JPH0573121A - Cnc controller mounting motor axial edge position accuracy evaluating function - Google Patents

Abstract

PURPOSE:To easily evaluate a CP control with high accuracy by adding a function for evaluating motor axial edge position accuracy according to an encoder feedback value. CONSTITUTION:This controller is equipped with plural motors 3 for driving the machine of a controlled system, encodes 4, control block 2 for driving the motors 3, CPU 11 for issuing position commands, and accuracy calculation block 12 for calculating a distance between a motor axial edge position and a point on a correspondent position commanding orbit as control error by recognizing the motor axial edge position by integrating the number of pulses from the encoder 4. Based on the position command converted in terms of the motor axial position from the CPU 11, the control block 2 drives motors 31-33, encoders 41-43 calculate the moving amounts of the motors 31-33, and the encode pulse signals are outputted. The encode pulse signals are inputted to an encode pulse storage block 13 as the feedback values, and the accuracy calculation block 12 calculates the control error according to the motor axial edge orbit position and the position command of the CPU 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a CNC control device equipped with a function for evaluating the accuracy of motor shaft end position control from encoder feedback values.

[0002]

2. Description of the Related Art In a conventional CP control CNC control device, the dimensions of cut samples are measured by a three-dimensional measuring instrument, or the circularity is measured while rotating the inner or outer circumference of a circle. The CP control accuracy was evaluated at.

[0003]

However, the above-mentioned conventional evaluation method is very troublesome, and it is difficult for a user who does not have the above-mentioned measuring device to perform accurate evaluation.

The present invention solves such a problem, and a function of evaluating the motor shaft end position control accuracy from the encoder feedback value is added to the CNC control unit, so that C
An object of the present invention is to provide a CNC control device capable of easily and accurately evaluating P control accuracy.

[0005]

In order to achieve the above object, the CNC control device of the present invention is such that when the normal line of the position command crosses the motor shaft end locus coordinates calculated by integrating the encoder feedback values. The intersection point of the normal line and the position command is set as the position command coordinate, and the process from the position command coordinate to the motor axis end locus coordinate as the control error is performed.

[0006]

By adding the motor shaft end position control accuracy evaluation function to the CNC controller based on the encoder feedback value, the CP control evaluation can be evaluated easily and with high accuracy.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of a CNC control device of the present invention. 1 is a CPU block, 2 is a control block, 3 is a motor block, 4 is an encoder block, 5
Is a CRT, 6 is a recording or storage device such as a printer or a floppy disk, 11 is a CPU, 12 is an accuracy calculation block, 13 is an encoder pulse storage block, 31 and 3
2, 33 are a plurality of motors, and 41, 42, 43 are a plurality of encoders.

First, the CPU 11 outputs a position command converted into a motor shaft end position, and the control block 2 drives a plurality of motors 31, 32, 33 based on the position command. The plurality of encoders 41, 42, 43 are the motor 3
The moving amount of 1, 32, 33 is detected and the encoder pulse signal is output. This encoder pulse signal is input to the encoder pulse storage block 13 as a feedback value. The accuracy calculation block 12 calculates a control error from the motor shaft end locus position coordinates and the position command of the CPU 11.
The outline of the processing in the accuracy calculation block 12 is shown in FIG. First, the motor shaft end locus position coordinates (x0,
y0) is calculated by integrating the feedback values stored in the encoder pulse storage block 13 until time T0. Next, for the point on the position command of the CPU 11 corresponding to the motor shaft end locus position coordinate (x0, y0) at time T0, the normal line of the position command locus passing through the motor shaft end locus position coordinate (x0, y0) is determined. Point (xa0, ya0) on the position command locus, and the distance between the motor shaft end locus position coordinate and the position command coordinate (xa0, ya0) becomes the minimum. This distance ε0 is used as the position command and the time T of the motor shaft end locus.
It is calculated as a control error at 0, and the error is multiplied by the required magnification and plotted on the normal line of the position command coordinates, and the CR in FIG.
Draw and output at T5. Further, the drawn figure and data are recorded or stored in the recording or storage device 6.

[0009]

As is apparent from the above description, the CNC control device of the present invention adds the function of evaluating the accuracy of motor shaft end position control from the encoder feedback value to make the CP control evaluation simple and high. It can be evaluated with accuracy.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a CNC control device of the present invention.

FIG. 2 is a diagram showing a relationship between a position command, a motor shaft end locus, and a control error in the embodiment of the present invention.

[Explanation of symbols]

 1 CPU Block 2 Control Block 3 Motor Block (Multiple Motors) 4 Encoder Block (Multiple Encoders) 5 CRT (Display) 6 Recording or Storage Device (External Device) 11 CPU 12 Accuracy Calculation Block 13 Encoder Pulse Storage Block

Claims (1)

[Claims] 1. A plurality of motors for driving a machine to be controlled, a control block for driving the plurality of motors according to a command, and a plurality of encoders for outputting movement amounts of the plurality of motors as pulse signals. , A CPU that outputs a position command to a control block, an encoder pulse storage block that stores feedback values output from a plurality of encoders, and a motor shaft end locus at time T0 calculated by integrating feedback values of encoders An accuracy calculation block for calculating the distance between the position coordinates and a point on the position command locus corresponding thereto as a control error at time T0, a display device and a printer for outputting the calculation result of the accuracy calculation block,
CNC controller equipped with a motor shaft end position accuracy evaluation function equipped with an external device such as a floppy disk.