JPH03135602A - Programmable controller - Google Patents

Abstract

PURPOSE:To reduce the value of a position data memory and to improve the processing efficiency of a controllable controller by giving a command to a servo motor circuit after inverting the value of the position data memory by an extent equal to the count value of a counter or the value of an external input signal. CONSTITUTION:When a servo motor 7 is driven, a position data address of the motor 7 is designated together with an optional count value. The moved variable of the motor 7 is set at such value that can invert the value designated by the designated position data address by an extent equal to the frequency of the count value. Then a moved variable corresponding to a fixed extent is previously stored in a position data memory 3 and the traverse frequency of a coil is previously set to a counter. Thus the motor 7 performs the inverting actions in response to the due frequency and at the same time the value of the designated counter is counted up. As a result, the drive of a servo motor performing a fixed winding action can be simply controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a programmable controller capable of controlling a servo motor used in a winding machine or the like.

BACKGROUND OF THE INVENTION In recent years, programmable controllers have expanded the scope of their control, and now it has become possible to drive servo motors using the operational functions of relays, timers, and counters.

However, the command method has not yet been established, and the NC programming method, which is popular in the machine tool field, where servo motors are widely applied, has not been applied because it is difficult for users of programmable controllers to understand. Furthermore, the sequence and motor control in a winding machine is particularly difficult to apply due to the complexity of the winding process.

For this reason, programmable controllers use a method in which the position, speed, etc. of the servo motor are stored for each point, and the servo motor is driven by specifying the stored location (point number). There is. In this case, the content of the position data memory corresponding to the designated point number becomes the position of the servo motor, and the position designation and the servo motor drive command are provided separately.

Moreover, when the execution of the servo motor drive command after this position designation is completed, the position designation is automatically incremented.

Problems to be Solved by the Invention However, from the standpoint of the user of a programmable controller for a winding machine, in order to specify the position of the servo motor, it is difficult to specify the position of the servo motor by rotating the trundle in synchronization with the rotation of the main shaft in one direction. - As a sub-axis for scanning, the amount of movement of the winding width of the bobbin is often specified to be repeatedly reversed. In other words, the winding width (traverse width) of the bobbin is used as the amount of movement, and the number of windings of the spindle is specified according to the amount of movement, and this is configured in a sequence such that reversal positioning is performed for the number of times of traverse. In such a case, with the above configuration, it is necessary to specify the position for the number of reversals, and the start of the servo motor for reversals is delayed by the number of scans of the programmable controller, which may cause problems with the winding condition. There is. Also, when you want to constantly check the value of a certain counter and perform some operation on the value of the counter, you have to execute position designation and drive commands frequently.
This has the disadvantage that the user program becomes extremely complicated.

The present invention has been made in view of the above problems and aims to provide the following.

Means for Solving the Problems In order to solve the above problems, the present invention specifies a position data address and an arbitrary counter when driving a servo motor in an instruction of a user program, and the amount of movement of the servo motor is specified. The value designated by the position data address can be inverted as many times as the count value.

Effect of the present invention With the above-described configuration, the amount of movement corresponding to a certain amount is stored in one of the position data memories, and the number of times of traverse of the coil of the above-described example is set in advance in the counter, thereby controlling the servo control. The motor performs a reversal operation according to the number of times, and at the same time a specified counter is incremented.

Embodiment FIG. 1 is a block diagram showing the main structure of a programmable controller according to the present invention. In Figure 1,
1 is a user program memory, 2 is a counter memory that stores the count value of the counter, 3 is a position data memory used to specify the position of the servo motor, 4 is a CPU, 5 is an NC device, and 6 is a main axis for winding X An axis servo amplifier, 7 a servo motor driven by the amplifier, 8 a Y-axis servo amplifier which is a sub-axis for performing traverse operation, and 9 a servo motor driven by the amplifier.

The CPU 4 executes instructions of the user program, performs counter operations, and provides designated position data to the NC device.

FIG. 2 shows the movement of the main shaft flyer and the sub shaft traverse in an actual bobbin.

For the sake of explanation, the winding in one traverse is 15 turns,
Although one bobbin is traversed four times to finish winding, it does not matter if the number of windings or number of traversals is different.In Figure 2, 2 is the counter memory, and 10 is the coil that is wound. 11 is the rightmost position where the coil is wound, 12 is the coil, 1 is the leftmost position.
3 is a bobbin, 14 is an X-axis movement pattern of the main axis for winding, 15 is a Y-axis movement pattern of a sub-axis for traversing, 16 is an X-axis point φ position data memory, 17 is a Y-axis point φ position data It's memory. Also, FIG. 3 is an example of instructions for realizing the operation of the present invention.

The winding reversal operation will be explained in detail using FIGS. 1, 2, and 3.

In FIG. 2, in the bobbin 13, when the coil 12 is moved from the left end 10 of the coil winding as a starting point to the right end 15 of the coil winding by the Y-axis motor 9 in FIG.
In order to wind the coil 12, the X-axis motor 8 in FIG. 1 rotates, and the coil 12 reaches the right end 11 of the coil winding. here,
The Y-axis motor 9 reverses and returns to the left end of the coil winding. By repeating this action, the desired action is performed.

For example, if the movement amount of the Y-axis movement pattern 15 is 90
mm, store this in the Y-axis point φ position data memory 17, and store the rotation number of 15 rotations of the Y-axis movement pattern 14 in the X-axis point φ position data memory 16 (in this state. , if CNTφ in the counter memory 2 is assigned as the designation of the number of repeated traverses in the Y-axis operation 15, in order to wind the coil 12 on the bobbin 13 shown in FIG. The counter is set to traverse the Y-axis operation 15 every time (operation from the left end of the coil winding 1φ to the right end of the coil winding 11 or from the right end of the coil winding 11 to the left end of the coil winding 1φ). , are incremented one by one, and an output signal is output when the set value is reached.In other words, since the NC device 5 continuously performs the reverse traverse operation, there is no need to manage the operations in sequence. The so-called traverse function can be easily realized.This movement command is 1φ1 in Fig. 3.
, 1φ2. WID of 1φ1 represents the winding drive of the motor, φ is the address of the position data memory 3, and CNTφ is the counter number of the counter memory 2. 1φ2 has the same meaning as the address of the position data memory 3 and the counter memory 2 are changed. 1φ1, the movement of the Y-axis point φ position data memory 17 is performed in forward and reverse directions, and
This command instructs to repeat the movement of the axis point φ position data memory 16 in the same direction the number of times CNTφ of the counter memory 2.

Moreover, this can be realized by applying an 8-bit input signal from the outside instead of the above-mentioned counter. The principle is the same except that the count value of the counter is replaced with external input data.In this case, the instructions 1φ3, 1
It is φ4. Fig. 3 Compared to 1φ1 and 1φ2, CNTφ,
CNTl has replaced Xφ and X8. In this example, X is used as an input signal identification code, and the number indicates its position. In this instruction, Xφ starts from φ8
It means bit data, and X8 means 8-bit data starting from 8. This 8-bit data may be binary or BCD.

Note that the number of axes of the servo motor and the setting of the axes are not limited to these.

Effects of the Invention As described above, the present invention reduces and processes the position data memory by moving the value of the position data memory in the opposite direction by the count value of the counter or the value of the external human input signal and giving a command to the servo motor circuit. This makes the device extremely easy to use for users as it improves efficiency and allows for easy traversal functions.

It should be noted that the present invention can be applied not only to the above-mentioned winding operation but also to index operations in various production processes, and it can be seen that the effect of implementing the present invention is great.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the main structure of the present invention, FIG. 2 is an explanatory diagram when the present invention is applied to traverse winding operation, and FIG. 3 is a diagram showing an example of instructions. 1...User program memory, 2...
・Counter memory, 3...Position data memory,
4...CPU. 5...NC device, 6...X-axis servo amplifier, 7...X-axis servo amplifier, 8...
・X-axis motor, 9...Y-axis motor, 10...
...Coil winding left end, 11...Coil winding right end, 12...Coil, 13...Pobbin, 14...X-axis operation pattern , 15. Old...
Y-axis movement pattern, 16...X-axis point φ
Position data memory, 17... Y-axis point φ position data memory.

Claims (2)

[Claims] (1) A user program memory in which a user program is stored, an input circuit to which an external input signal is applied, an input means for reading the input signal, and a count value is added or subtracted each time a count pulse is input. means for performing a counter operation to prohibit counting after the count value reaches a preset value; a counter memory for storing the count value; and means for setting a specific value in the counter memory; a servo motor circuit that drives the servo motor by the number of pulses; a position data memory that serves as position data for the servo motor; an input means for writing position data in the position data memory in advance; means for specifying the position of the servo motor by giving a command to the servo motor; means for specifying an address of a position data memory in a drive command for the servo motor in the user program and at the same time specifying an arbitrary value to the counter; a programmable controller comprising: means for giving a command to a servo motor circuit to alternately reverse the position movement of the address of the specified position data memory by the count value of the counter; (2) The programmable controller according to claim 1, wherein an external input signal is used instead of the count value of the counter.