JPH05337729A - Motion controller - Google Patents

Abstract

PURPOSE:To provide a cutting device which is simple in regulation and high in accuracy in spite of simple control constitution as compared with the device by the prior art, in a job for cutting a running work into a sizing portion with a rotary cutter. CONSTITUTION:This motion controller forms a command pulse of the same speed as a running work 15 with a circuit 2 receiving a signal of a pulse encoder 1 detecting speed and travel of this running work 15, an electronic gear circuit 3 converting a signal into a ratio, and a first pulse distributor 4, and also it forms the command pulse correcting the position of a rotary cutter through a setter 5 setting the extent of cutting length, a command data operational part 6 seeking a rotary cutter position correction value from peripheral length and the cutting length of a rotary cutter, a command control part 7 performing program control on the basis of the corrected data, and a second pulse distributor 8. It installs a resultant circuit 9 combining these two command pulses in one and this resultant command is outputted to a servo driver, through which it is made so as to control a rotational position of the rotary cutter as its constitution.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to control of a constant-size cutting device using a rotary blade among industrial machines using a servomotor.

[0002]

2. Description of the Related Art The conventional control of a constant-size cutting device by a rotary blade is described in Japanese Patent Publication No. 59-33488, digital servo running cutting device, Japanese Patent Publication No. 61-44639, rotary cutter control device, and the like. ing. FIG. 7 is a control block diagram showing a configuration of an example of a conventional constant-size cutting device using a rotary blade. In the figure, 1 is a pulse encoder that detects the speed and movement distance of a workpiece, 5 is a setter that sets the cutting dimension of the workpiece, and 20 is a workpiece that counts the pulses of the pulse encoder 1 starting from a cutting completion signal F. The counters A and 21 for sequentially storing the moving distance of the F / V convert the pulse cycle of the pulse encoder 1 into an analog voltage.
A converter, 22 is a counter B for counting pulse encoder pulses on the rotary blade side, and a counter B for sequentially storing the rotational movement amount (angle) of the rotary blade, and 23 is a computing unit for computing the outputs of the setter 5, the counter A20, and the counter B22. , 24 is a D / A converter for converting the output of the computing unit 23 into an analog voltage, and 25 is D
A function generator for amplifying the A / A converted output, 26
Is the output V1 of the function generator 25 and the output V2 of the F / V converter
V2−V1 from the adder, 27 is a changeover switch,
28 is a counter C that sequentially counts the pulse encoder pulses of the rotary blade from the preset value set with the cutting completion signal F as a starting point, 29 is a D / A converter that converts the output of the counter C 28 into an analog voltage, and 10 is a servo A driver, 11 is a servomotor for driving the rotary blade, 18 is a speed detector, 12 is a pulse encoder for detecting the rotational position of the rotary blade, 13 is a rotary blade, 19 is a sensor for detecting completion of cutting, and 15 is a non-cut object. It is a processed product.

Next, the operation of the conventional method will be described. Set cutting dimension L and rotation length (perimeter) C of rotary blade
And a value A of a counter that counts the pulses from the pulse encoder 1 that detects the moving distance of the workpiece during traveling,
The value B of the counter that counts the pulses from the pulse encoder that detects the rotational position of the rotary blade is sequentially calculated by the calculator as R = (LCA + B), and the value of R is D /
A voltage V1 converted into an analog voltage by the A converter and a voltage V2 converted from a pulse signal of the pulse encoder 1 for detecting the traveling of the workpiece into an analog voltage by the F / V converter.
The value obtained by adding and is supplied as a speed voltage to the servo driver, and the rotary blade is controlled via the servo motor so that the value of R becomes zero. When the cutting position of the workpiece coincides with the rotating position of the rotary blade, the value of R becomes zero. At this time, the speed voltage supplied to the servo driver becomes V2, and the traveling speed of the workpiece and the peripheral speed of the rotary blade become the same. The control is performed so that the cutting can be performed at this time. Simultaneously with the completion of cutting, the changeover switch is changed over to the output on the counter C side and stops after moving a predetermined rotary blade.

[0004]

SUMMARY OF THE INVENTION In a conventional sizing cutting device using a rotary blade, each counter value of the traveling speed and moving distance of the workpiece and the rotary position of the rotary blade is converted into an analog voltage to obtain a speed command (voltage). The rotational speed of the rotary blade is controlled by means of which the result is successively returned to the respective position counters for control, which complicates the configuration of the control unit, and also the D / A converter, F
Since there are many circuit elements that handle analog voltage, such as the / V converter,
Since it is necessary to adjust the analog voltage such as zero adjustment in each element, the adjustment becomes difficult. Further, since an analog voltage is handled, there is a problem that it is easy to change with time due to drift and the like, and it is difficult to maintain accuracy. In order to make this system digitally controlled, it is necessary to sequentially issue new commands while looking at the current position. For this reason, high-performance CPU processing is required, which is expensive.

The present invention has been made in order to solve the above-mentioned problems, and an object thereof is to obtain a slicing machine with a control structure which is simpler than that of the conventional system, which can be easily adjusted and has a high precision.

[0006]

SUMMARY OF THE INVENTION The present invention is intended to perform high-speed and highly-accurate sizing cutting by changing the position control of the drive by the speed control of the rotary blade which is conventionally performed. , A means for controlling the rotational peripheral speed of the rotary blade by a signal from a pulse encoder that detects the speed of the workpiece, and a means for correcting the difference between the cutting dimension and the peripheral length of the rotary blade, so that the rotary position of the rotary blade is set to the cutting position. In order to match, the position is corrected by a program.

[0007]

The electronic gear and the first pulse distributor according to the present invention make the peripheral speed of the rotary blade equal to the traveling speed of the workpiece based on the pulse signal of the pulse encoder for detecting the traveling position of the workpiece. Position command pulse is output. On the other hand, the second pulse distributor of the position correction means outputs a position command pulse for position control based on the position correction amount of the rotary blade. The command pulses of both are combined to drive the servo driver for traveling. Can cut the inside workpiece to a certain size.

[0008]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a control block diagram of the present invention. In the figure, 1 is a pulse encoder that detects the speed and movement amount of a traveling workpiece, 2 is an input circuit that receives the pulse signal of the pulse encoder 1, 3 is an electronic gear circuit that converts the pulse signal at an arbitrary ratio, and 4 is A first pulse distributor that creates a command pulse based on the data converted by the electronic gear, 5 is a setting device that inputs the cutting length of the workpiece, and 6 is the rotary blade from the cutting length and the circumference of the rotary blade. A command data calculation unit for obtaining a position correction amount, 7 is a command control unit for instructing the position of the rotary blade based on the position correction amount, and 8 is a second pulse distribution for generating a command pulse according to a command from the command control unit 7. Device, 9 is a synthesizing circuit for synthesizing both command pulses, 10 is a servo driver, 11 is a servo motor, 12 is a position detector attached to the servo motor, 13 is a rotary blade, and 14 is a cutting completion position of the workpiece. Judge Current value register, 15 denotes a workpiece serving as a non-cutting material. Reference numeral 16 represents a synchronous speed control unit which controls the speed of the position correction command of the rotary blade based on the pulse signal from the pulse encoder which detects the traveling speed of the workpiece which is another embodiment.

Next, the operation of the embodiment of the present invention will be described. In FIG. 1, a pulse signal of a pulse encoder 1 for detecting the speed and movement amount of a traveling workpiece is sequentially taken into a pulse counter via an input circuit 2. The electronic gear 3 makes the value of the pulse counter a minute unit. It is taken in every time, and ratio conversion is performed so that the movement amount of the workpiece becomes the command pulse amount corresponding to the circumference of one rotation of the rotary blade. The ratio is the pulse amount of one rotation of the pulse encoder and the movement amount of the workpiece 15 as described above. , Which is obtained from the command pulse amount of the rotary blade having the same circumference as the moving amount and is determined by the mechanical system of the cutting device. The first pulse distributor 4 creates a command pulse for every minute time based on the data whose ratio is converted by the electronic gear. This command pulse serves as a command to drive the rotary blade so that the peripheral length is the same as the movement amount of the workpiece 15. As described above, when the workpiece 15 travels, the position is controlled by the command pulse so that the speed of the workpiece 15 and the peripheral speed of the rotary blade become the same speed. For example, when the cutting length of the workpiece and the circumference of the rotary blade are the same, continuous cutting can be performed only by the above control.

Next, the case of controlling based on the set cutting length will be described. When the cutting length L is set as shown in FIG. 2, the peripheral length R of the rotary blade is set in advance as a parameter. The command data calculation unit 6 obtains the rotary blade position correction amount D by D = RL and transfers it to the command control unit 7 as a command program amount. The command control unit incorporates the position correction amount D into a control program installed in advance,
The program is executed in response to the cutting completion signal from the current value register, whereby the position correction amount of the rotary blade and the speed data are transferred to the second pulse distributor 8. In this case, when the position correction amount D is positive (D> 0), it is a plus command, and when it is negative (D <0), it is a minus command. The control program uses the NC program as shown in FIG. 2, and the position and speed are expressed by G01X ± x1Ff; M02; is a command indicating the end of the program. The command program is a current value register for judging the cutting completion position. It is activated every time by the signal of 14, and the rotary blade is corrected at the timing between cutting.

Next, referring to FIG. 3, FIG. 3A shows the traveling state of the workpiece 15 at the speed v1. “A” indicates a cutting point, and the hatched area (time × speed) corresponds to the cutting length. FIG. 3B shows the rotation of the rotary blade at the peripheral speed v1. This shows the control with only the command pulse of the first pulse distributor 4 so that the speed is the same as that of the running workpiece 15. “B” indicates the point of one rotation of the rotary blade, and the shaded area corresponds to the circumference of one rotation of the rotary blade. From this, it can be seen that the cutting length and the perimeter do not match. FIG. 3C shows a command for position correction of the rotary blade. The signal is activated by the cutting completion signal and is controlled at the speed v2 so that the command ends within the section of the cutting point a. This is output as the command pulse of the second pulse distributor 8. The above commands (B) and (C) are combined by the combining circuit 9 and shown in FIG.
Is output to the servo driver as a command shown in to drive the rotary blade. In the figure, in the vicinity of the cutting point a, the peripheral speed of the rotary blade is controlled by the speed v1 of the workpiece, and in the correction of the rotational position (difference between the cutting length and the peripheral length), the speed is controlled by v3 = v1 + v2, and the shaded area is This corresponds to the circumference of one rotation of the rotary blade, whereby the rotary blade accurately performs position control for one rotation at the timing of the cutting point a. FIG. 3 (E) shows a case where the correction command is negative, and the command via the synthesis circuit 9 is (F).
The speed is reduced for correction as shown in. This is because the correction command is executed in the direction opposite to the rotating direction of the rotary blade to correct the position of the rotary blade.

FIG. 4 shows a processing flow chart of the synthesizing circuit 9. The synthesizing circuit 9 is processed every minute time interval. The output of the first pulse distributor 4 and the output of the second pulse distributor are fetched at each processing timing of a minute time, and both commands are added and output as a position command for each minute time to the servo driver at each processing timing.

As still another embodiment, the operation of the synchronous speed control unit 16 in the case where the synchronous speed control unit 16 is provided will be described. This synchronizes the rotational position correction of the rotary blade with the traveling speed of the workpiece 15, and even if the traveling speed of the workpiece 15 changes, the position correction speed can also follow the change. FIG. 5 shows a processing flowchart in a case where the correction operation is performed at a time 0.6 times the cutting time interval (depending on the traveling speed of the workpiece). In the figure, in step 1, the data ΔPi of the pulse encoder for detecting the movement of the work piece is taken in every minute time interval, and in step 2, the following calculation is performed with the cutting length being 0.6 times, ΔP = ΔPi × (D / L × 0.6) D is the rotary blade position correction amount, and L is the cutting length. Accordingly, ΔP corresponds to the speed of the position correction command for the rotary blade. That is, it becomes minute position data for each minute time interval for performing the correction operation at a time that is 0.6 times the cutting time interval. Step 3
Then, the ΔP is subtracted from the position correction amount D, and the subtraction is performed each time this processing passes at a minute time interval, and the value of D is decreased by ΔP. In step 4, the remaining amount of D (correction remaining command) is checked. If the remaining amount is positive in step 5, Δ
P is output to the second pulse distributor 8 as a minute time position command. As a result, ΔP is output for each process while the remaining amount is positive. On the other hand, if it is determined in step 6 that the remaining amount is negative, the remaining amount is output to the second pulse distributor 8 as a position command, which completes one position correction operation.

According to the present control method, even if the command timing for the position correction of the rotary blade by the cutting completion signal varies as shown in FIG. 6, the position correction command is terminated before the next cutting point. If it is placed, the area of the shaded portion in the figure corresponds to the circumferential length of the rotary blade, and no error occurs.

Example 2. In the above-mentioned embodiment, the cutting control of the running workpiece by the rotary blade is described, but other than this, it is also applicable to the sealing processing of the running packaging at a constant interval by the packaging machine, perforation processing and stamping processing.

[0016]

As described above, according to the present invention, the position command based on the signal of the pulse encoder for detecting the speed and the movement amount of the traveling workpiece for controlling the continuous rotary blade, the cutting length and the rotary blade By combining with the position command based on the correction amount of the rotational position obtained from the circumference, it can be performed with higher accuracy. In addition, since all output up to the servo driver is digitally controlled, complicated adjustments at the time of setup are not required, and there is an effect that more stable control of the rotary blade can be performed.

[Brief description of drawings]

FIG. 1 is a control block diagram of rotary blade control as an embodiment of the present invention.

FIG. 2 is an explanatory diagram for command-controlling a position correction amount of a rotary blade according to an embodiment of the present invention.

FIG. 3 is a speed pattern diagram illustrating a control operation of a rotary blade according to an embodiment of the present invention.

FIG. 4 is a processing flowchart of a synthesizing circuit according to an embodiment of the present invention.

FIG. 5 is a processing flowchart of a synchronous speed control unit in an embodiment of the present invention.

FIG. 6 is a supplementary explanatory diagram according to an embodiment of the present invention.

FIG. 7 is a control block diagram of a conventional device.

[Explanation of symbols]

 1 pulse encoder 2 input circuit 3 electronic gear circuit 4 first pulse distributor 5 setting device 6 command data calculation unit 7 command control unit 8 second pulse distributor 9 combination circuit 10 servo driver 11 servo motor 12 position detector 13 Rotary blade 14 Current value register 15 Workpiece 16 Synchronous speed controller

Claims (1)

[Claims] 1. An external movement in a control of cutting an external moving object by a rotating blade by a motion controller that sequentially decodes a motion program and sequentially outputs a position and speed command designated by the program to a servo driver. A means for inputting a pulse signal from a pulse encoder that detects the position and speed of an object (workpiece),
An electronic gear circuit that converts the input pulse signal at an arbitrary ratio and a first pulse distributor that controls the rotation of the rotary blade at the same peripheral speed as the speed of the external workpiece are provided, and the cutting dimension of the workpiece is set. Means for inputting, means for calculating the correction amount of the rotary position of the rotary blade from the circumference and cutting length of the rotary blade, position command means for executing the correction amount as a program, and second pulse distribution for outputting the position command It is possible to cut a moving work piece to an arbitrary size by providing a device and a circuit for combining the outputs of the first and second pulse distributors and outputting the combined command to the servo driver. Motion controller characterized by