JPH07288990A - Pulse train input behavior measuring apparatus - Google Patents

Abstract

PURPOSE:To provide a pulse train input behavior measuring apparatus in which the behavior can be measured according to an actual drive system by measuring a data representing the time variant state of drive pulse train signal outputted from a controller and a data representing the time variant state of displacement at a drive section and then outputting both data while matching the timing reference. CONSTITUTION:A laser feed monitor 21 is disposed relatively to a motor application unit 31 and a laser light reflected on a paper 311 is received in order to obtain the displacement information of the paper. The displacement information is converted through a forward/reverse pulse converter 22 into forward/reverse pulses in the direction of displacement and delivered, as a position detection pulse signal C, to a behavior measuring unit 1. The behavior measuring unit 1 measures variation in the state for a drive signals to drive motors 312, 320 and position detection pulse signals C of the paper 311 and a carriage 315 and delivers measurements while matching the timing reference. Consequently, micro displacement behavior at a series of driving sections can be measured in the actual operational sequence of the motor application unit 31.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pulse train input type behavior measuring apparatus, and more particularly to a pulse train input type behavior measuring apparatus for measuring the behavior of a drive unit of a motor application apparatus using a pulse driven motor with high accuracy. .

[0002]

2. Description of the Related Art A pulse motor (stepping motor), a DC servo motor, and an AC servo motor are widely adopted in OA equipment, FA equipment, automobiles, medical equipment, housing equipment, amusement machines, industrial machines, etc., and are highly accurate. It enables rotation, stop, positioning and constant speed drive control. Such a motor is controlled by a pulse train supplied from a digital controller built in the device.

Conventionally, as a device for measuring an angular displacement of a motor, a device for supplying a predetermined driving pulse to the motor and measuring an angular displacement of a motor shaft by an encoder is generally used. In this measuring device, the motor and the encoder for position detection are set on the same axis, and the motor drive signal output from the measuring device is supplied to the motor via the driver to drive the motor and By capturing the output signal, the angular displacement of the motor with respect to the drive signal is measured.

[0004]

As described above, the conventional angular displacement measuring device for a motor or the like supplies a drive signal from the measuring device to the motor and takes in the output from the encoder set in the motor to obtain the motor. The angular displacement was measured.

However, in general motor application devices, there are few devices that operate on one axis alone, and many devices that drive a plurality of motors at the same time to control each axis. In this case, the condition of the drive unit to be measured, that is, the vibration width of the motor shaft or load shaft due to overshoot or undershoot during motor acceleration / deceleration, and the operation stabilization time, etc., may vary slightly depending on the position of each axis. Therefore, the conventional angular displacement measuring device as described above cannot accurately measure the behavior of the drive unit.

For example, in a pulse motor application device, there is a start delay, a meandering, an overshoot, an undershoot, and a delay even if the synchronization cannot be lost due to the number of phases of the pulse motor, the excitation mode, the load torque, and the load inertia. To do. For example, in the case of a two-phase pulse motor, it rotates while advancing / lagging by ± 2 steps at a full step angle and ± 4 steps at a half step angle. In the case of a 5-phase pulse motor, the motor rotates while advancing and delaying ± 5 steps at a full step angle and ± 10 steps at a half step angle. Further, when the rotating pulse motor is stopped without overrunning, the vibration is repeated around the stop angle position and the damping vibration time of several tens to several hundreds (ms) elapses and then stops. Furthermore, when changing the rotation direction of the pulse motor, a hysteresis error occurs in the step angle.

If a brushless servomotor or an AC servomotor is equipped with an encoder to form a closed loop and pulse train control is performed in the same manner as pulse motor control, a deviation counter is used. In this case,
The accumulated pulse of the deviation counter becomes a delay amount of the motor with respect to the control input, which impedes the synchronism.

Further, in the mounting mechanism of the control motor, error factors such as variations in load torque caused by parts precision and assembly precision, reduction gear backlash, mechanical backlash, belt elongation, roller roundness, roller eccentricity, etc. , Which impedes synchronicity.

Furthermore, as described above, the motor application device often uses a plurality of motors, and the solenoid, print head, and other motors often operate in synchronization with the movement of the motors. In such a case, the operation of other components causes a load fluctuation, which impairs synchronism.

As described above, when controlling the operation of the equipment by using the pulse train, it is difficult to obtain the result corresponding to the pulse in synchronization with various obstructive factors, and the printing quality (accuracy) of the printer or the facsimile and the plotter. Cause deterioration of drawing quality. These measures are the main reason for the long development time. Further, it is a major cause of troubles on the line and complaints from the market even during mass production.

Therefore, the precise measurement of the behavior of the load shaft in the actual motor application device cannot be performed by the conventional angular displacement measuring device.

Further, since the conventional angular displacement measuring device measures by supplying a driving signal for driving the motor from the measuring device, a series of driving parts (driving target parts) in the actual operation sequence of the motor application device. It is not possible to measure the fine displacement behavior of.

Therefore, an object of the present invention is to provide a pulse train input type behavior measuring apparatus capable of measuring a fine displacement behavior of a drive unit of a motor application apparatus according to an actual drive sequence.

[0014]

In order to solve the above-mentioned problems, a pulse train input type behavior measuring apparatus of the present invention has a time of a drive pulse train signal output from a controller incorporated in a motor application apparatus using a motor. First measuring means for measuring data indicating a change state with the passage of time, a detector for detecting displacement of the drive unit set in a predetermined drive unit of the motor application device, and detection by the detector Second measuring means for receiving the displaced displacement data and measuring data indicating a state of change of the displacement data over time, and data obtained by the first measuring means and the second measuring means. And an output means for outputting each of them in conformity with the time lapse reference.

[0015]

According to the present invention, the data showing the change state of the drive pulse train signal output from the controller incorporated in the motor application device with the passage of time and the displacement of the predetermined drive portion of the motor application device with the passage of time. The data indicating the accompanying change state is measured, and both measured data are output with the time lapse criteria matched with each other.

[0016]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is a configuration diagram of a measurement system in an embodiment of a pulse train input type behavior measuring apparatus according to the present invention.

In FIG. 1, the controller 3 in the whole apparatus 3 is shown.
CW (clockwise) clock signal A and CCW (counterclockwise) clock signal B and CW clock signal A'and CCW clock signal B'as motor drive signals from 3 are taken in by the behavior measuring device 1 and displacement detection is performed. Configure the container 2. For example, a motor application device 3 such as an electronic printer
The forward / reverse pulse converter 22 is based on the displacement data obtained from the detectors 21 and 23 set in a predetermined driving unit in the unit 1.
At 24 and 24, the position detection pulse signal C including the direction information of the displacement is taken in, and the displacement behavior of the drive unit with respect to the actual drive signal is measured.

In the whole apparatus 3, the CW clock signal A and the CCW clock signal B and the CW clock signal A'and the CCW clock signal B'from the controller 33 are sent to the motor drivers 32A and 32B, and the motor driver 32.
Various drive motors of the motor application device 31 are driven by A and 32B. The various drive motors include paper 3
Paper feed motor 3 for moving or feeding 11
12, and carry 315 to rails 322A and 322B
Carry motor 320 for moving along
Assume The driving force from the paper feed motor 312 rotationally drives the load shaft via the speed reduction mechanism 313 composed of various gears, and rotates the drum 314 to rotate the paper 3.
11 is fed.

The carry 315 has a character selection motor 319.
The type wheel 317 is rotated by a predetermined angle to position a desired type, and the hammer 318 is momentarily pressed by a not-illustrated sonorade to move the ink ribbon feed motor 3
Various component elements are provided for printing type on paper 311 via an ink ribbon run at 16.

In FIG. 1, a laser feed monitor 21 and a laser length measuring machine 23 are provided as means for detecting the displacement of the drive section. Laser feed monitor 2
1 is arranged in a fixed relationship relative to the motor application device 31, and irradiates the paper 311 with a laser beam and receives the reflected light to obtain displacement information of the paper to be driven. ing. With respect to the obtained displacement information, the forward / reverse pulse converter 22 obtains a forward / reverse pulse in which information on the displacement direction is added, and is supplied to the behavior measuring device 1 as a position detection pulse signal C.

Further, the laser length measuring machine 23 obtains displacement information of the carry 315 to be driven by the carry feed motor 320 via the wire rope 321 and irradiates the side surface of the carry 315 with laser light to reflect the reflected light. The displacement information is obtained by receiving the light. As for the obtained displacement information, the forward / reverse pulse in which the displacement direction is added is obtained by the forward / reverse pulse converter 24 and is supplied to the behavior measuring device 1 as described above.

As a result of the above, the behavior measuring apparatus 1 is supplied with the drive signals to the drive motors 312 and 320, and the displacement information signal (position detection pulse signal C) of the paper 311 and the carry 315 that are the actual drive targets. Will be.

FIG. 2 is a configuration block diagram showing an example of the behavior measuring apparatus 1 when the motor driver 32A is driven in this embodiment. The start mode detection circuit 101 detects the input of the CW clock signal A or the CCW clock signal B as the actual drive signal output from the controller 33 of the main body device 3, and the data transfer control circuit 1
The measurement start signal D is output to 05 and 114.

Further, the start mode detection circuit 101 is
When the input clock stop signal G from the OR gate 111 and the OR signal of the overflow detection signals H and J, that is, one of the signals G, H, and J is input, the data transfer control circuit 105. A measurement stop signal is output to and 114 to stop all measurement operations.

The edge detection circuit 103 includes an OR gate 10.
An input clock E which is an OR output of the CW clock signal A and the CCW clock signal B from 2 and a reference clock which is generated from the reference clock generation circuit 120 and has a sufficiently high frequency as compared with the clock signals A and B. And received
The clock signal F synchronized with the input clock E is output, the arrival of the input clock E is detected at the rising edge, and the detection signal is sent to the data transfer control circuit 105.

The counter circuit 104 is the edge detection circuit 1
The clock signal F from 03 is counted and the counter value is temporarily stored in the buffer circuit 107.

The data transfer control circuit 105 receives the measurement start signal D from the start mode detection circuit 101, starts its operation, and receives the input clock arrival detection signal from the edge detection circuit 103, the counter circuit 10 each time.
4, the buffer circuit 107, the memory area 108, and the address setting circuit 109 are controlled. This control procedure is
As shown in the flow chart of FIG. 3, as will be described below,
The counter circuit 104 changes the cycle of the clock signal F to
Counting until the next input clock signal E is detected, measuring the cycle of the input clock signal E, and until the measurement stop signal is output from the start mode detection circuit 101,
The cycle of the input clock signal E sequentially input is repeatedly measured. The measurement result is temporarily stored in the buffer circuit 107, and then the address setting circuit 10 controlled by the data transfer control circuit 105 in the memory area 108.
9 is stored in the address section.

When the carry detection circuit 106 detects the carry signal obtained by the counter circuit 104, that is, when the next input clock signal E is not detected even after the lapse of a predetermined time, the carry application circuit 31 of the motor application device 31 is detected. When it is determined that the driving of the paper feed motor 312 or the carry motor 320 of the drive motor is stopped, the input clock stop signal G is sent to the start mode detection circuit 101 via the OR gate 111.

The overflow detection circuit 110 monitors the address setting value output from the address setting circuit 109, and this address setting value is stored in the memory area 10.
When the storage capacity of the memory area 108 is equal to or more than a predetermined value determined in advance, it is determined that the storage area of the memory area 108 is insufficient, that is, overflow, and the overflow detection signal H is sent through the OR gate 111 to the start mode. Output to the detection circuit 101.

On the other hand, the forward / reverse pulse converters 22 and 24 shown in FIG.
The position detection pulse signal C output from is input to the edge detection circuit 112, and the position detection pulse signal C and the reference clock from the reference clock generation circuit 120 are synchronized, that is, at a constant time interval with the reference clock. The position detection pulse signal C is sampled, and the sampled signal is output as the position signal I. The position signal I also includes the phase information included in the position detection pulse signal C.

The counter circuit 113 counts the position signal I, and the counter value is temporarily stored in the buffer circuit 115.

The data transfer control circuit 114 starts its operation in response to the measurement start signal from the start mode detection circuit 101, and continues to operate until the measurement stop signal from the start mode detection circuit 101 is input. Counting I, temporarily storing the count value in the buffer circuit 115, storing the storage value in the buffer circuit 115 in the memory area 116, and the memory area 116
It controls the address setting circuit 117 which outputs the address to be stored in. The processing procedure of this series of control is shown in FIG.
Is shown in the flowchart and the processing procedure will be described later.

The overflow detection circuit 118, like the overflow detection circuit 110, has the address setting circuit 1
The address set value of 17 is monitored, and when the set value becomes equal to or more than a predetermined value determined in relation to the storage capacity of the memory area 116, a shortage of the memory area 116, that is, an overflow is detected, and an overflow detection signal is detected. J
Start mode detection circuit 1 via OR gate 111
Output to 01.

As a result, in the memory areas 108 and 116, the change state data of the input clock with respect to the elapsed time in the series of operations of the motor application device, and the displacement state data of the paper 311 and the carry 315 as the drive target parts, respectively. Will be remembered.

The CPU circuit 119 has a memory area 108.
And the data stored in 116 are sequentially read out, for example, the horizontal axis is set to the elapsed time, and the vertical axis is the input clock change state and position displacement state, which corresponds to the output display scale of the output / display device. The converted data is output to an output / display device such as a CRT or a printer.

Since the above data can be treated as a function with respect to the elapsed time, for example, a partial enlargement display of the position displacement by designating the measurement time range, a part of the position displacement by designating the display start position of the input clock and the display pulse number, etc. By performing an enlarged display, etc., a minute displacement of the final end of the load with respect to the change state of the input clock, that is,
The behavior of the driven part can also be displayed.

Further, the measurement data can be stored in any storage medium such as a hard disk, a floppy disk, a magneto-optical disk or the like.

Now, the measurement operation of the drive signal system in the above embodiment will be described with reference to FIG. First, when the edge detection circuit 103 detects the input clock E (step S
1), the clock signal F is supplied to the counter circuit 104 and counted (step S2). Next, the carry detection circuit 106 determines whether or not a carry signal is detected (step S3). When the carry signal is detected, a measurement stop signal is output (step S10), and the process ends.

If the carry signal is not detected in step S3, it is determined whether or not the next input clock E is detected (step S4). If not detected, the process returns to step S2 and is detected. Then, the counter value in the counter circuit 104 is latched by the buffer circuit 107 (step S5), and the latched counter value data is transferred to and stored in the memory area 108 (step S6). After that, the address setting value in the address setting circuit 109 is incremented by 1 (step S
7) The memory area overflow detection by the overflow detection circuit 110 is determined (step S8), and if the overflow is detected, the measurement stop signal is output (step S10), the process is terminated, and the overflow is detected. If not, the counter circuit 104 is reset (step S9) to prepare for the next measurement, and the process returns to step S2.

Next, with reference to FIG. 4, a processing procedure for the position data output from the encoder 2 will be described.
After the operation starts, first, after detecting the input clock (step S11), the edge detection circuit 112 starts sampling (step S12), and outputs the output signal I to the counter circuit 1
13 (step S13), it is determined whether or not the sampled signal is detected (step S1).
4). Here, if the sampled signal is not detected, the process returns to step S13. When the sampling signal is detected, the counter value by the counter circuit 113 is latched in the buffer circuit 115 (step S15),
The latched counter value data is stored in the memory area 116.
Is transferred to and stored in the address section set by the address setting circuit 117 (step S16).

Then, the set value of the address setting circuit 117 is incremented by 1 (step S17), and it is determined whether or not the overflow detection circuit 118 detects the overflow of the memory area 116 (step S18). When it is determined that the overflow is detected, the measurement stop signal is output (step S2
0), the process is terminated, and when it is determined that the overflow is not detected, the counter circuit 113 is reset (step S19), the preparation for the next measurement is started, and the process returns to step S13.

The displacement detector in the above description of the embodiment may be any device capable of generating a signal corresponding to a position displacement, such as a rotary encoder, a linear encoder, a non-contact type laser feed monitor, a laser length measuring device. If
Any may be used. Further, even a device such as a potentiometer that generates an analog signal with respect to a position displacement can be used as a displacement detector by using an interface circuit that converts into digital data by an A / D converter.

The above embodiment describes the behavior measurement with respect to two driving units, but one driving unit as well as FIG.
It is also possible to add a measurement circuit surrounded by a broken line excluding the CPU circuit 119 to measure the behaviors of a larger number of drive units at the same time, and display these data on one screen.

[0044]

As described above, according to the behavior measuring apparatus for pulse train input according to the present invention, the displacement behavior of an arbitrary driving section or driven section of an applied apparatus using a motor can be detected.
It can be accurately measured as a change in the drive signal due to the actual operation sequence, and the state of the motor shaft or load shaft, that is, the motor shaft or load shaft caused by overshoot or undershoot during motor acceleration / deceleration, deceleration mechanism, etc. It is possible to measure the vibration width of the motor, the operation stabilization time, the displacement of the print head, the displacement of the feed paper, etc. for the actual motor application device itself, which is extremely useful when designing various motor application devices. Data is obtained.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a measuring system according to an embodiment of a pulse train input type behavior measuring apparatus according to the present invention.

FIG. 2 is a configuration block diagram of a behavior measuring device 1 in the present embodiment.

FIG. 3 is a flowchart showing a measurement operation processing procedure of a drive signal system in the present embodiment.

FIG. 4 is a flowchart showing a measurement operation processing procedure of a position signal system in the present embodiment.

[Explanation of symbols]

 1 Behavior Measuring Device 2 Displacement Detector 3 Main Unit Device 21 Laser Feed Monitor 22, 24 Forward / Reverse Pulse Converter 23 Laser Length Measuring Machine 31 Motor Application Device 32A, 32B Motor Driver 33 Controller 101 Start Mode Detection Circuit 102, 111 OR Gate 103 , 112 Edge detection circuit 104, 113 Counter circuit 105, 114 Data transfer control circuit 106 Carry detection circuit 107, 115 Buffer circuit 108, 116 Memory area 109, 117 Address setting circuit 110, 118 Overflow detection circuit 119 CPU circuit 120 Reference clock generation Circuit 311 Paper 312 Paper feed motor 313 Speed reducer 314 Drum 315 Carriage 316 Ink ribbon feed motor 317 Type wheel 318 Hammer 319 Selection Motor 320 Kyariji feed motor 321 wire rope 322A, 322B rails

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location H02P 8/38

Claims (1)

[Claims] 1. A first measuring unit for measuring data indicating a change state of a drive pulse train signal output from a controller incorporated in a motor application device using a motor, and the motor application device. A detector for detecting the displacement of the drive unit set in a predetermined drive unit of the device, and the displacement data detected by the detector are received, and the data indicating the state of change of the displacement data over time is measured. And second output means for outputting the data obtained by the first measurement means and the second measurement means in conformity with a time lapse reference. Pulse train input type behavior measurement device.