JPH0352596A - Controller for stepping motor - Google Patents

Abstract

PURPOSE:To eliminate the need for a counter circuit, and to reduce the cost of a device by providing an input means capable of arbitrarily assigning the position of the decimal point of a travel and an arithmetic means arithmetically operating pulse number for drive and counting output pulse number. CONSTITUTION:A CPU(a central processing unit) 1 is provided for controlling a stepping motor 7 to be controlled. Pulse number for drive is arithmetically operated by the CPU 1 from lead pitches input from a switch group 5, a stepping angle and a travel. The position of a decimal point can be assigned on the input of the travel. One pulse is emitted to the stepping motor 7 by the decision of the possibility of a pulse output. When output number reaches an arithmetic value, the completion of movement required is decided. An actual travel is arithmetically operated and displayed by the CPU 1 according to the location of a decimal point 10 designated to a display 8 in said operation. Consequently, a special counter circuit is unnecessitated.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a stepping motor cocitrol device for controlling a stepping motor.

(Prior art) A stepping motor is a motor whose output shaft rotation is proportional to the number of input pulses, and the moving distance of a moving object moved by the motor can be very accurately determined by the number of pulses input to the motor. It has the characteristic of being controllable. A stepping motor control device controls this stepping motor by applying pulses to it.

In conventional stepping motor control devices, when the number of pulses to be applied to the stepping motor is input as data, the pulses are sequentially output to the stepping motor until the number of output pulses reaches the number input as data. When this happens, the output of this pulse is stopped and IL is activated.

In addition, the stepping motor control device was equipped with a display that displayed the number of pulses output to the stepping motor control device.
Since the number of output pulses was counted by a specially installed hardware controller, the position of the decimal point was fixed and could not be moved. This is because to change the position of the decimal point in a hard counter. In other words, in order to change the minimum and maximum display digits, it is necessary to change the coefficients of the counter created in hardware.
A counter whose coefficient can be changed in this way is
This is because the circuit configuration becomes extremely complicated, leading to a significant increase in the cost of the device.

(Problem to be Solved by the Invention) By the way, it is not desirable that the position of the decimal point of the number displayed on the display is fixed.

This is because the distance to be moved by the stepping motor may be very short or very long, and in any case, the minimum and maximum digits remain the same, depending on the user. It was inconvenient for me to use.

Note that the applicant does not input the number of pulses that the device should output to the stepping motor. We have developed a device that, when inputting the distance to be moved, displays the number of pulses required to move that distance and then outputs that number of pulses. This strongly emphasizes the need to eliminate the trouble of calculating the number of pulses to be output, since in the case of conventional devices in which the number of pulses to be output is input, the number of pulses to be output must be calculated from the desired travel distance. This was because he recognized it. In devices like this that calculate the number of pulses to output when the distance traveled is input, it is more appropriate to show the actual distance traveled on the display rather than the number of pulses output as in the past. It is.

And even if you display the distance traveled like this. It is preferable to allow the user to arbitrarily specify the position of the decimal point in the display.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a stepping motor control device in which the decimal point position for displaying the number of output pulses or moving distance can be arbitrarily specified. In order to achieve the above object, the present invention provides an input means for specifying the decimal point position, and when the decimal point position is specified by operating the input means, the decimal point coefficient and the pulse are calculated by the calculation means. This i
The calculation results are displayed.

(Operation) According to the present invention, the calculation means multiplies the number of pulses or the moving distance by the decimal point coefficient corresponding to the designated decimal point position by operating the input means, and the result of the multiplication is displayed on the display means. , so there is no need to worry about changing the coefficients of the counter circuit using hardware.
The position of the decimal point in the display can be changed arbitrarily.

(Actual IJ! flll> An embodiment of the present invention will be described below in detail based on the drawings.

FIG. 1 is a circuit block diagram showing an embodiment of the present invention. In the figure, 1 is a CPIJ (central processing unit), 2 is a ROM (ROM) that stores programs executed by the CPUI and arithmetic expressions to be described later.
3 is a RAM that stores the input step angle, lead pitch, and moving distance of the controlled motor.
(Raddam access memory), 4 is an input board, 1, which takes in the signal input from the switch group 5 provided on the control panel of the stepping motor control device;
6 is an output boat that outputs pulses to control the controlled stepping motor 7, and
8 to display a display signal.

In addition, in this staping motor control device, even if the power switch is turned off, the RAM3 is backed up as the 'IN source, so the -8 memorized step and y angles,
Lead pitch is deleted. It is now possible to continue remembering it unless it is replaced.

FIG. 2 shows the digits displayed on the display 8. In this display 8, each of the display digits 91 to 96 has a decimal point display section IO, and the digit on which the decimal point is displayed is not fixed.

Figure 3 is a flowchart showing the block diagram executed by C F'UI. Please confirm whether the step angle and lead pitch of the Sopisig motor have been set.
Determine whether or not the rib angle, lead-by, and sochi inputs have been made. If the result of this determination is "No," this determination is performed until a determination result of "Yes" is obtained.
Input of the step angle, etc., is performed by operating the switches in the switch group 5.

(c) "Settings" If the judgment result of SDE/TBU (mouth) is "High", that is,
If input is made for step angle, lead distance, etc., the input step...! RAM corner, lead beach I
3. Configure the settings by storing them in 3. Note that once the settings have been made, the settings will remain in effect even if the power switch is turned off. I mean. This is because the RAM3 is backed up by a backup power source.

(2) "Input travel distance?" [If the judgment result in step (a) is "Yes", or if the setting in step (b) is completed, check whether the travel distance has been input or not. Repeat until a "high" judgment result is obtained.

Incidentally, the movement distance can also be input by operating the switches in the switch group 5 according to certain rules.

(e) "Movement distance setting" If the judgment result of the above step (2) is "high", set the movement distance.

(v) "Decimal point movement input?" When step (e) is completed, it is determined whether or not a decimal point movement input has been made.

In this stepping motor control device 1n, the distance traveled is displayed on the display 8, and the decimal point can be changed arbitrarily in displaying the distance, and an input to change the decimal point is provided. This step determines whether or not TI+ occurred.

The person who changes the decimal point is also the switch in switch group 5.
This can be done by operating Sochi according to certain rules.

(g) “Change decimal point coefficient” If the judgment result in step (g) above is “yes”,
Change the decimal point coefficient accordingly. In this embodiment, the decimal point coefficient becomes l if there is no change in history.
The decimal point is located at the third digit from T-'. When step (g) is finished, steppi;
↑11 determines whether a start command to start driving the motor has been issued. This determination is repeated until a constant result of "high" is obtained.

(i) "Calculation" When the determination result of step (i) is obtained, the number of pulses to be applied to the stepping motor is calculated.

This arithmetic expression is stored in the ROM 2, and its contents are as follows.

(J) "When is it time to output a pulse?" When the calculation is completed, it is determined whether or not it is now time to output a pulse to the stepping mode. This is because the stepping motor 7 cannot respond even if it receives a large number of pulses per hour, so a time interval of more than a certain amount is provided between the time when one pulse is generated and the time when the next pulse is generated. When outputting a pulse, it is necessary to always determine whether or not it is okay to output the pulse, and to output the pulse only when the determination result is that it is okay. The decision is made in this step (nu): "When outputting pulses?
”.

(l) "Pulse output" If the determination result in step (n) is "high", one pulse is output to the stepping motor 7.

(w) "Display operation" If the judgment result in step (w) is "yes", display performance is performed. This display calculation is a calculation to obtain a numerical value to be displayed on the display 8. The numerical value displayed on the display 8 is the actual distance traveled in this embodiment,
The calculation formula is basically as follows.

However, in this step sigma motor control device, since the small dots are moved and displayed, it is necessary to multiply the answer of the E notation by a decimal point coefficient. Therefore, the arithmetic expression for this display calculation is as shown below.

In this embodiment, the decimal point coefficient is l if there is no change. Then, if there is a change, 10,100 or 0.1 depending on the content of the input instructing the change.
．． 0.01. O. (Changes as >01, and
The relationship between the decimal point coefficient and the digit where the decimal point is located is as shown in FIG.

Also. In the above equation, the number of output pulses is
This is not the number of pulses obtained by the calculation in step <e), but the number of pulses actually output to the stepping motor 7. Conventionally, a hard counter circuit was used to calculate this pulse. However, in the present invention, since the CPU 1 itself has a pulse output counting function, this function is used to cause the CI to perform the counting. Therefore, the "display calculator" in step (H) includes a count and an operation using the 41st arithmetic expression, and. This is done by utilizing the idle time between pulse outputs.

in this way. The number of pulse outputs is counted using the output pulse number counting function of the CPUI, and the step angle. The value to be displayed on the display 8 is obtained by appropriately calculating the lead pitch and the decimal point coefficient, so it is not necessary to provide a hardware counter and have the counter count the number of output pulses. Also, when using a hardware counter, the decimal point coefficient created by the hardware must be made variable.
Although it is not possible to change the decimal point position, if you want to count the number of pulses using the output pulse count function of CPU I, you can simply change the decimal point coefficient and perform display calculations. This allows the decimal point to be moved.

(W) "Display signal output" When the calculation in step (W) above is completed, a display signal is output to the display 8 to display the distance traveled.

(I) “Has the number of outputs reached the calculated value?” When step (L) or (W) is completed, check whether the number of pulses that have already been output has reached the number of pulses calculated in step (E). Make a judgment. If the judgment result is "No", return to step (N).Therefore, steps (N) to (Power) will be repeated until a judgment result of "Yes" is obtained.And, When a "high" determination result is obtained for the step (force), that is, when the actual moving distance becomes equal to the moving distance input as data by the user, the end occurs.

It should be noted that it may be possible to return to step (A) instead of entering the entry point.5 In this way, in this stepping motor control device, the number of output pulses is counted by the counting function of C P [J l, and the number of output pulses is counted. In addition to calculating the travel distance by multiplying the number of output pulses by the lead pitch, etc.,
Since the specified decimal point position is multiplied by the moving distance and displayed, the displayed decimal point can be moved arbitrarily.

In the above embodiment, when the user inputs the travel distance, the number of output pulses required to move the robot by that distance is calculated, and the pulses are output by that number, and the distance traveled is displayed. However, this invention can also be applied to a stepping motor control device of the type that, when the user specifies the number of output pulses, outputs that number of pulses and also displays the number of output pulses on the display 8. . That is, when calculating the number of output pulses, the decimal point can be moved. In this case, the display calculation is to multiply the number of output pulses by a decimal point coefficient.

(Effects of the Invention) As described above, according to the present invention, the calculation means multiplies the number of pulses or the moving distance by the decimal point coefficient corresponding to the decimal point position specified by the operation of the input means. Since the result of the multiplication is displayed on the display means, the position of the decimal point on the display can be changed arbitrarily without the trouble of changing the coefficients of the counter circuit using hardware.

[Brief explanation of drawings]

FIG. 1 is a circuit diagram of an apparatus showing an embodiment of the present invention, FIG. 2 is a diagram showing display digits (display means), and FIG. 3 is a flowchart showing the operation of the apparatus. 1... Calculation f stage (CP(J). 4, 5... Input f stage, 6... Output means, 7... Controlled stepping motor, 8... Display f stage, 10...・Decimal point.

Claims (1)

[Claims] A calculation means, an output means for outputting driving pulses to the controlled motor, and a number of the pulses outputted from the output means to the controlled motor, or for calculating the number. A stepping motor control device comprising at least a display means for displaying the obtained moving distance, and an input means for specifying a decimal point position, and when the decimal point position is specified by operation of the input means, the specified stepper motor control device A stepping motor control device characterized in that the calculation means multiplies the decimal point coefficient corresponding to the decimal point position by the number of pulses or the moving distance, and the multiplication result is displayed on the display means.