JPH0365088A - Controller of motor - Google Patents

Abstract

PURPOSE:To shorten the initial set time by providing it with a control means, which performs the rotation control of a motor, an integrator, which mechanically counts the number of revolutions of the motor, and a setting means, which sets counter contents, and then setting the counter contents within the range of one rotation of the motor. CONSTITUTION:Since an integrator (i) holds the number of revolutions of a motor c, even if it is let alone in the conditions that a switch (m) is turned off and power supply is inhibited, it mechanically holds the number of revolutions of the motor (c). On the other hand, at the time of restart of the motor (c), the switch (m) is made, whereby power is supplied to a controller (a), a counter (k), a pulse encoder (b), and the motor (c). According to this power supply, the controller 2 gives a signal to the motor (c) so as to make it do low-speed rotation. And when it receives an origin signal from the pulse encoder (b), it sets the contents of the counter (k) according to the contents held in the integrator (i).

Description

DETAILED DESCRIPTION OF THE INVENTION A) Field of Industrial Application The present invention relates to a motor control device having an initial setting function.

2. Description of the Related Art Regarding the arm control of tweezers, multi-jointed robots, etc., accurate control of motors has become possible. In FIG. 3, a conventional incremental pulse encoder (hereinafter referred to as PE) is used. Indicates the country where the motor control system is comprised. In the conventional technology shown in the figure, in order to perform origin positioning, first, the control device Z(a) sends a speed command signal to the motor (e) to cause the rotating body (e) to rotate at a low speed in a predetermined direction. c), and as shown in Figure 4, the output of the limit switch (g) is Hi' and PE(b).
) rotate the rotating body (e) at low speed until the origin output signal becomes "Hi", and when the origin output signal becomes "H4",
The counter (k) was initialized. FIG. 4 shows the relationship between the rotational position of the motor (c), the origin signal of the PE (b), and the output of the limit switch (g) at this time. By the way, with this method, if the rotating body (e) is initially in the opposite position to the limit switch (g), it is necessary to rotate the rotating body (e) at low speed through almost the entire range of rotational movement, especially for multi-joints. In the case of a motor control system with a large number of axes, such as a type robot, the above process must be performed for all axes, and it may take a considerable amount of time to complete the initial settings for all axes. .

C) Problems to be Solved by the Invention The present invention has been made in view of the above points, and is intended to shorten the initial setting time in a motor control device.

2) Means for Solving the Problems In the present invention, in a motor control system that transmits the rotational force of the motor to a rotating body via a reducer, a pulse encoder and a pulse encoder that output pulses according to changes in the rotation angle of the motor are used. a counter that counts up or down in accordance with the pulse output from the encoder; a control means that controls the rotation of the motor while referring to the contents of the counter; an integrator that mechanically counts the number of rotations of the motor; Setting means for setting the contents of the counter using the contents of the integrator upon receiving the origin signal from the encoder;
have.

E) Function Since the counter contents can be set within the range of one revolution of the motor, the initial setting time is shortened.

f) Embodiment Fig. 1 is a configuration diagram of a motor control system according to the present invention.
The figure shows the relationship between the output signal of the integrator according to the present invention and the origin output signal of the PE with the rotational position of the rotating body. Further, in FIG. 1, the same parts 52 as in FIG. 3 are given the same reference numerals. In the figure, (i)j! Output shaft (h) of motor (C)
) is an integrator whose switch (j) is pressed each time the motor rotates by a protrusion provided on the switch (
Addition or subtraction is performed depending on the direction in which j) is pressed, and the number of rotations of the motor is determined mechanically. (k) is the pulse from the above pulse encoder (b) and the motor (C)
This is a counter that counts up or counts down in response to a rotational direction signal, and transmits the contents to the control device (a) and also sends a reset signal for the contents from the control device (a). In addition, the pulse encoder (b
) outputs 1000 pulses and one origin signal during one rotation of the motor (C). This origin signal is transmitted to the control device (a). (Number 1 indicates a power supply device, which connects the control device (a) and counter (k) via a switch (M).
), the pulse encoder (b) and the motor (C).

In a motor control device like the one in 2, the integrator (i) mechanically maintains the rotation speed of the motor (c), so turn off the switch (M) and leave it in a state where the power supply is prohibited. Even so, it's cumulative! (i) mechanically maintains the rotational speed of the motor (C). On the other hand, when restarting the operation of the motor (c), the switch (M) is turned on and the controller (a), counter (k), pulse encoder (b) and motor (c)
A t source is supplied to the In response to this power supply, the control device (a) gives a signal to the motor (c) to cause it to rotate at a low speed. When the origin signal is received from the pulse encoder (b), the contents of the counter (k) are set according to the contents held in the integrator (i). addition! The retained contents of (i) are (
N) As for this setting method, if the number of output pulses of the pulse encoder (b) when the motor (c) rotates once is p, then the content of the counter (k) is preferably NXp. In this way, the contents of the counter (k) are set, and after fS, the control device (a) detects the rotational state of the motor (ri) based on the contents of the counter (k), and controls the motor (c) according to a predetermined program.
) to control the rotation.

Therefore, in such a motor control device, the rotating body (
The contents of the counter (k) can be set until e) rotates Δθ=2π/R (R: reduction ratio).

g) Effects of the Invention -1 As stated above, the motor control device of the present invention has a pulse encoder that outputs pulses according to changes in the rotation angle of the motor, and a pulse encoder that counts up or counts down according to the pulse output from the pulse encoder. a counter; a control means for controlling the rotation of the motor while referring to the contents of the counter; an integrator for mechanically counting the number of revolutions of the motor; and a setting means for setting the contents of the counter using the contents of KW, the initial settings for motor control can be performed with a small amount of motor rotation, and can be used, for example, for initial settings of manipulator operation, etc. The time required is shortened and initial settings can be made more efficient.

[Brief explanation of drawings]

Figure 1 shows the motor of the present invention! FIG. 2 is a block diagram of the I+ control device, FIG. 2 is a timing diagram explaining its operation, FIG. 3 is a schematic diagram of a conventional motor control device, and FIG. 4 is a timing diagram explaining its operation. a...control device, b...pulse encoder, C...
・Motor, d...Reducer, e...Rotating body, k...
Counter, 1...Power supply device. Figure 1

Claims (1)

[Claims] 1) In the motor control system that transmits the rotational force of the motor to the rotating body via the reducer, there is a pulse encoder that outputs pulses according to changes in the rotation angle of the motor, and a pulse encoder that outputs pulses depending on the pulse output from the pulse encoder. a counter that counts down; a control means that controls the rotation of the motor while referring to the contents of the counter; an integrator that mechanically counts the number of revolutions of the motor; A motor control device comprising: setting means for setting the contents of the counter using the contents of the integrator.