JPH08227318A - Device for detecting deviation of synchronism on position of suspended object - Google Patents

Abstract

PURPOSE: To improve the detection accuracy of a synchronism deviation on the position of a suspended object by computing a deviation value from minimum and maximum values in the moving variable of a suspended object, comparing the deviation value with a set deviation value and judging the deviation of synchronism on the position of the suspended object. CONSTITUTION: A moving variable maximum/minimum value detector 15 detects a maximum value and a minimum value in the moving variable of a suspended object which are computed by a moving variable computing means 12. A maximum value storing means 16 stores the maximum value in the moving variable of the suspended object which is outputted from the detector 15. A minimum value storing means 17 stores the minimum value outputted from the detector 15. A deviation value computing means 18 computes the deviation value of the moving variable based upon the maximum and minimum values outputted from the means 16, 17. A comparing/judging means 20 compares the deviation value outputted from the means 18 with the set deviation value obtained from a set deviation value circuit 19 and judges the deviation of synchronism on the position of the suspended object.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspended object position synchronization deviation detecting device for simultaneously stopping a group of suspended objects that are out of synchronization.

[0002]

2. Description of the Related Art As a conventional hanging position synchronization deviation detecting device for a stage mechanism, a structure shown in FIG. 2 is known. This conventional suspended object position synchronization deviation detecting device is provided with a suspended object attached to each of an arbitrary number of motors, and position detecting means 1 for detecting the current position thereof, and the current position of each suspended object from the output of the position detecting means 1. From the current position calculating means 4 for calculating the current position, the position synchronizing operation rising detecting means 8 for detecting the rising timing of the position synchronizing operation command signal 7 from the outside, the current position detecting means 4 and the rising detecting means 8. Operation start position storage means 9 for storing the operation start position
And a movement amount calculation means 12 for calculating how much the suspended object has moved from the current position calculation means 4 and the operation start storage means 9.
And a plurality of deviation calculating means 18 for calculating respective deviations from the difference between the outputs of the movement amount calculating means 12, and the set deviation amount output from the setting deviation amount circuit 19 by successively calculating these deviations. The moving amount calculation is repeatedly performed with the comparing / judging means 20 for making a comparative judgment, and the moving amounts of all the hanging objects are compared to make a judgment. The set deviation amount is compared with the calculated deviation, and is larger than the set deviation amount. If a value is detected, an error is detected, and as a result, the group of suspended objects in synchronous operation is stopped all at once.

[0003]

However, such a conventional hanging position synchronization deviation detecting device for a stage apparatus is effective when the number of hanging objects is relatively small and fixed.
If the number of units is arbitrarily increased, the number of comparisons of the movement amount increases, and the processing of the deviation calculation unit and the comparison determination unit becomes enormous. However, a synchronization deviation detection device that processes this portion with the maximum value and the minimum value Not known in the past.

The present invention has been invented based on such a conventional technical problem. An arbitrary number of suspended objects are grouped, and the positions of the grouped suspended objects are operated in synchronization. In the control device, detecting the maximum value and the minimum value of the movement amount from the grouped hangings,
It is an object of the present invention to provide a suspended object position synchronization deviation detection device that simultaneously stops a group of suspended objects that are out of synchronization by calculating and comparing deviation amounts.

[0005]

SUMMARY OF THE INVENTION A suspended object position synchronization deviation detecting device of the present invention is a position detecting means for detecting where each of a plurality of suspended objects is located, and a suspended object inputted to the position detecting means. An operation start position storage means for storing the operation start position, a movement amount calculation means for calculating how far the operation start position has moved, and a maximum value and a minimum value of the movement amount of the hanging object calculated by the movement amount calculation means. Maximum / minimum value detector for moving amount, maximum value storing means for storing maximum value of moving amount of hanging object, minimum value storing means for storing minimum value of moving amount of hanging object, minimum value And a maximum value, a deviation amount calculating means for calculating a deviation amount of the movement amount, and a comparison determining means for comparing the deviation amount with a set deviation amount to determine a synchronous deviation of the suspended object position are characterized by being provided. .

[0006]

In the suspended object position synchronization deviation detecting device of the present invention, the positions of a plurality of suspended objects are respectively detected, and the operation start position of the suspended object inputted to the position detection means is stored, and the suspended object is stored. Of the operation start position of each, the maximum value and the minimum value of the moving amount of the hanging object calculated by the moving amount calculating means are detected, the maximum value of the moving amount of the hanging object is stored, and It is characterized by storing the minimum value of the moving amount of the object, calculating the deviation amount of the moving amount from the minimum value and the maximum value, and comparing the deviation amount with the set deviation amount to determine the synchronous deviation of the suspended position. There is.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the suspended position synchronization deviation detecting device of the present invention will be described. In FIG. 1, the position detecting means 1 detects where the positions of a plurality of hanging objects are respectively. The operation start position storage means 9 is connected to the position detection means 1 via the current position calculation means 4 and stores the operation start position of the suspended object input to the position detection means 1 by a signal from the position synchronous operation rise detection means 8. To do. The movement amount calculation means 12 is connected to the current position calculation means 4 and the operation start position storage means 9 and calculates to which extent the operation start position has moved. The maximum / minimum moving amount detector 15 is connected to the moving amount calculating means 12, and detects the maximum value and the minimum value of the moving amount of the hanging object calculated by the moving amount calculating means 12. The maximum value storage means 16 is connected to the maximum / minimum moving amount detector 15 and stores the maximum value of the moving amount of the hanging object output from the maximum / minimum moving amount detector 15. Minimum value storage means 1
7 is connected in parallel with the maximum value storage means 16 to the maximum / minimum value detector 15 for moving amount, and the maximum / minimum value detector 1 for moving amount is provided.
The minimum value of the moving amount of the hanging object output from 5 is stored. The deviation amount calculation means 18 is connected to the maximum value storage means 16 and the minimum value storage means 17, and calculates the deviation amount of the movement amount based on the minimum value and the maximum value output from the maximum value storage means 16 and the minimum value storage means 17. To do. The comparison / determination means 20 is connected to the deviation amount calculation means 18 and the set deviation amount circuit 19,
The deviation amount output from the deviation amount calculating means 18 is compared with the set deviation amount obtained from the set deviation amount circuit 19 to determine the synchronous deviation of the suspended object position.

That is, the suspended position synchronization deviation detecting device of this embodiment is a position detecting means 1 for detecting the position of each suspended object attached to each of an arbitrary number of motors, and a position synchronous operation from the outside. Position-synchronized operation rise detection means 8 for detecting the rising edge of the command 7, current position calculation means 4 for calculating each current position by the output of the position detection means 1, output of the current position calculation means 4, and position-synchronized operation rise detection An operation start position storage means 9 for storing each operation start position by the output of the means 8 and a current position calculation means 4
Of the moving amount and the output of the operation start position storing means 9, the moving amount calculating means 12 for calculating the respective moving amounts, and the maximum moving amount for detecting the maximum value and the minimum value of the moving amount from the respective outputs of the moving amount calculating means 12.・ Minimum value detector 15 and maximum movement amount ・
A maximum value storage means 16 for storing the maximum value and the minimum value output from the minimum value detector 15, and a minimum value storage means 17,
A deviation amount calculating means 18 for calculating a deviation amount from the maximum value and the minimum value of those data, and a comparing and judging means for comparing the output of the deviation amount calculating means 18 and the set deviation amount output from the setting deviation amount circuit 19. 20, an error detection circuit 21 that detects an error from the output of the comparison and determination means 20, and an operation simultaneous stop command circuit 2 that outputs a simultaneous stop command that simultaneously stops the group of suspended objects in synchronous operation from the error detection circuit 21.
It is equipped with 2.

Next, the movement amount maximum / minimum value detector 15 having the above structure will be described. Maximum / minimum value detector 1
The data input to 5 is the movement amount 1 calculated in the previous stage.
N. The data of the first movement amount 1 is the maximum movement amount.
The minimum value detector 15 stores the maximum value and the minimum value.
The next movement amount 2 data is the movement amount maximum / minimum value detector 1
According to 5, the maximum value and the minimum value are compared, and if larger than the maximum value, the data of the movement amount 2 is stored as a new maximum value,
If it is smaller than the minimum value, the data of the movement amount 2 is stored as a new minimum value. This is done up to the data of movement amount N,
Finally, the maximum value and the minimum value of the movement amounts 1 to N are determined.

The deviation amount is calculated from these maximum and minimum values. This deviation amount is compared with a preset deviation amount preset as the synchronous operation allowable range data, and as a result, the group of suspended objects in the synchronous operation is finally stopped all at once.

As described above, according to this embodiment, the position detecting means 1 for detecting the position of each hanging object attached to each of the motors detects the rising position of the position synchronous operation command from the outside. The position-synchronization signal rise detection means 8 detects and the current-position calculation means 4 calculates the respective current positions based on the output of the position-detection means 1. The output of the current-position calculation means 4 and the position-synchronized operation rise-detection means 8 The movement amount calculation means 12 for detecting the respective movement start positions by the operation start position storage means 9 for storing the respective operation start positions, and for calculating the respective movement distances by the output of the current position calculation means 4 and the operation start position storage means 9. The maximum / minimum value detecting means 1 for detecting the maximum and minimum values of the moving amount from the respective outputs of the moving amount calculating means 12 Maximum value storing means 16 for storing the maximum value and minimum value which are the outputs of the moving amount maximum / minimum value detecting means 15 and the minimum value storing means 17, and storing the maximum value and the minimum value. Storage means 16
And the set deviation amount output from the deviation amount calculating unit 18 and the set deviation amount circuit 19 which is detected by the deviation amount calculating unit 18 which calculates the deviation amount from the maximum value and the minimum value output from the minimum value storage unit 17. The comparison determination means 20 for comparing the above-mentioned means detects the synchronization deviation, the error detection means 21 for detecting the error from the output of the comparison determination means 20 detects the error, and the error detection circuit 21 causes the suspension group operation simultaneous stop command circuit 22. By this, a simultaneous operation stop command is detected, and the group of suspended objects in synchronous operation is stopped simultaneously.

[0012]

As described above, according to the present invention, it is possible to improve the accuracy of detecting the positional deviation of the suspended object.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a hanging position synchronization deviation detecting device showing an embodiment of the present invention.

FIG. 2 is a conventional configuration diagram.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Position detection means 4 ... Current position calculation means 7 ... Position synchronous operation command 8 ... Position synchronous operation rise detection means 9 ... Operation start position storage means 12 ... Movement amount calculation means 15 ... Movement amount maximum / minimum value detector 16 ... Maximum value storage means 17 ... Minimum value storage means 18 ... Deviation calculation means 19 ... Set deviation amount circuit 20 ... Comparison determination means 21 ... Error detection circuit 22 ... Simultaneous operation stop command circuit

Claims (1)

[Claims] 1. A position detecting means for detecting where each position of a plurality of hanging objects is located, an operation starting position storing means for storing an operation starting position of the hanging object inputted to the position detecting means, and A movement amount calculation means for calculating how far the operation start position has moved, and a maximum and minimum movement amount detection for detecting a maximum value and a minimum value of the movement amount of the hanging object calculated by the movement amount calculation means. Device, maximum value storage means for storing the maximum value of the moving amount of the hanging object, minimum value storing means for storing the minimum value of the moving amount of the hanging object, and moving amount from the minimum value and the maximum value. The deviation amount calculation means for calculating the deviation amount and the comparison determination means for comparing the deviation amount with the set deviation amount to judge the synchronization deviation of the suspended object position.