JPH0767374A - Input signal processing method for servo motor controller - Google Patents

Abstract

PURPOSE:To increase the speed of response by providing a microcomputer and a memory in a servo motor controller and performing arithmetic processing inside the servo motor controller without using a host controller for the arithmetic processing of input signal requiring a high speed response. CONSTITUTION:A display unit 10, setter 11, microcomputer 12, memory 13, servo motor control 14 and input circuit 15 are provided in a servo motor controller 2. And the meaning of input signal S1 to Sn is given with the setter 11 through a microcomputer 12 and memory 13 and displayed on the display unit 10 and a desired flow chart is prepared. By doing this, when temporarily stopping a servo motor by the operation of a limit switch LS attached to machine side, for instance, its stopping accuracy can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo motor control device having a positioning function, and more particularly to a servo system composed of a host control device and the servo motor control device which requires a high speed response to an input signal. The present invention relates to an input signal processing method.

[0002]

2. Description of the Related Art FIG. 9 is a block diagram showing a configuration example of a conventional servo system. The servo system is composed of a host controller 1 that performs sequence processing, a servo motor controller 2 having a positioning function, and a servo motor 3, and, for example, a limit switch (L
When the servo motor 3 is temporarily stopped when (S) is turned on, the input signal terminals S _{1 to} S of the servo motor control device 2
_The LS may be directly connected to any of _n .

However, even if the LS is turned on, if some condition other than the LS is required, the LS is connected to the input signal terminal of the host controller 1 as shown in FIG. Of the input signal terminals C _{1 to} C _n and the sequence signal processed by the host controller 1, and output to any _one of the input signal terminals S _{1 to} S _n of the servo motor controller 2. Was there.

[0004]

In the conventional servo system, when the limit switch (LS) attached to the machine side is on and some condition is satisfied, it is desired to make a temporary stop as quickly and accurately as possible. However, since the host controller intervenes, it takes time for the sequence processing, and as a result, there is a problem that the response speed becomes slow and the accuracy of the stop position also deteriorates.

An object of the present invention is to provide an input signal processing method for a servo motor controller which solves the above problems.

[0006]

In order to solve the above problems, in a servo motor control device, an input circuit for receiving input signals from a host control device and a sensor, a setter for setting control parameters, and a status display. And an indicator to
A servo motor control unit for driving the servo motor, a microcomputer for performing arithmetic processing, and a memory,
In the first invention, the meaning of the input signal can be set by the setter and the microcomputer, and the reference signal in the memory for performing a logical operation (AND, OR operation) on the input signal having the meaning. (AND, OR condition flags) can be selected by the setter,
The servo motor is controlled according to the result of the logical application (AND, OR operation), and in the second invention, the meaning of the input signal can be set by the setting device and the microcomputer. A reference signal (AND condition flag) in the memory for performing a logical product (AND) operation on the input signal is made selectable by the setter, and the servo motor is operated according to the result of the logical product (AND) operation. In the third invention, the meaning of the input signal can be set by the setter and the microcomputer, and the internal of the memory performs a logical sum (OR) operation on the input signal having the meaning. Of the reference signal (OR condition flag) can be selected by the setter, and the servo motor is controlled according to the result of the logical sum (OR) operation. It is a means Toto.

[0007]

In the servo motor control device, an input circuit for receiving input signals from the host control device and the sensor, a setting device for setting control parameters, a display device for displaying the status, and a servo motor control unit for driving the servo motor. And a microcomputer for performing arithmetic processing and a memory, and in the first invention, the meaning of the input signal can be set by the setting device and the microcomputer,
Logical operation (AND, OR
A reference signal (AND, OR) in the memory for performing an operation
Condition flag) can be selected by the setter, and the result of the logical application (AND, OR operation)
By controlling the servo motor, in the second invention,
The meaning of the input signal can be set by the setter and the microcomputer, and a reference signal (AND condition flag) in the memory for performing a logical product (AND) operation on the input signal with the meaning is By making it selectable by a setter and controlling a servomotor according to the result of the logical product (AND) operation, in the third invention, the meaning of the input signal is determined by the setter and the microcomputer. A reference signal (OR condition flag) inside the memory that can be set and performs a logical sum (OR) operation on an input signal that has a meaning is selected by the setter, and the result of the logical sum (OR) operation By controlling the servo motor, the calculation processing of the input signal that requires high-speed response can be performed without intervention of the host controller. Since the servo motor control device has a function capable of performing arithmetic processing, the response speed can be increased, and for example, when the servo motor is temporarily stopped when the limit switch (LS) attached to the machine is turned on, some other condition is required. Even when it is necessary, the stopping accuracy can be improved.

[0008]

1 is a flow chart showing a first embodiment of the present invention, FIG. 2 is a block diagram showing a configuration example of a servo system, and FIG. 3 is an example of operation of input signals S ₁ and S ₂ of FIG. It is a waveform diagram showing. FIG. 4 shows an example of the AND condition flag, and FIG.
FIG. 3 is an explanatory diagram for explaining the flowchart of FIG. 1 with an example of an OR condition flag.

That is, in the program step P1 shown in FIG. 1, the input signals S _{1 to} S _n are read and the memory INDT is read.
Remember. Next, in program step P2, INDT
And AND condition flag SELA1 shown in FIG.
As a result, X is SE at program step P3.
If it is equal to LA1, it is determined that the AND condition is satisfied, and the temporary stop process of program step P6 is performed. On the other hand, when X is not equal to SELA1 at the program step P3, the program proceeds to the program step P4 and the AND operation is performed on the INDT and the OR condition flag SELO1 shown in FIG. OR
Assuming that the condition is satisfied, the temporary stop process of program step P6 is performed. On the other hand, if Y is 0 in the program step P5, the following processing is performed.

In this way, the input signal S _{1 of} FIG.
If the operation of S ₂ is processed, the temporary stop processing is quickly performed. FIG. 6 is a block diagram showing a specific configuration example of the servo motor control device 2 of FIG. 2, which includes a display unit 10, a setting unit 11, a microcomputer 12, a memory 13, a servo motor control unit 14, and an input circuit 15. ing.

In FIG. 6, input signals S _{1 to} S _n are input via a microcomputer 12 and a memory 13 in a setter 11.
Is displayed and displayed on the display device 10 so that desired flowcharts can be sequentially created. FIG. 7 is a flow chart showing the second embodiment of the present invention, in which the input signals S _{1 to} S _n are read and stored in the memory INDT in the program step P1. Next, program step P
2 with INDT and AND condition flag SELA shown in FIG.
2 and is ANDed, and as a result, the program step P
If X is equal to SELA2 in 3, it is determined that the AND condition is satisfied, and the temporary stop process of program step P4 is performed. On the other hand, if X is not equal to SELA1 at program step P3, the following processing is performed.

In this way, the input signal S _{1 of} FIG.
If the operation of S ₂ is processed, the temporary stop processing is quickly performed. FIG. 8 is a flow chart showing a third embodiment of the present invention, which is a program step P1.
The input signals S _{1 to} S _n are read by and are stored in the memory INDT. Next, in a program step P2, ANDT is ANDed with the OR condition flag SELO2 shown in FIG.
As a result, if X is not 0 in the program step P3, it is determined that the OR condition is satisfied, and the temporary stop process of the program step P4 is performed. On the other hand, if X is 0 in the program step P3, the following processing is performed.

In this way, the input signal S _{1 of} FIG.
If the operation of S ₂ is processed, the temporary stop processing is quickly performed.

[0014]

According to the first aspect of the present invention, the meaning of the input signal can be set by the setting device and the microcomputer, and the logical operation (A
Reference signal (A in the memory) for performing ND, OR operation
ND, OR condition flag) can be selected by the setter, and the servomotor is controlled according to the result of the logical application (AND, OR operation). In the second invention, the meaning of the input signal The setting can be set by the setter and the microcomputer, and the reference signal (AND condition flag) in the memory for performing a logical product (AND) operation on the input signal having the meaning can be selected by the setter. By controlling the servomotor according to the result of the logical product (AND) operation, in the third invention, the meaning of the input signal can be set by the setter and the microcomputer. The reference signal (OR condition flag) in the memory that performs a logical sum (OR) operation on the input signal can be selected by the setter. By controlling the servomotor according to the result of the logical sum (OR) operation, the internal processing of the servomotor control device can be performed without interposing the host control device for the arithmetic processing of the input signal requiring the high speed response. Since it has a function that can perform arithmetic processing in, the response speed can be increased, and for example, when the servo motor is temporarily stopped when the limit switch (LS) attached to the machine is turned on, even if some other condition is necessary. The stopping accuracy can be improved.

Further, since the host controller carries out sequence processing and signals requiring high-speed processing can be carried out by the servo motor controller, wiring between the controllers can be reduced and a servo system suitable for various applications can be provided. Can be configured.

[Brief description of drawings]

FIG. 1 is a flow chart showing a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration example of a servo system according to the present invention.

FIG. 3 is a waveform diagram showing an operation example of input signals S ₁ and S ₂ .

FIG. 4 is an explanatory diagram for explaining an AND condition flag.

FIG. 5 is an explanatory diagram for explaining an OR condition flag.

FIG. 6 is a block diagram showing a configuration example of a servo motor control device of the present invention.

FIG. 7 is a flow chart showing a second embodiment of the present invention.

FIG. 8 is a flow chart showing a third embodiment of the present invention.

FIG. 9 is a block diagram showing a configuration example of a conventional servo system.

[Explanation of symbols]

 1 Upper control device 2 Servo motor control device 3 Servo motor 10 Display device 11 Setting device 12 Microcomputer 13 Memory 14 Servo motor control unit 15 Input circuit

Claims (3)

[Claims] 1. A servo motor control device, comprising: an input circuit for receiving input signals from a host control device and a sensor;
A setting device for setting a control parameter, a display device for displaying a state, a servo motor control unit for driving a servo motor, a microcomputer for performing arithmetic processing and a memory are provided, and the meaning of the input signal is set by the setting. An input signal processing method for a servo motor control device, wherein a reference signal inside the memory, which can be set by a setting unit and the microcomputer, and which performs a logical operation on a meaningful input signal, can be selected by the setting unit. 2. A servo motor control device, comprising: an input circuit for receiving input signals from a host control device and a sensor;
A setting device for setting a control parameter, a display device for displaying a state, a servo motor control unit for driving a servo motor, a microcomputer for performing arithmetic processing and a memory are provided, and the meaning of the input signal is set by the setting. Input signal processing method for a servo motor control device, wherein a reference signal in the memory, which can be set by a setting unit and the microcomputer, and which performs a logical product operation on an input signal having a meaning, can be selected by the setting unit. . 3. An input circuit for receiving input signals from a host controller and a sensor in a servo motor controller,
A setting device for setting a control parameter, a display device for displaying a state, a servo motor control unit for driving a servo motor, a microcomputer for performing arithmetic processing and a memory are provided, and the meaning of the input signal is set by the setting. Input signal processing method for a servo motor control device, wherein a reference signal in the memory, which can be set by a setting unit and the microcomputer, and which performs a logical sum operation with respect to a meaningful input signal, can be selected by the setting unit. .