an example of the present disclosure have been described in detail above, the above description is merely an example of the present disclosure in all respects, and various variations are made without departing from the scope of the present disclosure. Needless to say, improvements and modifications can be made, and for example, the following changes can be made. In the following description, if necessary, the same reference numerals will be used for the same components as those in the above embodiment, and the description will be omitted as appropriate for the same points as in the above embodiment. Further, the above-described embodiment and each of the following modifications can be configured by appropriately combining them.

<5.1: First modification>
The first modification is, so to speak, an example in which the control processing related to the response delay time of the servo control device and the trigger control device is handled equally. That is, here, the response delay times Rx, Ry, Rz of the servo drivers SDx, SDy, SDz and the response delay time Rt of the photographing apparatus 20 are simultaneously considered as the locus deviation caused by the response delay time difference between the axes shown in FIG. , The drive to the target position by the servomotors SMx, SMy, SMz in the drive device 10 and the shooting by the camera DC in the image pickup device 20 can be synchronized in the same manner as the synchronization process shown in FIG.

This configuration is particularly effective when the response delay time Rt of the photographing apparatus 20 is maximized (that is, the response delay time Rt is the reference response delay time). In this case, for example, in step S2 shown in FIG. 9, the servo command correction unit 42 calculates the difference dx, dy, dz between the response delay times Rx, Ry, Rz and the response delay time Rt, which is the reference response delay time. , The correction of the trigger command as described in steps S7 to S9 while outputting to the servo command correction unit 42 may be basically unnecessary.

<5.2: Second modification>
[Suppression of locus deviation due to position deviation when acceleration changes]
The second modification is an example that can deal with the position deviation that may occur when the acceleration changes due to the speed command to each servo driver. That is, according to the above application example and operation example, the response timings between the axes are the same, but the response delay itself of each axis exists. Therefore, for example, when the speed command to the X-axis servo driver SDx is small to large and the speed command to the Y-axis servo driver SDy is large to small, the X-axis position deviation (position command Cx). The difference between the target position and the feedback position) increases with time, while the Y-axis position deviation (difference between the target position and the feedback position of the position command Cy) decreases with time, and the trajectory is inward with respect to the target trajectory. (See FIG. 5 of Japanese Patent Application Laid-Open No. 2017-102616 by the applicant).

Therefore, in a model in which the command speed and the feedback speed deviate by the response delay time, it is possible to correct the locus deviation caused by the position deviation when the acceleration changes (including the change in the plus direction and the change in the minus direction). It is valid (see FIG. 6 of Japanese Patent Application Laid-Open No. 2017-102616 by the applicant). Specifically, in the second modification, the target position of the position command is corrected by the amount corresponding to (1/2) × the square of the response delay time × the acceleration (predicted acceleration). By doing so, even if the movement by the servomotor is a folding locus and the feedback position does not reach the turning point, the feedback position will reach the turning point (Japanese Patent Laid-Open No. 2017-102616 by the present applicant). (See FIG. 7).

In this case, in step S5 shown in FIG. 9, the correction regarding the position deviation caused by the acceleration change is performed with respect to the correction result of the X-axis command position, the Y-axis command position, and the Z-axis command position in the position command. Specifically, it is the same as the processing procedure for executing each step shown in FIG. 9, except that the position deviation generated in proportion to the acceleration is corrected.

<5.3: Third modification>
[Processing example in the position correction unit]
The third modification is a more specific example when the X-axis correction unit of the servo command correction unit 42 shown in FIG. 7 corrects the position command in the process of step S5 shown in FIG. Here, the correction regarding the difference between the axes of the response delay time is realized by the first term of the following equation (1), and the correction regarding the position deviation at the time of acceleration change described in the first modification is realized by the following equation (1). This can be achieved by the second term.

Xcp (t) = X (t- (Rs-Rx))-(1/2) x Rx ² x Ax ... Equation (1)
X (t): Target position (target trajectory)
Xcp (t): Command position given to servo driver SDx Rx: Response delay time of X axis (reciprocal is the position loop gain)
Ax: X-axis acceleration (predicted acceleration)
dt: Communication delay time (common between axes)
Rs: Reference response delay time (maximum value of Rx, Ry, Rz)

From this formula (1), the effect of the following formula (2) can be obtained.
Xpp (t) = X (t- (Rs + td)) ≒ Xap (t) ... Equation (2)
Xpp (t): Predicted position Xap (t): Actual position when Xcp (t) is given (feedback position)

Here, as the acceleration Ax of the second term of the equation (1), the reciprocal Rx of the position loop gain is set as the first-order lag time constant in the result obtained by ^{(d 2} x / dt ^{2) (t- (Rs-Rx)).} The result of the first-order lag calculation with 1 / (2π × velocity loop gain) as the first-order lag time constant is used as the acceleration Ax.

Further, in the third modification, similarly, the Y-axis correction unit of the servo command correction unit 42 shown in FIG. 7 corrects the position command in the process of step S5 shown in FIG. 9 as follows. Here, the correction regarding the difference between the axes of the response delay time can be realized by the first term of the following equation (3), and the correction regarding the position deviation at the time of acceleration change can be realized by the second term of the following equation (3). is there.

Ycp (t) = Y (t- (Rs-Ry)) -1 / 2 x Ry ² x Ay ... Equation (3)
Y (t): Target position (target trajectory)
Ycp (t): Command position given to servo driver SDy Ry: Y-axis response delay time (reciprocal is the position loop gain)
Ay: Y-axis acceleration (predicted acceleration)
dt: Communication delay time (common between axes)
Rs: Reference response delay time (maximum value of Rx, Ry, Rz)

From this formula (3), the effect of the following formula (4) can be obtained.
Ypp (t) = Y (t- (Rs + td)) ≒ Yap (t) ... Equation (4)
Ypp (t): Predicted position Yap (t): Actual position when Ycp (t) is given (feedback position)

Here, as the acceleration Ay of the second term of the equation (3), the reciprocal Ry of the position loop gain is set as the first-order lag time constant in the result obtained by ^{(d 2} y / dt ^{2) (t- (Rs-Ry)).} The result of the first-order lag calculation with 1 / (2π × velocity loop gain) as the first-order lag time constant is used as the acceleration Ay.

Further, in the third modification, similarly, the Z-axis correction unit of the servo command correction unit 42 shown in FIG. 7 corrects the position command in the process of step S5 shown in FIG. 9 as follows. Here, the correction regarding the difference between the axes of the response delay time can be realized by the first term of the following equation (5), and the correction regarding the position deviation at the time of acceleration change can be realized by the second term of the following equation (5). is there.

Zcp (t) = Z (t- (Rs-Rz)) -1 / 2 x Rz ² x Az ... Equation (5)
Z (t): Target position (target trajectory)
Zcp (t): Command position given to servo driver SDz Rz: Response delay time of Z axis (reciprocal is the position loop gain)
Az: Z-axis acceleration (predicted acceleration)
dt: Communication delay time (common between axes)
Rs: Reference response delay time (maximum value of Rx, Ry, Rz)

From this formula (5), the effect of the following formula (6) can be obtained.
Zpp (t) = Z (t- (Rs + td)) ≒ Zap (t) ... Equation (6)
Zpp (t): Predicted position Zap (t): Actual position when Zcp (t) is given (feedback position)

Here, as the acceleration Az of the second term of the equation (5), the reciprocal Rz of the position loop gain is set as the first-order lag time constant in the result obtained by ^{(d 2} z / dt ^{2) (t- (Rs-Rz)).} The result of the first-order lag calculation with 1 / (2π × velocity loop gain) as the first-order lag time constant is used as the acceleration Az.

<5.4: Fourth modified example>
The fourth modification is another example in which the object and the photographing device 20 which is a trigger control device move relative to each other. Here, the image is taken instead of driving the object or in addition to driving the object. The device 20 is driven by the drive device 10. According to such a configuration, the locus deviation caused by the variation in the difference between the axes of the response delay time in the driving device 10 for driving the photographing device 20 and the positioning deviation of the photographing caused by the response delay time of the photographing device 20 are suppressed. It becomes possible to do.

<5.5: Fifth modification>
The fifth modification is an example further including a vibration damping control unit that suppresses vibration during movement of the photographing device 20 which is an object and / or a trigger control device. As the vibration damping control unit, a vibration damping mechanism having an appropriate principle capable of suppressing vibrations and vibrations that may occur when the object and / or the photographing device 20 is moved can be used. According to such a configuration, it is possible to effectively prevent the displacement due to the vibration of the object and / or the drive device 10 for driving the photographing device 20 at the synchronous position.

<5.6: 6th modification>
The sixth modification is an example in which not only the photographing device 20 but also the servomotors SMx, SMy, SMz of the driving device 10 have a portion to be triggered and controlled. In such a configuration, the trigger command control unit 50 of the control device 100 controls the response delay times Rx, Ry, and Rz of the servomotors SMx, SMy, and SMz by triggering the servomotors SMx, SMy, and SMz. Since the time T1 (first time) can be calculated including the response delay time Rt of the above, more accurate synchronous control of the servomotors SMx, SMy, SMz and the photographing device 20 becomes possible.

<5.7: 7th modification>
In the seventh modification, the servo command is not only the position command Cx, Cy, Cz, but also at least one of the position command, the speed command, and the torque command, and the trigger command is only the digital output command Ct. However, this is an example in which at least one of a digital output command, an analog output command, and a pulse output command is used. As described above, in the present disclosure, as the control related to the timing control of the driving device 10 and the photographing device 20, synchronous control related to other command forms can also be performed.

That is, in the "predicted position synchronization correction" according to the above embodiment, the response delay time corresponding to the reciprocal of the position loop gain is corrected, but the position loop is not used when the servo control is performed by speed control or torque control. Therefore, the response delay due to the position loop does not occur. Here, for example, when the X-axis is speed control, the Y-axis is torque control, and the Z-axis is position control, the position command Cx becomes a speed command and the position command Cy becomes a torque command, and the servo driver SDx shown in FIG. X-axis position control and Y-axis position control and Y-axis speed control in the servo driver SDy are not required. Therefore, in FIG. 3B, Rx = 0 and Ry = 0. Therefore, by setting dx = dy = Rz, the synchrony is improved even between the servo drivers SDx, SDy, and SDz that control with different command forms. It becomes possible. As described above, the synchronous processing for the servo control device such as the drive device 10 that issues the speed command and the torque command can also be referred to as "predicted speed synchronous correction" and "predicted torque synchronous correction", respectively.

Further, as in the case of the digital output command Ct, even when the analog output command or the pulse output command is given to the trigger control device such as the photographing device 20, the response delay time Rt is generated, so that the digital output command Ct is used. Similar delay time correction control can be performed. As described above, the synchronization processing for the trigger control device such as the photographing device 20 that issues the analog output command and the pulse output command can also be referred to as "predicted analog output synchronization correction" and "predicted pulse output synchronization correction", respectively.

As a more specific application system, (1) a roll-shaped axially wound object is (2) sent out while applying a predetermined dancer tension, and (4) cut into individual products having a predetermined shape. Then, (5) while transferring them on a conveyor, (6) inspecting individual items with a photographing device, and (7) taking them out from the conveyor by an appropriate take-out mechanism can be mentioned. Then, in such a system, (1) torque control of the unwinding shaft of the object, and (2) analog output control of the process of changing the dancer tension in synchronization with the feed rate by changing the cylinder applied pressure, ( 3) Speed control of the feed axis of the object, (4) Position control of the cutter axis, (5) Speed control of the conveyor axis, (6) Digital output control of the shooting timing by the camera, (7) Extraction mechanism There is an example of pulse control.

§6 Addendum The embodiments and modifications described above are for facilitating the understanding of the present invention, and are not intended to limit the interpretation of the present invention. Each element included in the embodiment and the modified example, and its arrangement, material, condition, shape, size, and the like are not limited to those exemplified, and can be changed as appropriate. It is also possible to partially replace or combine the configurations shown in different embodiments and modifications.

That is, a plurality of photographing devices 20 which are trigger control devices may be provided, or one photographing device 20 may have a plurality of camera DCs. Further, the trigger control device is not limited to the photographing device 20, and the control device 100 of the present disclosure includes, for example, coating start and stop timing control with a dispenser, laser output timing control, and operation of a pneumatic or hydraulic operation device. It can be effectively applied to trigger command control by appropriate digital output such as timing control.

(Appendix 1)
A control device (100) that issues a servo command (Cx, Cy, Cz) to at least one or more servo control devices (10) and a trigger command (Ct) to at least one or more trigger control devices (20). hand,
The response delay time acquisition unit (30) for acquiring the response delay time (Rx, Ry, Rz) of the servo control device (10) and the response delay time (Rt) of the trigger control device (20), and the response delay time acquisition unit (30).
Among the devices including the servo control device (10) and the trigger control device (20), the device having the maximum response delay time is set as the reference device, and the position command timing to the servo control device (10) other than the reference device is used. Is delayed by the difference between the response delay time of the reference device and the response delay time of the servo control device (10) other than the reference device than the command timing to the reference device, with respect to the servo control device (10). Servo command control unit (40) that outputs servo commands (Cx, Cy, Cz) at each servo command timing,
The trigger command timing to the trigger control device (20) other than the reference device is set to the response delay time of the reference device and the response delay of the trigger control device (20) other than the reference device than the command timing to the reference device. A trigger command control unit (50) that outputs a trigger command (Ct) to the trigger control device (20) at each trigger command timing by delaying the time difference.
Control device (100).

(Appendix 2)
The trigger command control unit (50) has a response delay time (Rx, Ry, Rz) of the servo control device (10) and a response delay time (Rx, Ry, Rz) of the servo control device (10) when the reference device is any of the servo control devices (10). Based on the response delay time (Rt) of the trigger control device (20), the first time (T1) as the trigger command timing to the trigger control device (20) is calculated, and the trigger control device (20) is set to the first time (T1). The control device (100) according to Appendix 1, which outputs a trigger command (Ct) at the first time (T1).

(Appendix 3)
The trigger command control unit (50) has a second time (T2) at which the servo control device (10) reaches the target position based on the response delay time (Rx, Ry, Rz) of the servo control device (10). ) Is calculated, and the first time (T1) is calculated based on the second time (T2) and the response delay time (Rt) of the trigger control device (20). Device (100).

(Appendix 4)
The control device (100) according to any one of Appendix 1 to 3, wherein the servo control device (10) drives an object and / or the trigger control device (20).

(Appendix 5)
The control device (100) according to Appendix 4, wherein the trigger control device (20) is a photographing device (20) for the object.

(Appendix 6)
The control device (100) according to Appendix 4 or 54, comprising a vibration damping control unit that suppresses vibration during movement of the object and / or the trigger control device (20).

(Appendix 7)
The control device (100) according to any one of Supplementary note 1 to 6, wherein the servo control device (10) has a portion to be triggered and controlled.

(Appendix 8)
The control device (100) according to any one of Appendix 1 to 7, wherein the servo command is a position command (Cx, Cy, Cz) based on a target locus.

(Appendix 9)
The response delay time (Rx, Ry, Rz) of the servo control device (10) is the reciprocal of the position loop gain of the servo driver (SDx, SDy, SDz) corresponding to each of the servo motors (SMx, SMy, SMz). The control device (100) according to any one of Supplementary note 1 to 8, which is indicated by.

(Appendix 10)
The servo command control unit (40) performs the servo command (Cx, Cy, Cz) so that when each acceleration of the servo motor (SMx, SMy, SMz) changes, an amount of correction proportional to the respective acceleration is added. ), The control device (100) according to any one of Supplementary note 1 to 9.

(Appendix 11)
The servo command (Cx, Cy, Cz) is at least one command form of a position command, a speed command, and a torque command.
The control device (100) according to any one of Supplementary Provisions 1 to 10, wherein the trigger command (Ct) is at least one command form of a digital output command, an analog output command, and a pulse output command.

(Appendix 12)
A servo command (Cx, Cy, Cz) is given to at least one or more servo control devices (10), and a trigger command (Ct) is given to the trigger control device (20), and the servo control device (10) and the trigger are given. A control method for making the control device (20) respond.
The first step of acquiring each response delay time (Rx, Ry, Rz) of the servo control device (10) and each response delay time (Rt) of the trigger control device (20), and
With the device having the maximum response delay time among the servo control devices (10) as the reference device, the position command timing to the servo control device (10) other than the reference device is set to be higher than the command timing to the reference device. The response delay time of the reference device is delayed by the difference between the response delay time of the servo control device (10) other than the reference device, and the servo command (Cx, The second step to output Cy, Cz) and
The trigger command timing to the trigger control device (20) other than the reference device is set to the response delay time of the reference device and the response delay of the trigger control device (20) other than the reference device than the command timing to the reference device. The third step of outputting a trigger command (Ct) to the trigger control device (20) at each trigger command timing, delayed by the difference from the time, and
Control methods including.

(Appendix 13)
A control program for causing a computer (100, 101) to execute the first to third steps described in Appendix 12.

(Appendix 14)
A computer-readable, non-transient recording medium in which a control program for causing a computer (100, 101) to execute the first to third steps described in Appendix 12 is recorded.

10 ... Drive device (servo control device), 20 ... Imaging device (trigger control device), 30 ... Prediction synchronization calculation unit (response delay time acquisition unit), 40 ... Servo command control unit, 41 ... Servo command generation unit, 42 ... Servo command correction unit, 43 ... Servo command unit, 50 ... Trigger command control unit, 51 ... Trigger command generation unit, 52 ... Trigger command correction unit, 53 ... Trigger command unit, 100 ... Control device, 101 ... Control calculation unit, 102 ... Communication interface (I / F) unit, 103 ... Storage unit, 104 ... Input unit, 105 ... Output unit, 106 ... Bus line, Ct ... Digital output command (trigger command), Cx, Cy, Cz ... Position command (servo) Command), DC ... camera, DU ... image processing unit, dx, dy ... difference, Rx, Ry, Rz, Rt ... response delay time, S1 to S9 ... steps, SDx, SDy, SDz ... servo driver, SMx, SMy, SMz ... Servo motor, T, Tx, Ty, Tz ... Response time, T1 ... Time (first time), T2 ... Time (second time), Wx, Wy, Wz ... Object (work).

Claims (11)

A control device that issues a servo command to at least one servo control device including a servo motor and a servo driver corresponding to the servo motor, and issues a trigger command to at least one trigger control device.
A response delay time acquisition unit that acquires each response delay time of the servo driver and each response delay time of the trigger control device, and a response delay time acquisition unit.
Among the servo drivers, the servo driver having the maximum response delay time is used as a reference device, the time tz of the command timing to the reference device is used as a reference, and the servo command timing to a servo driver other than the reference device is used as the reference. The servo is delayed by the difference between the response delay time of the reference device and the response delay time of the servo driver other than the reference device from the time tz of the command timing to the device so that the servo driver synchronizes at time T. A servo command control unit that outputs a servo command to the driver and calculates a second time T2 at which the mechanical reaction time Rp of the servo motor elapses from the time T.
A trigger command control unit that calculates a first time T1 in which the response delay time Rt of the trigger control device is earlier than the second time T2 and outputs a trigger command to the trigger control device at the first time T1.
With
The servo control device drives the object and / or the trigger control device so that the object and the trigger control device move relative to each other.
Control device. The control device according to claim 1, wherein the trigger control device is a photographing device for the object. The control device according to claim 1 or 2, further comprising a vibration damping control unit that suppresses vibration during movement of the object and / or the trigger control device. The control device according to any one of claims 1 to 3, wherein the servo control device has a portion to be triggered and controlled. The control device according to any one of claims 1 to 4, wherein the servo command is a position command based on a target locus. The control device according to any one of claims 1 to 5, wherein the response delay time of the servo driver is indicated by the reciprocal of the position loop gain of the servo driver. The control device according to any one of claims 1 to 6, wherein the servo command control unit issues the servo command so that an amount of correction proportional to the respective accelerations is applied when each acceleration of the servo motor changes. .. The servo command is at least one command form of a position command, a speed command, and a torque command.
The control device according to any one of claims 1 to 7, wherein the trigger command is at least one command form of a digital output command, an analog output command, and a pulse output command. A servo command is given to at least one or more servo control devices including a servo motor and a servo driver corresponding to the servo motor, and a trigger command is given to at least one or more trigger control devices, and the servo control device and the trigger control device are given. Is a control method that makes the response
The first step of acquiring each response delay time of the servo driver and each response delay time of the trigger control device, and
Among the servo drivers, the servo driver having the maximum response delay time is used as a reference device, the time tz of the command timing to the reference device is used as a reference, and the servo command timing to a servo driver other than the reference device is used as the reference. The servo is delayed by the difference between the response delay time of the reference device and the response delay time of the servo driver other than the reference device from the time tz of the command timing to the device so that the servo driver synchronizes at time T. The second step of outputting the servo command to the driver and calculating the second time T2 in which the mechanical reaction time Rp of the servo motor elapses from the time T, and the second step.
The third step of calculating the first time T1 which is earlier than the second time T2 by the response delay time Rt of the trigger control device and outputting the trigger command to the trigger control device at the first time T1.
A fourth step in which the servo control device drives the object and / or the trigger control device so that the object and the trigger control device move relative to each other.
Control methods including. A control program that causes a computer to perform the first to fourth steps according to claim 9. A computer-readable, non-transient recording medium in which a control program for causing a computer to perform the first to fourth steps according to claim 9 is recorded.

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