JPH0826668A - Stop position control device - Google Patents

Abstract

PURPOSE:To let a substance be accurately positioned only by an operation control section by operating the quantity of coasting of an electric motor after a command for stopping its movement has been directed, and thereby sending a feedback pulse corresponding to the quantity of coasting to the electric motor. CONSTITUTION:When the movement command switch of a control panel 5 for either of operations is turned on, a normal or a reverse operation pulse is outputted to a motor 1 from a controller section 6 respectively. In this case, when an intended stop position is recognized by an operator, the movement command switch of the control panel 5 is turned off. At this time, position coordinates A when a switch is turned off are outputted to an operation section 10 from a position detector 4, and the values are then stored in the operation section 10. After the motor 1 has coasted, its position coordinates B are outputted to the operation section 10 as soon as the substance is suspended, an operation of A minus B is performed at once by the operation section 10, and the result of the operation is thereby feed-backed to the controller section 6. A feed-back pulse matching the aforesaid feed-back is sent to the motor 1 from the controller section 6, and control is executed in such a way that a present value by the position detector 4 coincides with the position coordinates A.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stop position control device having a motor drive unit for position control, which corrects an excessive coasting amount due to inertia during positioning and realizes a highly accurate stop position. It is a thing.

[0002]

2. Description of the Related Art FIG. 7 is a block diagram showing a conventional control device for reproducing stop position accuracy. In the figure, 1 is a motor which is a drive unit, 2 is a gear unit attached to the motor 1, and 3 is a gear unit. Is an arm holding part that supports an object driven by the motor 1 via the gear part 2, 4 is a detection part (encoder) that detects the drive of the motor 1 and reads the degree of rotation of the motor, and 5 has OUT and IN switches Console, 6 is motor 1
Is a controller for externally controlling the object, 7 is a keyboard for inputting the position coordinate value of the object, 8 is a coordinate value monitor for displaying the position of the object, and 9 is a coordinate system.

Next, the operation will be described. There are two methods of operating the conventional device for reproducing the stop position accuracy as follows. (Method 1) IN, OUT of the movement command switch of the console 5
By turning on either of the above, the motor 1 rotates,
The arm holding unit 3 supporting the object moves in the direction instructed by the console 5. To stop the movement of the arm holding unit 3, the movement command switch of the console 5 is turned off. However, since the inertial coasting occurs even after the movement switch is turned off, it does not stop at the position when the movement command switch is turned off. .

(Method 2) The keyboard 7 for inputting the coordinate value of the position of the object is used to input the coordinate value of the position of the desired object in advance, and the movement pulse to the coordinate value is input to the controller unit 6
Outputs and performs positioning. With this method, the position accuracy of the object is good, but it is difficult to perform it as easily as the control from the operation console 5 of Method 1.

[0005]

Since the conventional control device for reproducing the stop position is configured as described above, in the method 1, even after the movement command switch is turned off, coasting by inertia due to the drive of the motor 1 occurs. It was difficult to accurately stop at a desired position (position when the switch was turned off). Therefore, there is a problem that a desired position cannot be obtained unless the amount of coasting is adjusted by the IN / OUT direction switch of the console 5 several times. Further, in the method of inputting the coordinate values of the object to obtain a desired position like the method 2, although the position accuracy can be obtained, the flexibility such as the control from the operation console 5 is poor,
Even when moving a small amount of position, there was a problem that the coordinate value had to be calculated and input.

The present invention has been made to solve the above problems, and stores the position when the switch is turned off by the movement command switch turned on and off from the console.
An object of the present invention is to obtain a stop position control device that can accurately position the switch when it is turned off regardless of the coasting amount.

[0007]

A stop position control device according to a first aspect of the present invention includes an electric motor for driving a holding means for holding an object,
Position detection means for detecting the degree of rotation of the electric motor, an operating portion for instructing the movement of the holding means, a control portion for controlling the electric motor according to the instruction of the operating portion, and a controller for the electric motor after the operation portion issues a movement stop instruction. And a calculation unit that calculates the coasting amount, and the control unit sends a feedback pulse corresponding to the coasting amount to the electric motor.

A stop position control device according to a second aspect is the first aspect.
In addition to those described, a monitor unit that allows visual confirmation of the position coordinates of the object is provided.

A stop position control device according to a third aspect is the first aspect.
In addition to the ones described, a speed control means for changing the moving speed of an object driven by an electric motor is provided, and the control unit performs high-speed movement control when the distance to the desired position is long, and the distance to the desired position. When is close to, the low speed movement control is performed.

A stop position control device according to a fourth aspect is the first aspect.
In addition to the described one, a unit for selecting whether or not to correct the motor coasting amount after the movement stop command of the operation unit is provided.

[0011]

In the stop position control device according to the first aspect of the present invention, the coasting amount of the electric motor after the operation unit issues a movement stop command is calculated, and the control unit sends a feedback pulse corresponding to the coasting amount to the electric motor and stops. Correct the position error.

In the stop position control device according to the second aspect, the operation unit can be operated while visually checking the position coordinates of the object on the monitor unit.

The stop position control device of the third aspect performs high speed movement control when the distance to the desired position is long, and performs low speed movement control when the distance to the desired position is short.

The stop position control device according to claim 4 performs general control without correction processing in the case of rough positioning,
If fine positioning is required, control with correction processing can be selected.

[0015]

【Example】

Example 1. Embodiment 1 of the present invention will be described below with reference to the drawings. First Embodiment FIG. 1 shows a stop position control device according to a first embodiment of the present invention. In the figure, 1 to 6 and 9 are the same as those of the conventional device, and the description thereof will be omitted. Reference numeral 10 denotes a calculation unit that calculates the coasting amount from when the movement command is turned off until the object actually stops, and is configured to send the feedback amount to the controller unit 6 from the coasting amount. The keyboard 7 used in the above conventional one is not used.

The operation of the stop position control device thus constructed will be described. It is assumed that the motor 1 can be rotated in the forward and reverse directions in the IN / OUT direction from the movement command switch of the console 5 in FIG. When either of the movement command switches of the console 5 is turned on, forward rotation and reverse rotation pulses are output from the controller unit 6 to the motor 1. Here, when the worker recognizes the desired stop position, the movement command switch of the console 5 is turned off. At this time, the position detector 4 outputs the position coordinate A when the switch is OFF to the calculation unit 10. The arithmetic unit 10 stores this value A, and then, after the motor 1 coasts, the position coordinate B of the position coordinate B is calculated along with the stop of the object.
Is output to When the value of the position coordinate B is input, the calculation unit 1
0 immediately calculates B-A and feeds it back to the controller unit 6. The controller unit 6 sends a corresponding feedback pulse to the motor 1 and controls the position detection unit 4 so that the current value becomes equal to the position coordinate A. When the current value and the position coordinate A become the same, pulse output is stopped and positioning is completed.

Next, the processing executed by the arithmetic unit 10 will be described with reference to the flowcharts of FIGS. FIG.
As shown in FIG. 3, the movement command switch IN of the operator console 5
Or when OUT is turned on (step 10
1) During step 102, the controller unit 6 outputs a drive pulse for the motor 1 while the switch is ON (JOG operation). As a result, the motor 1 is driven and the object moves in the instructed IN or OUT direction, and the position detector 4 counts accordingly (step 103). When the object reaches the desired position, the movement command switch of the console 5 is turned off (step 104). At this time, the coordinate value A of the position detector 4 immediately after the switch is turned off is stored in the arithmetic unit 10 (step 105), and when the object stops (step 106), the coordinate value B of the position detector 4 at the time of stop is set to B. The data is stored (step 107), the calculation unit 10 immediately calculates A-B (step 108), and the positioning operation is performed so that this value becomes 0 (step 109). When AB = 0, the operation is stopped (step 110), and when stopped, the coordinate value: B is newly written as before (step 111),
It is determined whether B = A (step 112). If B = A, the positioning is completed and the calculation is finished (step 113), and B ≠
If A, the process returns to step 108, and the positioning operation is performed until B = A.

According to this embodiment, the object can be easily moved by the movement command switch of the operation console 5 and the accurate positioning function by the pulse motor is also provided, so that the easy and accurate positioning can be performed at any object position. Console 5
It is possible only by operating the movement command switch of.

Example 2. FIG. 5 shows a stop position control device according to a second embodiment of the present invention.
Reference numeral 9 is the same as the conventional one, and the description thereof is omitted. In addition to the configuration of the first embodiment, a monitor unit 8 for visually confirming the position coordinate of the object and a keyboard 7 for inputting the position coordinate value of the object are added. With this configuration, in addition to the general stop position control for inputting coordinate values from the keyboard 7 in advance, the movement command switch I of the console 5 is added.
By visually checking ON or OFF of N or OUT and the monitor value of the monitor 8, the operator console 5 can be operated when the desired coordinate value is reached without inputting the position coordinate of the object in advance.
By turning off the movement command switch of, it becomes possible to perform positioning at a desired coordinate value.

According to this embodiment, since the current position of the object is displayed on the monitor unit, the console 5 can be read from the value on the monitor.
By turning off the movement command switch of, it is possible to determine a desired arbitrary position without inputting coordinate values.

Example 3. FIG. 5 shows a stop position control device according to a third embodiment of the present invention.
Is the same as in the first and second embodiments, and the description thereof is omitted. Reference numeral 11 denotes a speed control switch capable of changing the rotation speed of the motor 1 between low speed and high speed. This speed control switch 1
By adding 1, it becomes easier to set the timing of positioning by visual confirmation or monitor confirmation. That is,
By having the speed control switch 11, high-speed movement is performed when the reaching distance to the desired position is short, and when it approaches the desired position, the speed is switched to the low-speed side to obtain the position without erroneous movement command OFF timing. In addition, the effect of reducing the overrun amount due to coasting can be obtained by reducing the speed near the desired position.

Example 4. FIG. 6 shows a stop position control device according to a fourth embodiment of the present invention.
Is the same as in the first and second embodiments, and the description thereof is omitted. Reference numeral 12 is a correction selection switch for selecting whether or not to perform positioning correction processing. When rough positioning is performed, general control without correction processing is performed, and when fine positioning is required, control with correction processing can be selected. In general, this correction processing is effective in a device that is driven by a pulse motor, has a position detector, and controls the position.

According to this embodiment, the correction selection switch 1
According to 2, it is possible to use the rough positioning and the fine positioning properly and to perform the efficient positioning.

[0024]

According to the stop position control device of the present invention, an electric motor for driving the holding means for holding an object, a position detecting means for detecting the degree of rotation of the electric motor, and an operating section for instructing the movement of the holding means. The controller includes a control unit that controls the electric motor according to a command from the operation unit, and a calculation unit that calculates the coasting amount of the motor after the movement stop command is issued by the operation unit, and the control unit is a feedback corresponding to the coasting amount. Since the pulse is sent to the electric motor, it is possible to easily and accurately position the object only with the operation unit.

A stop position control device according to a second aspect is the first aspect.
In addition to the described items, the position coordinates of the object can be visually confirmed on the monitor unit, so that the operation unit can be easily operated.

A stop position control device according to a third aspect is the first aspect.
In addition to the ones described, a speed control means for changing the moving speed of an object driven by an electric motor is provided, and the control unit performs high-speed movement control when the distance to the desired position is long, and the distance to the desired position. Since the low speed movement control is performed when is close to, it is possible to perform efficient positioning control.

A stop position control device according to a fourth aspect is the first aspect.
In addition to the described one, the configuration is provided with the presence / absence selection unit of the correction processing of the motor coasting amount after the movement stop command of the operation unit, so that the efficient positioning control can be performed.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a stop position control device according to a first embodiment of the present invention.

FIG. 2 is a flow chart for explaining the operation of the stop position control device according to the first embodiment of the present invention.

FIG. 3 is a flow chart for explaining the operation of the stop position control device according to the first embodiment of the present invention.

FIG. 4 is a configuration diagram of a stop position control device according to a second embodiment of the present invention.

FIG. 5 is a configuration diagram of a stop position control device according to a third embodiment of the present invention.

FIG. 6 is a configuration diagram of a stop position control device according to a fourth embodiment of the present invention.

FIG. 7 is a configuration diagram of a conventional stop position control device.

[Explanation of symbols]

1 motor (electric motor), 2 gear unit, 3 arm holding unit, 4 detection unit (encoder), 5 console, 6 controller unit, 7 input keyboard, 8 coordinate value monitor, 9 coordinate system, 10 arithmetic unit, 11 speed Control switch, 12 correction processing selection section.

Claims (4)

[Claims] 1. An electric motor for driving a holding means for holding an object, and a position detecting means for detecting a degree of rotation of the electric motor,
An operation unit that commands the movement of the holding unit, a control unit that controls the electric motor according to the command of the operation unit, and a calculation that calculates the coasting amount of the electric motor after the operation stop command is issued by the operation unit. Means, and the control unit sends a feedback pulse corresponding to the coasting amount to the electric motor. 2. The stop position control device according to claim 1, further comprising a monitor unit capable of visually confirming the position coordinates of the object. 3. A speed control means for changing the moving speed of an object driven by an electric motor is provided, and the control section performs high speed movement control when the distance to a desired position is long, and the distance to the desired position is short. The stop position control device according to claim 1, wherein low speed movement control is performed in the case. 4. The stop position control device according to claim 1, further comprising a selection unit for selecting whether or not to correct the amount of coasting of the electric motor after a movement stop command is issued to the operation unit.