JPH09269806A - Positioning controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate programming work by the work manager of a motion program and to improve programming work efficiency by providing a motion control means for automatically generating the motion program and outputting a positioning command to a servo amplifier. SOLUTION: When the motion control part 2 is started, it previously reads a target position and command speed for positioning from a data part 21. Then, speed for driving a servo motor 4 is decided from setting data on the target positions and command speed for respective points and setting data to which acceleration time, deceleration time and a speed restriction value are set for deciding an operation pattern commanded to the servo amplifier 3 for driving the servo motor 3. The position command given to the servo amplifier 3 for driving the servo motor 4 is decided from a relation between the speed and time and a relation with the target position, and the command is given to the servo amplifier 3 through servo I/F 24 and I/F 31.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning control device for driving a servo motor, and more particularly to a method of describing a motion program and operation contents.

[0002]

2. Description of the Related Art The operation of a conventional positioning device will be described. FIG. 48 is a block diagram showing an example of a controller that controls using a G code that is generally used in a machine tool or the like when driving a servomotor to drive a control target device. In the figure, 1 is a sequence control unit for performing control based on a predetermined sequence program, 2A is a motion control unit for driving a servo motor 4, for example, which is connected via a connected servo amplifier 3. An encoder 5 detects the position and speed of the servomotor 4.

The sequence control unit 1 has an interface with a sequence program unit 11 in which a sequence program created by a user is stored in advance, a control unit 12 for performing control based on the sequence program, and a motion control unit 2. Interface section 1
Three.

The motion control section 2A has a motion program section 21A in which a motion program previously created by a user is stored, a control section 22A for controlling the motion program, and a sequence control section 1
It has an interface section 23A that interfaces with the servo amplifier 3 and an interface section 24A that interfaces with the servo amplifier 3.

The servo amplifier 3 has a motion control section 2A.
Interface 31 for interfacing with
And controls the servo motor 4 based on the control from the motion control unit 2A based on the motion program.

FIG. 49 shows an example of a sequence program input and set by a user through a keyboard, which is a peripheral device, for example.
1 is stored. FIG. 50 is an example of a motion program that is input and set by a user via a keyboard, which is a peripheral device, for example, and is stored in the motion program unit 21.

Next, the conventional operation will be described with reference to the drawings. The sequence control unit 1 reads the sequence program shown in FIG. 49 from the sequence program unit 11 in which the sequence program is stored, and outputs the motion program number “No1” and the start signal to be executed when the operating conditions are satisfied, to the interface unit. Set to 13. The motion program number “No1” and the activation signal set in the interface unit 13 are transferred to the interface unit 23A in the motion control unit 2A.

In the motion control section 2A, when the activation signal is set in the interface section 23A, the program N of the motion program set at the same time is set.
O is taken in, and the motion program corresponding to NO designated by the sequence control unit 1 is read from the plurality of motion programs stored in the motion program unit 21A. Here, if the number of the motion program is "No1", the motion program shown in FIG. 50 is fetched and decoded by the control unit 22A as follows. G01 POINT TO POINT POSITIONING OPERATION X100. Position the X axis at the target position = 100 mm. F1000. Moving speed is 1000mm / min

After decoding the motion program by the control unit 22A of the motion control unit 2A, the interface unit 24A is instructed to position the servo amplifier 3 corresponding to the X axis at the target position = 100 mm at a moving speed of 100 mm / min. Set the position command which is a value. When the position command is set in the interface section 24A, the servo amplifier 3 rotates the servo motor 4 to a target position at a designated speed.

Further, the sequence program stored in the sequence program section 11 is a sequence program as shown in FIG. 51, and a motion program section 21A.
52, the sequence control unit 1 reads the sequence program shown in FIG. 51 from the sequence program unit 11 in which the sequence program is stored, and advances the forward condition. When is satisfied, the number "No1" of the motion program to be executed and the activation signal are set in the interface unit 13, and the same process as the above-described process is performed.

Here, the control unit 22A decodes as follows according to the contents of the motion program. G01 POINT TO POINT POSITIONING OPERATION X200. Position the X axis at the target position = 200 mm. F2000. The moving speed is 2000 mm / min. After the motion program is decoded by the control unit 22A, X
A command is given to the servo amplifier 3 corresponding to the axis, and the servo motor 4 is rotated to a target position at a designated speed.

Next, when the backward condition is satisfied, the number "No2" of the motion program to be executed and the activation signal are set in the interface section 13, and similarly the number "No2" of the motion program is executed. Here, the motion program No2 is decoded as follows. G28X0. Position to the origin position. After decoding the motion program by the control unit 22A, X
A command is given to the servo amplifier 3 corresponding to the axis to rotate the servo motor 12 to a target position at a designated speed.

The sequence program stored in the sequence program unit 11 is a sequence program as shown in FIG. 53, and the motion program unit 21A.
Even when the motion program stored in is the motion program as shown in FIG. 54, the same processing as described above is performed. That is, the sequence control unit 1 reads out the sequence program shown in FIG. 53 from the sequence program unit 11 in which the sequence program is stored, and outputs the motion program number “No1” and the start signal to be executed when the forward rotation condition is satisfied. Set it in the interface section 13 and set the motion program "No.
When the process of "1" is completed, the number "No2" of the motion program to be executed and the activation signal are set in the interface unit 13 when the next reverse rotation condition is satisfied. The process after the setting is the same as the process described above. Therefore, the description is omitted.

By the way, the motion program "No1"
"Decoding of G91G01 POINT TO POINT incremental value positioning operation X200. Positioning the X axis at a position of 200 mm in the + direction from the current position. F2000. Movement speed is 2000 mm / min. Decoding of motion program" No2 "is G91G01 POINT TO POINT incremental value positioning operation X-200. Positioning the X-axis at a position 200 mm in the-direction from the current position F2000. The moving speed is 2000 mm / min.

Further, in the sequence program shown in FIG. 49, when the motion program is set as shown in FIG. 55, when the movement to the X-axis target position 200 mm at the movement speed of 2000 mm / min is completed, next X movement is performed. Movement speed 200 mm / m to the target position 210 mm of the axis
Although it is moved in, the servo motor 4 is driven based on the motion program so as to switch to a low speed before the stop and reduce the shock at the stop as in the relationship between the speed and the time shown in FIG.

Further, in the cam mechanism 6 shown in FIG. 57, by rotating the cam 61 with the bearing 63 as the center of rotation, the follower 62 which moves up and down in response to the rotation of the cam 61 is directly used without using the cam. Driven by a servo motor, for example, the cam rotation angle and the follower 62 shown in FIG.
A method of creating a motion program when driving as in the locus of the displacement curve showing the relationship of the displacement amount of will be described. To create a motion program for moving the follower 62 up and down, the amount of movement for moving the follower up and down and its speed are required. Therefore, first, after obtaining the locus of the follower 62 shown in FIG. 58, the locus is differentiated to obtain the relationship between the cam rotation angle and the speed of FIG. 59, and the differentiated value of FIG. 59 is obtained. A motion program (Fig. 60) was created as a speed command. In FIG. 60, G0
4P10 indicates the stop time, which is the designated time (10 ms)
It shows the contents of shifting to the processing of the next line after waiting.

FIG. 61 is a diagram showing the relationship between the time and speed of the servomotor 4 that is rotationally driven, and the relationship between the motor torques at that time. FIG. 62 shows the set positive polarity torque / the set negative polarity torque set in advance by the peripheral device, and the values of the set set positive polarity torque / the set negative polarity torque are the speeds in the servo amplifier 3. It is the limit value of the torque output from the loop. FIG. 63 is a block diagram showing a torque limiting process in the servo amplifier 3. A position loop that outputs a speed command by comparing a position command from the motion control unit 2A and a feedback value from the encoder 5, and a position loop Speed command from the encoder 5
The speed loop that outputs the current (torque) command by comparing the feedback value from the torque limit circuit that limits the value of the current (torque) command from the speed loop, and the current (torque ) The voltage command is compared with the feedback value from the motor 4 and the voltage command is compared with the motor 4
And a current loop for outputting to.

In general, the torque of the servo motor 4 corresponds to the current flowing through the servo motor 4 on the servo amplifier side. Here, since the current that can be passed through the servo motor 4 is limited, the torque (current) must be limited according to the servo motor 4. That is, FIG.
As a result, the power running at the time of forward rotation and the regenerative power at the time of reverse rotation become the positive torque, and the power running at the time of forward rotation and the power running at the time of reverse rotation become the negative torque, so the current command output from the torque limiting circuit 34 is If the speed loop output is positive polarity, the speed loop output> set positive torque, set positive torque, speed loop output <set positive torque, speed loop output If the speed loop output is negative, the speed loop output Output> Set negative torque ··· Speed loop output Speed loop output <Set negative torque · · Set negative torque.

[0019]

In the conventional positioning device as described above, the sequence control section gives a sequence program for giving an instruction for driving a motion program, and the motion control section uses a servo motor or the like to position a controlled object device. The work manager (operator) had to create a motion program to drive the robot, and it was not possible to instruct the control related to the positioning operation without knowledge of the description of the motion program and knowledge of the description of the sequence program. . Also, adjustment of sequence control and motion control,
Even when the correction is performed, it is necessary to work on both the sequence program and the motion program, so there is a problem that the efficiency is low. Also,
Even when the controlled device is a device such as a cylinder that reciprocally drives in a single direction, the motion program associated with the G code must be created.

Further, in order to perform complicated control, it is necessary to prepare a plurality of motion programs and selectively use a plurality of motion programs in the sequence program, which makes the programming process more complicated. There was a problem. For example, to control the operation of the servo motor to position the controlled device,
There was a problem that a motion program had to be created for the motion control unit, and the motion program had to be newly modified in order to adjust the low speed command etc. before the stop, and adjustment took time. . Also, in order to operate the cam that is the controlled device, it is necessary to find the trajectory of the cam and use the differentiated value as the command speed for programming by changing the speed with multiple motion programs. However, the work efficiency was poor and it was not practical.

Further, when the operation speed of the servomotor or the like is changed as a whole to position the equipment to be controlled, either the command speed of the motion program must be changed or the override value must be changed in a sequence. However, there is a problem that it takes time to finely adjust the speed during the positioning operation. Further, in order to adjust the motor torque of the servo motor or the like to position the device to be controlled, the values of the set positive polarity torque / the set negative polarity torque shown in FIG. There was no choice but to change the setting, and it was not possible to finely adjust the torque fluctuation for this operation.

Further, the processing in the servo amplifier is shown in FIG.
As shown in the block diagram of Fig. 2, if the difference between the position command and the feedback value from the motor is small, the torque command output from the speed loop also becomes small. Almost all the torque is lost. Therefore, the designated torque could not be generated at the target position.

The present invention has been made in order to solve the above problems, and a first object thereof is to provide a work manager of a motion program which controls the operation of a servomotor or the like for positioning a device to be controlled. It is an object of the present invention to obtain a positioning control device that does not require programming work and improves programming work efficiency. The second purpose is
An object of the present invention is to obtain a positioning control device capable of performing positioning control under torque control. A third object is to obtain a positioning control device capable of controlling a complicated operation of a device to be controlled, which must be controlled by using a plurality of motion programs, without needing a motion program. The fourth purpose is
(EN) A positioning control device capable of finely setting the positioning control of a controlled device.

[0024]

In a positioning control apparatus according to the present invention, a control target device that is reciprocally driven in a single direction and target position data for positioning the control target device at a target position are target point numbers. The data part stored in advance for each, and the target position data corresponding to the designated point number designated from the target point number is read out, and based on this target position data, the control target device is set to the target position. A motion control unit that automatically creates a motion program for positioning and outputs a positioning command to the servo amplifier, and an instruction for the positioning operation of the controlled device by specifying the specified point number. The sequence control unit that stores the sequence program A servo amplifier for controlling the control target device based on the output the positioning command, but with the.

Further, a control target device that reciprocally drives in a single direction and target position data and torque data for positioning the control target device at a target position with a predetermined torque are stored in advance for each target point number. Data section,
And, while reading out the target position data corresponding to the designated point number designated from the target point numbers, the control target device which is feedback data fed back from the servo amplifier for controlling the control target device Input the cumulative position data, and based on this cumulative position data and the target position data, automatically create a motion program to position the controlled device at the target position, and then perform positioning commands and torque to the servo amplifier. A motion control unit having a motion control unit for outputting a command, a sequence control unit storing a sequence program for instructing a positioning operation of the control target device by designating the designated point number, and a motion control unit output from the motion control unit. Controls the controlled device based on the positioning command And Boanpu, those having a.

The sequence control unit notifies the motion control unit of a condition command different from the designated point number on the sequence program, and the motion control means responds to the condition command. The predetermined condition data is read from the data section, and the control target device is controlled based on the read condition data.

Further, the servo amplifier is adapted to generate a second command by multiplying the positioning command from the motion control section by the input set ratio to control the controlled device.

[0028]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1. FIG. 1 shows an example of a controller for controlling a cylinder or the like, which is a device to be controlled according to an embodiment of the present invention, by using a G code which is generally used in a machine tool or the like when driving a servomotor using a servomotor. FIG. In the figure, 1 is a sequence control unit that controls based on a predetermined sequence program,
2 is a servo motor 4 connected through a servo amplifier 3
A motion control unit 5 for driving a control target device (for example, a cylinder or the like) that is reciprocally driven in a single bidirectional manner by 5 is an encoder that detects the position and speed of the servo motor 4.

The sequence control unit 1 has an interface with a sequence program unit 11 in which a sequence program created beforehand by a user is stored, a control unit 12 which controls based on the sequence program, and a motion control unit 2. Interface section 1
Three.

The motion control section 2 stores therein a "target position" and a "command speed" corresponding to target position data created by the user in advance for each target point number, a data section 21 and a target point number. The target position data corresponding to the specified point number (described later) specified by the sequence program is read out from among the above, and the motion program for positioning the above-mentioned controlled device to the target position is automatically based on this target position data. Interface to the control unit 22 and the sequence control unit 1 corresponding to the motion control means for creating and outputting a positioning command (which will be described as a position command in the present embodiment) to the servo amplifier 3. Interfacing with the interface unit 23 and the servo amplifier 3 And an interface unit 24.

The servo amplifier 3 has an interface 31 for interfacing with the motion control unit 2, and controls the servo motor 4 by a position command from the motion control unit 2 based on a motion program.

FIG. 2 shows a user (operator), for example.
It is an example of a sequence program that is input and set via a keyboard or the like that is a peripheral device, and is stored in the sequence program unit 11. Here, the contents of the sequence program are as follows when the start contact is turned on.
If the positioning is not performed at the position of the point P1 corresponding to the designated point number, the content of moving (moving) to the point P1 by the first servomotor 4 is shown.

In FIG. 3, for example, "target position" and "command speed" which are target position data for each point corresponding to a target point number input and set by a user via a keyboard or the like which is a peripheral device are set. The setting data is stored in the data unit 21 of the motion control unit 2 in advance. FIG. 4 shows a position command (operation pattern) that the control unit 22 commands the servo amplifier 3 to drive the servo motor 4 based on the target position and command speed setting data for each point shown in FIG. ) Is set data in which “acceleration time”, “deceleration time”, and “speed limit value” are set, and is stored in the data unit 21 of the motion control unit 2 in advance.

FIG. 5 shows data (memory configuration) which is exchanged between the sequence control unit 1 and the motion control unit 2 via the interfaces 13 and 23, and the motion control unit is provided therein. 2 is a "start flag" for detecting a start command for the servo controller 2, a "completion flag" for detecting that the command for the servo amplifier 3 in the motion control section 2 is completed, and a target position and a command speed stored in the data section 21. It is composed of "point No" for specifying the point number of the setting data and "servo No" for specifying the number of the servo motor 4 to be driven set by the sequence program.

FIG. 6 is a diagram showing the internal memory configuration used by the sequence control unit 1. Each point number is set when positioning is reached, and reset when positioning is not reached. Figure 7
FIG. 3 is a flowchart showing an operation when the sequence controller 1 processes the sequence program shown in FIG. 2. FIG. 8 is a flowchart showing the operation of the motion control unit 2. FIG. 9 is a command curve diagram showing a method in which the motion control unit 2 determines a command value.

Next, the operation will be described. First, the control unit 12 in the sequence control unit 1 reads the sequence program shown in FIG. 2 stored in the sequence program unit 11. Based on the sequence program shown in FIG. 2, when the start contact is “ON” and the P1 contact is “OFF”, the process of the flowchart of FIG. 7 is performed. That is, unless the conditions of the starting contact and the P1 contact are satisfied, the process of the flowchart of FIG. 7 is not performed.
Here, the P1 contact turns ON when it reaches point 1.
However, if it has not reached, it is a contact that turns off. Also,
SV1 represents the machine number of the servo motor 4, and "1" of SV1 represents that it is the first servo motor. That is, when driving a plurality of servo motors, the servo motors 4 to be driven are designated by changing the numbers.

When the starting contact is "ON" and the P1 contact is "OFF", the process shown in the flowchart of FIG. 7 is executed. First, in step S1, the coil type of the sequence program is determined. If the coil type is SV (servo motor),
In step S2, the P (point) number (target position to be positioned) "1" described in the line where SV is described is read from the sequence program. On the other hand, if the coil type is not SV (servo motor), positioning cannot be performed, so the processing of the sequence control unit 1 ends.

Then, in step S3, the state of the "starting flag" in the data of the memory configuration exchanged between the sequence control unit 1 and the motion control unit 2 shown in FIG. 5 is determined. Here, if the "starting flag" is "OFF", it is determined that no command is currently issued to the motion control unit 2, so that it is possible to perform the current positioning. Then, the process proceeds to step S4 and "1" is added to the "point No" (based on P1).
"Servo No" is set to "1" (based on SV1), and the process proceeds to step S5.

In step S5, the first unit of the servo motor 4 is driven by the position command based on the "point No." and the "servo No.", so that all the contacts from P0 to Pn shown in FIG. 6 are turned on / off. The information is reset and the process proceeds to step S6. In step S6, since the input of information from the sequence control unit 1 for performing the positioning is completed, the "start flag" is set, and the process of the sequence control unit 1 ends.

If the "start flag" is "ON" in step S3, it means that the command transmitted to the motion control unit 2 is still valid. Therefore, in step S7, the state of the "completion flag" is determined. If the "completion flag" is "ON", it means that the processing based on the command of the previous sequence program in the motion control unit 2 has been completed, so that the positioning is completed based on the command of the previous sequence program. ON / OFF information of is set (step S8), and the process proceeds to step S9.

In step S9, since the processing based on the sequence program at the previous time has been completed, the "starting flag" and the "completion flag" are reset, and the series of processing in the sequence control device 1 is ended. If the "completion flag" is "OFF" in step S7,
Since the process is being performed in the motion control unit 2, the process as the sequence control unit 1 is ended and another sequence control is performed.

Next, the operation of the motion control section 2 will be described with reference to the flowchart of FIG. In step S10, referring to the data of the memory configuration shown in FIG. 5, when the "start flag" is "ON", the motion control unit 2 operates. Here, if the "start flag" is not "ON", the process of the motion control unit 2 is not performed, but if it is "ON", the process proceeds to step S11 and set to "point No". The assigned number "1" (P
The “target position” and the “command speed” for performing the positioning corresponding to 1) are stored in the data section 21 in advance.
Read from the setting data indicated by.

Then, in step S12, the setting data of the "target position" and the "command speed" for each point shown in FIG. 3 and the servo amplifier 3 for driving the servo motor 4 shown in FIG. The speed at which the servo motor 4 is driven is determined from the setting data in which the "acceleration time", "deceleration time", and "speed limit value" for determining the operation pattern to be commanded are set (see FIG. 9: command speed Is less than or equal to the speed limit value), and the relationship between speed and time shown in FIG.
And the position command for instructing the servo amplifier 3 to drive the servo motor 4 is determined from the relationship with the "target position", and the number "1" set in "Servo No" in FIG.
Servo amplifier 3 corresponding to (the first servo motor 4)
To the servo I / F 24 and I / F 31. Here, in order to control the device to be controlled which is driven to reciprocate in a single bi-directional manner, the G code may be of a single type, so it is also possible to automatically create a motion program associated with the G code. It is possible.

Then, in step S13, only when the target position shown in FIG. 3 is reached, the process proceeds to step S14, the "completion flag" is turned "ON" (set), and the processing in the motion control unit 2 is performed. finish.

The operation of the servo amplifier 3 based on the position command set in the motion control section 2 is similar to that in the prior art.
The position command from the encoder 5 is compared with the feedback value from the encoder 5 to output the speed command. The position command from the position loop is compared with the feedback value from the encoder 5 to output the current (torque) command. Speed loop, a torque limiting circuit for limiting the current (torque) command value from the speed loop, a current (torque) command from the torque limiting circuit and a feedback value from the motor 4 are compared, and a voltage command is output to the motor. Positioning is performed by controlling the current / voltage for the servomotor 4 based on the current loop output to the servomotor 4.

According to this embodiment, in a controlled device driven in a single direction, a complicated motion program based on G code is not required, and only a target position for positioning needs to be designated. Since the operation control of the servo motor etc. for positioning the control target device is directly specified in the program, it is necessary to perform the motion control by specifying the motion program that describes the operation control of the control target device. There is no need for the motion program itself created by the work manager. Therefore, the programming work that requires two kinds of programming knowledge is only the programming work of the sequence program, so that the programming efficiency is improved. In addition, in the case where each target position is determined for each of a plurality of cylinders which are control target devices and each cylinder is sequentially driven to the target position, it is not necessary to change the data in the motion control unit 2. Especially, the effect of this embodiment is great.

In the present embodiment, the positioning command to the servo amplifier has been described as the position command, but in addition to this, the positioning operation can be performed by outputting the speed command to the servo amplifier. At this time, the motion control unit 2 needs to input the accumulated position data from the servo amplifier and output the difference between the accumulated position data and the position based on the target position data as a speed command.

Embodiment 2. FIG. 10 is another example of the sequence program input and set by the user via a keyboard, which is a peripheral device, and is stored in the sequence program unit 11. Here, the difference between the sequence program shown in FIG. 10 and the sequence program shown in FIG. 2 described in the first embodiment described above is that the conditional contact, which is a conditional command for designating the servo operation mode, is described. Or not. The SG contact, which is the condition signal described in the second embodiment, is always "ON" and never "OFF". The meaning of the SG contact indicates a command for returning (positioning) to the origin position after the positioning operation for P1 is completed or when the positioning operation for P1 cannot be performed.

11 and 12 show the sequence controller 1
11 is a flowchart showing an operation when processing the sequence program shown in FIG.

Next, the operation will be described. First, the control unit 12 in the sequence control unit 1 reads out the sequence program shown in FIG. 10 stored in the sequence program unit 11. Based on the sequence program shown in FIG. 10, when the starting contact is “ON”, the P1 contact is “OFF”, and the SG contact is “ON”, FIG.
The process of the flowchart of is performed. That is, the starting contact,
If the conditions of P1 contact and SG contact are not satisfied,
The process of the flowchart of FIG. 11 is not performed. Where S
Except for the G contact, it is the same as that of the first embodiment described above.

First, in step S15, the coil type of the sequence program is determined. If the coil type is SV (servo motor), the process proceeds to step S16, and it is determined whether the first servo motor SV1 can be driven. On the other hand, if the coil type is not SV (servo motor) in step S15, positioning cannot be performed, so the process of the sequence control unit 1 ends.
If the first servomotor SV1 can be driven, P1
Since the command of the sequence program based on the contact point can be executed, the process proceeds to step S17 and the P (point) number (target position to be positioned) “1” described in the line in which SV is described. Is read from the sequence program.

Then, in step S18, the "starting flag" of the communication data exchanged between the sequence control unit 1 and the motion control unit 2 shown in FIG.
Determine the state of. Here, the "starting flag" is "OF
If it is F ", it is determined that no command is currently issued to the motion control unit 2, so that it is possible to perform the positioning this time. Then, the process proceeds to step S19 and" 1 "is set for" Point No. " (Based on P1) "Servo N
"1" (based on SV1) is set to "o", and the process proceeds to step S20.

In step S20, the first unit of the servomotor 4 is driven by the positioning command based on the "point No." and the "servo No.", so that P shown in FIG.
The ON / OFF information of all the contacts from 0 to Pn is reset, and the process proceeds to step S21. In step S21, since the input of information from the sequence control unit 1 for performing the positioning is completed, the "start flag" is set, and the process of the sequence control unit 1 ends.

In step S18, "start flag"
Is ON, the motion control unit 2
It indicates that the previously transmitted directive is still valid. Therefore, in step S24, the state of the "completion flag" is determined. If the "completion flag" is "ON", it means that the processing based on the command of the previous sequence program in the motion control unit 2 has been completed, so that the positioning is completed based on the command of the previous sequence program. ON / OFF information of is set (step S25), and the process proceeds to step S26.

In step S26, since the processing based on the sequence program at the previous time has been completed, the "start flag" and the "completion flag" are reset, and the series of processing in the sequence control device 1 is ended. If the "completion flag" is "OFF" in step S24, the motion control unit 2 is performing the process. Therefore, the process as the sequence control unit 1 is terminated and another sequence control is performed.

On the other hand, in step S16, if the first servomotor SV1 cannot be driven, the positioning operation to P1 cannot be performed, so the routine proceeds to step S22.
In step S22, it is determined whether the SG contact is set on the sequence program. If the SG contact is not set on the sequence program, the process as the sequence control unit 1 is terminated and another sequence control is performed. If the SG contact is set on the sequence program, the process proceeds to step S23 and the operation of returning to the origin position is performed. (Details will be described with reference to FIG. 12.)

Next, the operation executed by the sequence controller 1 when returning to the origin position will be described with reference to the flowchart of FIG. First, in step S27, the state of the P0 contact is determined from the internal memory shown in FIG.
If the P0 contact is "ON", it returns to the origin position, so the process ends, but if the P0 contact is "OFF", it returns to the origin position based on the SG contact command. In step S28, the state of the "start flag" of the communication data exchanged between the sequence control unit 1 and the motion control unit 2 shown in FIG. 5 is determined. Here, if the "starting flag" is "OFF", it is determined that no command is currently issued to the motion control unit 2, so that it is possible to perform the current positioning. Then, the process proceeds to step S29 and "Point N
A value corresponding to "servo No" for "0" (based on P0) origin positioning is set in "o", and the process proceeds to step S30.

In step S30, since the corresponding machine of the servomotor 4 is driven by the positioning command based on the "point No." and the "servo No.", all the contacts from P0 to Pn shown in FIG. 6 are turned on / off. The information is reset, and the process proceeds to step S31. Step S31
Then, since the input of information from the sequence control unit 1 for performing the positioning is completed, the "start flag" is set, and the process of the sequence control unit 1 is ended.

In step S28, "start flag"
Is ON, it indicates that the command previously transmitted to the motion control unit 2 is still valid. Therefore, in step S32, the "completion flag"
Determine the state of. If the "completion flag" is "ON", it means that the processing based on the command of the previous sequence program in the motion control unit 2 has been completed, so that the positioning is completed based on the command of the previous sequence program. ON / OFF information of is set (step S33), and the process proceeds to step S34.

In step S34, since the processing based on the sequence program at the previous time is completed, the "start flag" and the "completion flag" are reset, and the series of processing in the sequence control device 1 is ended. If the "completion flag" is "OFF" in step S32, the motion control unit 2 is performing the process. Therefore, the process as the sequence control unit 1 is terminated and another sequence control is performed.

The operation of the motion control section 2 in the return to the origin and the positioning operation to P1 is shown in FIG.
Looking at the data indicated by, the motion control unit 2 operates when the “starting flag” is “ON”. Here, if the "starting flag" is not "ON", the process of the motion control unit 2 ends, but if it is "ON", the positioning corresponding to the number set in "Point No" is performed. The "target position" and the "command speed" to be used are read from the setting data shown in FIG.

The setting data of "target position" and "command speed" for each point shown in FIG. 3 and the operation pattern for instructing the servo amplifier 3 to drive the servo motor 4 shown in FIG. The speed at which the servo motor 4 is driven is determined from the setting data in which the "acceleration time", "deceleration time", and "speed limit value" are set (see FIG. 9: the command speed is less than the speed limit value). ) And that figure 9
The position command to be given to the servo amplifier 3 to drive the servo motor 4 is determined from the relationship between the speed and time shown by and the relationship with the "target position".
No. "1" set to "o" (1 of servo motor 4
Servo I / F 24 to the servo amplifier 3 corresponding to
The command is issued via the I / F 31. Then, only when the target position shown in FIG. 3 is reached, the “completion flag” is set to “ON”.
(Set), and the process in the motion control unit 2 is completed.

According to this embodiment, the operation command for returning to the origin can be specified on the sequence program by a simple description of adding an SG contact.
Therefore, in addition to the effect of the first embodiment described above, it is possible to further shorten the program creation time and more easily perform the program editing work. In addition,
In the present embodiment, the case of driving to the point P1 has been described, but the same applies to forward / reverse movements and the like.

Embodiment 3. In the present embodiment, the case where the P1 contact and the rotation command (F, R) which is a condition command are integrated will be described. FIG. 13 is another example of the sequence program input and set by the user via a keyboard, which is a peripheral device, and is stored in the sequence program unit 11. In FIG. 14, for example, the “forward rotation movement amount” and the “forward rotation command speed” and the “reverse rotation movement amount” and the “reverse rotation movement speed” for each point input and set by the user via a keyboard which is a peripheral device are set. It is the setting data that has been set, and the data part 21 of the motion control unit 2 is set in advance.
Is stored in FIG. 15 shows an internal memory configuration used by the sequence control unit 1, which is set upon completion of forward rotation movement and reverse rotation movement, and is reset in the second line sequence of the sequence program after completion.

FIG. 16 shows data (memory configuration) exchanged between the sequence control unit 1 and the motion control unit 2 via the interfaces 13 and 23, and the motion control unit is provided therein. "Start flag" for detecting the start command to the motion control unit 2
"Completion flag" for detecting the end of the command to the servo amplifier 3 in ",""Movedirection" for specifying the moving direction, and "Servo No" for specifying the number of the servo amplifier 3 set by the sequence program. It 17, FIG. 18, and FIG. 19 are sequence control units 1
FIG. 14 is a flowchart showing an operation when processing the sequence program shown in FIG.

Next, the operation will be described. First, the control unit 12 in the sequence control unit 1 reads the sequence program shown in FIG. 13 stored in the sequence program unit 11. If the forward contact is "ON" and the F1 contact is "OFF" or the reverse contact is "ON" and the R1 contact is "OFF" based on the sequence program shown in FIG. I do. That is, the condition of forward contact, F1 contact, or
If the conditions for the reverse contact and R1 contact are not met,
The process of the flowchart of 7 is not performed. Here, the F1 contact indicates a contact that turns “ON” when the forward rotation movement to the point 1 is completed, and the R1 contact indicates a contact that turns “ON” when the reverse rotation movement to the point 1 is completed. The sequence control unit 1 creates ON / OFF of the F1 and R1 contacts based on the F1 / R1 contact ON / OFF information shown in FIG.

In the flowchart of FIG. 17, if the coil is turned on, the process is executed, and in step S35, the coil type of the sequence program is determined.
If the coil type is SV (servo motor), the process proceeds to step S36, and it is determined whether the first servo motor SV1 can be driven. On the other hand, if the coil type is not SV (servo motor), positioning cannot be performed, so the processing of the sequence control unit 1 is ended and another sequence processing is performed. If the first servo motor SV1 can be driven, the command of the sequence program based on the F1 contact or the R1 contact can be executed. Therefore, the process proceeds to step S37, and the servo motor SV1 on the sequence program of FIG. It is determined whether the condition for driving is F1 contact or R1 contact. That is, the sequence program includes the condition of forward contact, F1 contact, reverse contact,
Since the processing starts only when the condition of the R1 contact is satisfied,
It is determined which condition is satisfied to start driving this sequence program.

If it is the F1 contact (step S3)
8) Then, the process proceeds to step S38 to execute the forward rotation movement process. On the other hand, if the contact is the R1 contact (step S39), the process proceeds to step S40 to execute the reverse rotation processing. (Detailed in FIG. 19)

The operation of the forward rotation movement process in FIG. 18 will be described. This process is a process called from step S38 in FIG. 17, and first, in step S41, “S” of communication data mutually exchanged between the sequence control unit 1 and the motion control unit 2 shown in FIG. The state of the "starting flag" is determined. Here, if the "starting flag" is "OFF", it is determined that no command is currently issued to the motion control unit 2, so that the forward rotation movement process of this time can be performed. And step S
In step 42, the "moving direction" is set to "forward rotation direction" up to point 1, "servo No." for positioning is set to "1", and the process proceeds to step S43.

In step S43, the No. 1 machine of the servomotor 4 moves forward in accordance with the positioning command based on the "moving direction" and the "servo No.", so that P shown in FIG.
The ON / OFF information of all the contacts from 0 to Pn is reset, and the process proceeds to step S44. In step S44, since the input of information from the sequence control unit 1 for performing the positioning is completed, the "start flag" is set, and the process of the sequence control unit 1 ends.

In step S41, "start flag"
Is ON, it indicates that the command previously transmitted to the motion control unit 2 is still valid. Therefore, in step S45, the "completion flag"
Determine the state of. If the "completion flag" is "ON", it means that the processing based on the command of the previous sequence program in the motion control unit 2 has been completed, so that the positioning corresponding to the command of the previous sequence program is completed. ON / OFF information of is set (step S46), and the process proceeds to step S47.

In step S47, since the processing based on the sequence program at the previous time is completed, the "start flag" and the "completion flag" are reset, and the series of processing in the sequence control device 1 is ended. If the "completion flag" is "OFF" in step S45, the motion control unit 2 is performing the process. Therefore, the process as the sequence control unit 1 is terminated and another sequence control is performed.

Next, the operation of the reverse movement processing in FIG. 19 will be described. This process is step S in FIG.
This is a process called from 40. First, step S
At 48, the state of the "starting flag" of the communication data exchanged between the sequence control unit 1 and the motion control unit 2 shown in FIG. 16 is determined. here,
If the "start flag" is "OFF", it is determined that no command is currently issued to the motion control unit 2,
It is possible to perform the current reverse movement processing. And
In step S49, "reverse direction" up to point 1 is set in "moving direction", "1" is set in "servo No." for positioning, and the process proceeds to step S50.

In step S50, the positioning command based on the "moving direction" and the "servo No." causes the first unit of the servo motor 4 to move in the reverse direction.
The ON / OFF information of all the contacts from 0 to Pn is reset, and the process proceeds to step S51. In step S51, since the input of information from the sequence control unit 1 for performing the positioning is completed, the "start flag" is set, and the process of the sequence control unit 1 ends.

In step S48, "start flag"
Is ON, it indicates that the command previously transmitted to the motion control unit 2 is still valid. Therefore, in step S52, the "completion flag"
Determine the state of. If the "completion flag" is "ON", it means that the processing based on the command of the previous sequence program in the motion control unit 2 has been completed, so that the positioning corresponding to the command of the previous sequence program is completed. ON / OFF information of is set (step S53), and the process proceeds to step S54.

In step S54, since the processing based on the sequence program at the previous time has been completed, the "start flag" and the "completion flag" are reset, and the series of processing in the sequence control device 1 is ended. If the "completion flag" is "OFF" in step S52, the motion control unit 2 is performing the process, so the process as the sequence control unit 1 is terminated and another sequence control is performed.

When the forward rotation movement and the reverse rotation movement are completed, the completion contact on the second line of the sequence program in FIG. 13 is turned on.
Then, F1 and R1 are reset.

Regarding the operation of the motion control unit 2 in the positioning operation of the forward rotation movement processing or the reverse rotation movement processing to the point 1, the "starting flag" is "ON" in view of the data shown in FIG. 5 of the memory configuration. In this case, the motion control unit 2 operates. Here, the "starting flag" is "ON"
If not, the process of the motion control unit 2 ends, but if “ON”, the “target position” and the “target position” for positioning at the point 1 in the moving direction set in the “moving direction” The "command speed" is read from the setting data shown in FIG.

The setting data of "target position" and "command speed" for each point shown in FIG. 3 and the operation pattern for instructing the servo amplifier 3 to drive the servo motor 4 shown in FIG. The speed at which the servo motor 4 is driven is determined from the setting data in which the "acceleration time", "deceleration time", and "speed limit value" are set (see FIG. 9: the command speed is less than the speed limit value). ) And that figure 9
The command value (position command) to be commanded to the servo amplifier 3 to drive the servo motor 4 is determined from the relationship between the speed and time indicated by and the relationship with the "target position". To the servo amplifier 3 corresponding to the number "1" (the first servo motor 4) set in "
Command via / F24 and I / F31. And FIG.
Only when the target position indicated by is reached, the "completion flag"
Is “ON” (set), and the processing in the motion control unit 2 ends.

According to this embodiment, the first embodiment described above is used.
In addition to the effect of the above, the conventional control which is executed by designating and executing a plurality of motion programs such as forward rotation and reverse rotation is performed by the F of forward or reverse movement processing for the point.
It becomes possible to specify by a simple description of addition of one contact and R1 contact, so that the program creation time can be further shortened and the program editing work can be performed more easily.

Embodiment 4. FIG. 20 is another example of the sequence program input and set by the user via a keyboard which is a peripheral device, and is stored in the sequence program unit 11. Here, the difference between the sequence program shown in FIG. 20 and the sequence program shown in FIG. 2 described in the first embodiment is whether or not a condition signal for designating a servo operation mode is described. Is. The AB contact described in this embodiment is always "ON" and never "OFF". The meaning of this AB contact indicates a command for instructing that there is a low speed change in the positioning operation to P1.

FIG. 21 shows setting data in which "deceleration movement amount" and "low speed" are set for each point, which is input and set by the user via a keyboard, which is a peripheral device, for example, and motion control is performed in advance. Data part 21 of part 2
Is stored in Here, the "deceleration movement amount" sets how much the point to be changed to the deceleration speed is changed from the target position at the front moving amount, and the "low speed" is how much the speed command is changed at that time. Is set.

FIG. 22 shows data (memory configuration) that is exchanged between the sequence control unit 1 and the motion control unit 2 via the interfaces 13 and 23. Inside the data, there is a motion control unit. "Start flag" for detecting the start command to the motion control unit 2
"Completion flag" that detects the end of the command to the servo amplifier 3 in step 1, "Point No" that specifies the point number of the setting data of the target position and command speed stored in the data section 21, and is set by the sequence program. "Servo N" to specify the number of the servo amplifier 3
o ”and“ deceleration designation ”for designating whether or not there is a deceleration command by designating the AB contact.

FIG. 23 is a flowchart showing the operation when the sequence control unit 1 processes the sequence program shown in FIG. FIG. 24 is a flowchart showing the operation of the motion control unit 2. FIG.
FIG. 6 is a command curve diagram showing a method in which the motion control unit 2 determines a command pattern.

Next, the operation will be described. First, the control unit 12 in the sequence control unit 1 reads the sequence program shown in FIG. 20 stored in the sequence program unit 11. When the start contact is “ON”, the P1 contact is “OFF” and the AB contact is “ON” based on the sequence program shown in FIG. 20, FIG.
The process of the flowchart of is performed. That is, the starting contact,
If the conditions of P1 contact and AB contact are not satisfied,
The process of the flowchart of FIG. 23 is not performed. Where A
Except for the B contact, it is the same as the above-described first embodiment.

First, in step S55, the coil type of the sequence program is determined. If the coil type is SV (servo motor), the process proceeds to step S56, and the P (point) number (target position to be positioned) “1” described in the line in which SV is described is set to the sequence program. Read from. On the other hand, the coil type is S
If it is not V (servo motor), positioning cannot be performed, so the processing of the sequence control unit 1 is ended.

Then, in step S57, as shown in FIG.
The state of the "starting flag" of the communication data mutually exchanged between the sequence control unit 1 and the motion control unit 2 indicated by is determined. Here, the "starting flag" is "O".
If it is FF ", it is determined that the command to the motion control unit 2 is not issued at present, and therefore, it is possible to perform the positioning this time. Then, the process proceeds to step S58 and" 1 "is set to" Point No ". (Based on P1) "Servo N
"1" (based on SV1) is set to "o", and the process proceeds to step S59.

In step S59, it is determined whether or not there is an AB contact on the sequence. The presence of the AB contact point indicates the presence of the low speed change, so the process proceeds to step S60, the "deceleration designation" of the communication data shown in FIG. 22 is set, and the process proceeds to step S61. On the other hand, if the AB contact is not described, the low speed change is not performed, so that the "deceleration designation" is not set and the step S61 is performed.
Move to

In step S61, the No. 1 servo motor 4 is driven by the positioning command based on the "point No." and "servo No."
The ON / OFF information of all the contacts from 0 to Pn is reset, and the process proceeds to step S62. In step S62, since the input of information from the sequence control unit 1 for performing the positioning is completed, the "start flag" is set, and the process of the sequence control unit 1 ends.

In step S57, "start flag"
Is ON, the motion control unit 2
It indicates that the previously transmitted directive is still valid. Therefore, in step S63, the state of the "completion flag" is determined. If the "completion flag" is "ON", it means that the processing based on the command of the previous sequence program in the motion control unit 2 has been completed, so that the positioning is completed based on the command of the previous sequence program. ON / OFF information of is set (step S64), and the process proceeds to step S65.

In step S65, the "deceleration designation" is reset, and the process proceeds to step S66. Since the processing based on the sequence program at the previous time is completed, the "start flag" and the "completion flag" are reset, and a series of sequences is performed. The processing in the control device 1 ends. If the "completion flag" is "OFF" in step S63, the motion control unit 2 is performing the process, so the process as the sequence control unit 1 is terminated and another sequence control is performed.

Next, the operation of the motion control section 2 will be described with reference to FIG.
This will be described with reference to the flowchart of. In step S67, looking at the data shown in FIG. 22 of the memory configuration,
When the “start flag” is “ON”, the motion control unit 2 operates. Here, the "starting flag" is "O".
If it is not N ”, the process of the motion control unit 2 ends, but if it is“ ON ”, the process proceeds to step S68 and the number“ 1 ”(P) set in“ Point No ”is set.
The “target position” and the “command speed” for performing the positioning corresponding to 1) are stored in the data unit 21 in advance.
Read from the setting data indicated by.

Then, the process proceeds to step S69, where the setting data of "target position" and "command speed" for each point shown in FIG. 3 and the servo amplifier 3 for driving the servo motor 4 shown in FIG. The speed at which the servo motor 4 is driven is determined from the setting data in which the "acceleration time", "deceleration time", and "speed limit value" for determining the operation pattern to be commanded are set (see FIG. 9: command speed Is less than or equal to the speed limit value), and the relationship between speed and time shown in FIG.
And the "target position", the command value (position command) to command the servo amplifier 3 to drive the servo motor 4 is determined, and the number "1" set in "Servo No" in FIG. The servo amplifier 3 corresponding to (the first servo motor 4) is instructed via the servo I / F 24 and I / F 31.

Then, in step S70, it is determined whether or not the servo motor 4 (SV1) has reached the deceleration point (deceleration movement amount) set in FIG. 21, and only when the deceleration point is reached, step S71 is determined. Move to
Similarly, the speed is changed to the low speed set in FIG. 21, and the speed of the servo motor 4 is set to the low speed. (The command value is determined such that the P1 target position is switched to the low speed from the front by the deceleration movement amount. See FIG. 25.) Then, in step S72, only when the target position shown in FIG. 3 is reached. , Move to step S73,
The “completion flag” is set to “ON” (set), and the processing in the motion control unit 2 is completed.

According to the present embodiment, the change to the low speed when the deceleration movement amount is reached can be designated on the sequence program by a simple description of adding an AB contact. Therefore, in addition to the effect of the first embodiment described above, it is possible to further shorten the program creation time and more easily perform the program editing work. Although the present embodiment has been described for the case of driving to the point P1, the same applies to forward / reverse movements and the like.

Embodiment 5. In the fifth embodiment, an operation for directly controlling the follower that moves up and down with the rotation of the cam as shown in FIG. 57 described in the related art will be described.

FIG. 26 is another example of the sequence program input and set by the user via a keyboard which is a peripheral device, and is stored in the sequence program section 11. Here, the difference between the sequence program shown in FIG. 26 and the sequence program shown in FIG. 2 described in the first embodiment is whether or not a condition signal for designating a servo operation mode is described. Is. The CAM contact described in this embodiment is always "O".
It is set to "N" and never turned "OFF." This C
The meaning of the AM contact indicates a command for instructing that there is a cam drive command.

FIG. 27 shows data (memory configuration) exchanged between the sequence control unit 1 and the motion control unit 2 via the interfaces 13 and 23, and the motion control unit is provided therein. "Start flag" for detecting the start command to the motion control unit 2
"Completion flag" that detects the end of the command to the servo amplifier 3 in step 1, "Point No" that specifies the point number of the setting data of the target position and command speed stored in the data section 21, and is set by the sequence program. "Servo N" to specify the number of the servo amplifier 3
“O”, and “cam designation” for notifying the presence of a cam drive command.

FIG. 28 shows data (memory configuration) stored in the data section of the motion control section 2. For example, one cycle operation of the cam is completed by the user via a keyboard which is a peripheral device. "Cam 1 cycle pulse number" that sets the number of command pulses up to, "First flag" to determine the position ("start position") of the follower joint before starting, "start position", follower joint The “stroke amount” is the movement amount, the “command accumulated value” is the cumulative value of the number of pulses commanded to drive the follower, and the “stroke ratio” is the stroke amount created with the resolution N. Here, the resolution N corresponds to the number of divisions for obtaining the stroke ratio so as to match the shape of the cam.

FIG. 29 shows data in which a stroke ratio corresponding to the shape of a cam, for example, a feed cam whose return motion is not described is created with a resolution N, and the data unit 21 of the motion control unit 2 is stored in advance. Stored in 0
To 7FFFH. 30 is the same as FIG.
Is a graph in which the horizontal axis represents the division position corresponding to the resolution, and the vertical axis represents the stroke ratio from 0 to 7FFFH.

FIG. 31 is a time-speed diagram of preset command pulses. FIG. 32 shows the motion control unit 2.
Is a time-speed diagram of the command value actually commanded to the servo amplifier 3. FIG. 33 is a flowchart showing the operation when the sequence control unit 1 processes the sequence program of FIG. FIG. 34 is a flowchart showing the operation of the motion control unit 2.

Next, the operation will be described. First, the control unit 12 in the sequence control unit 1 reads out the sequence program shown in FIG. 26 stored in the sequence program unit 11. Based on the sequence program shown in FIG. 26, when the start contact is “ON”, the P1 contact is “OFF”, and the CAM contact is “ON”, the process of the flowchart of FIG. 33 is performed. That is, unless the conditions of the starting contact, the P1 contact, and the CAM contact are satisfied, the process of the flowchart of FIG. 33 is not performed. Here, the P1 contact turns ON when reaching point 1,
If it has not reached, the contact that turns off and the CAM contact are contacts that indicate the presence of cam drive. Further, SV1 represents a servo motor, and "1" of SV1 represents the first servo motor. That is, when driving a plurality of servo motors, the servo motors to be driven are designated by changing the numbers.

First, in step S74, the coil type of the sequence program is determined. If the coil type is SV (servo motor), the process proceeds to step S75, and the P (point) number (target position to be positioned) "1" described in the line where SV is described is set from the sequence program. Read out. On the other hand, the coil type is SV
If it is not a (servo motor), positioning cannot be performed, so the processing of the sequence control unit 1 ends.

Then, in step S76, as shown in FIG.
The state of the "starting flag" of the communication data mutually exchanged between the sequence control unit 1 and the motion control unit 2 indicated by is determined. Here, the "starting flag" is "O".
If it is FF ", it is determined that no command has been issued to the motion control unit 2 at present, so that it is possible to perform the positioning this time. Then, the process proceeds to step S77, and" 1 "is set to" Point No ". (Based on P1) "Servo N
"1" (based on SV1) is set in "o", and the process proceeds to step S78.

At step S78, CA is added to the sequence.
Judge whether there is an M contact. If there is a CAM contact, it indicates the presence of a cam drive command, so step S79.
27, and "cam designation" of the communication data shown in FIG. 27.
Is set, and the process proceeds to step S80. On the other hand, CAM
If the contact is not described, the cam drive is not performed, so that the "cam designation" is not set and the step S80 is performed.
Move to

At step S80, the first unit of the servomotor 4 is driven by the positioning command based on the "point No." and the "servo No.", so that P shown in FIG.
The ON / OFF information of all the contacts from 0 to Pn is reset, and the process proceeds to step S81. In step S81, since the input of information from the sequence control unit 1 for performing the positioning is completed, the "start flag" is set, and the process of the sequence control unit 1 ends.

In step S76, "start flag"
Is ON, the motion control unit 2
It indicates that the previously transmitted directive is still valid. Therefore, in step S82, the state of the "completion flag" is determined. If the "completion flag" is "ON", it means that the processing based on the command of the previous sequence program in the motion control unit 2 has been completed, so that the positioning is completed based on the command of the previous sequence program. ON / OFF information of is set (step S83), and the process proceeds to step S84.

In step S84, the "cam designation" is reset, the process proceeds to step S85, and since the processing based on the sequence program at the previous time is completed, the "start flag" and the "completion flag" are reset, and a series of sequence control is performed. The processing in the device 1 is completed. If the "completion flag" is "OFF" in step S82, the motion control unit 2 is performing the process, so the process as the sequence control unit 1 is terminated and another sequence control is performed.

Next, the operation of the motion control unit 2 will be described with reference to FIG.
This will be described with reference to the flowchart of. In step S86, looking at the data shown in FIG. 27 of the memory configuration,
When the “start flag” is “ON”, the motion control unit 2 operates. Here, the "starting flag" is "O".
If not "N", the process of the motion control unit 2 ends, but if "ON", the process proceeds to step S87 to check the state of the "first flag". "First flag" is ON
Is already in place, the "start position" for driving the cam
Has been determined, the process proceeds to step S90. On the other hand, if the "first flag" is OFF (reset), the "start position" for driving the cam must be determined, so the process proceeds to step S88, and the number "point No." The “target position” and the “command speed” for performing the positioning corresponding to 1 ”(P1) are read from the setting data shown in FIG. 3 which is stored in the data section 21 in advance and are set in the data section 21 in advance. 28, the cam 1 cycle pulse number is read.

Then, the flow shifts to step S89, where the "first flag" is set and the "designated cumulative value" shown in FIG. 28 is cleared to "0" in order to newly perform the cam drive. In addition, the "stroke amount" for driving the cam
Is calculated from the "target position" obtained in step S88 and the "start position" which is the position before the start of the cam, and the value is set (FIG. 28). Here, the calculation of the “stroke amount” is represented by Expression 1. Stroke amount = target position-start position Formula 1

Then, in step S90, as shown in FIG.
The command pattern is determined from the acceleration time, the deceleration time, and the speed limit value shown in, and the movement amount per unit time (represented by the number of pulses) required to drive the "stroke amount" is created. In step S91, the movement amount (represented by the number of pulses) created in step S90 is added (counted) to the designated cumulative value.

Then, in step S92, [A] of the stroke ratio [A] corresponding to the designated cumulative value is obtained from the equation 2. A = (designated cumulative value / number of cam 1-cycle pulse) × N formula 2 N: resolution A: 1. . . N Stroke ratio [A] corresponding to the value of [A] obtained by Equation 2
Is calculated from preset data shown in FIG. Here, the stroke ratio [A] is N arranged as data in the range from 0H to 7FFFH corresponding to the value of [A]. When the command cumulative value is 0, the stroke ratio [1] The data corresponds to the data of the stroke ratio [N] when the command accumulated value is the number of cam 1-cycle pulses. That is, since the command cumulative value increases in the range from 0 to the number of cam 1 cycle pulses, one of the stroke ratio [1] to the stroke ratio [N] is referred to according to the value of the command cumulative value.

Then, in step S93, the command value to the servo motor is obtained from the equation (3). Command value = B x stroke amount + start position Formula 3 B: Stroke ratio [A] / 7FFFH

After that, a positioning operation is performed based on the command value that has been commanded, and in step S94, it is determined whether or not the target position has been reached by referring to the value of the designated cumulative value. For example, when the cam is rotated once, the designated cumulative value is the cam 1
If the number of cycle pulses matches, it is determined that the processing for one cam rotation is completed. Then, the process proceeds to step S95,
The “completion flag” shown in FIG. 27 is set, and the “first time flag” in FIG. 28 is reset, and the process ends.

According to this embodiment, the cam drive command can be designated on the sequence program by a simple description of adding a CAM contact. Therefore, in addition to the effect of the first embodiment described above, it is possible to further shorten the program creation time and more easily perform the program editing work. Further, it is not necessary for the operator to perform complicated calculations such as the differential necessary for creating the command for driving the cam, and the workability is further improved. Although the present embodiment has been described for the case of driving to the point P1, the same applies to forward / reverse movements and the like.

Embodiment 6. FIG. 35 is a block diagram showing the configuration of the servo amplifier 3. In the figure, 31 is an interface section with the motion control section 2 and 32 is a volume resistor. Side voltage is set, and 33 is a similar volume resistor, which sets the reverse side voltage. Reference numeral 34 denotes an AD converter that converts the voltage set by the volume resistor 32 into a digital value, which corresponds to the setting on the motor forward side. Reference numeral 35 is an AD converter similar to 34, and corresponds to the setting on the motor reverse side.

FIG. 36 is a block diagram showing a memory in the servo amplifier 3, in which a digital value obtained by AD-converting the voltage at the motor forward rotation side and a digital value obtained by AD-converting the voltage at the motor reverse rotation side are stored. FIG. 37 is a flowchart executed by the motion control unit 2.

Next, the operation will be described with reference to FIG. For example, when the sequence program shown in FIG. 2 is executed, the process in the sequence control unit 1 is the same as that in the first embodiment, and the description thereof is omitted. In the flowchart of the motion control unit 2 shown in FIG. 37, in step S96, the data shown in FIG. 5 of the memory configuration is checked, and when the “start flag” is “ON”, the motion control unit 2 operates. To do. Here, if the "starting flag" is not "ON", the process of the motion control unit 2 ends, but if it is "ON", step S9 is performed.
7 is a diagram in which the "target position" and the "command speed" for performing positioning corresponding to the number "1" (P1) set in "Point No" are stored in the data unit 21 in advance. It is read from the setting data indicated by 3.

Then, the process proceeds to step S98, in which the setting data of "target position" and "command speed" for each point shown in FIG. 3 and the servo amplifier 3 for driving the servo motor 4 shown in FIG. Command to the servo amplifier 3 to drive the servo motor 4 from the setting data in which the "acceleration time", "deceleration time", and "speed limit value" for determining the operation pattern to be commanded Determine the pattern. Then, in step S99, it is determined whether the speed command of the command pattern to the servo amplifier 3 is the forward rotation direction or the reverse rotation direction. If the speed command is a command in the forward direction, the process proceeds to step S100, and the work manager reads the forward speed ratio set by rotating the volume of the volume resistor 32, and step S1.
At 01, the speed command designated at step S98 is multiplied by this forward rotation side speed ratio, and the multiplied second
The multiplication result which is the command of is set as the official speed command.

On the other hand, in step S99, if the speed command of the command pattern to the servo amplifier 3 is the reverse direction command, the process proceeds to step S105 and the work manager sets it by rotating the volume of the volume resistor 33. The reverse rotation speed ratio is read out and step S1
At 06, the speed command designated in step S98 is multiplied by the reverse rotation side speed ratio, and the multiplication result is used as the official speed command.

When the speed command is corrected as a result of step S101 or step S106, the corrected speed command is output to the servo amplifier 3 in step S102 to cause the servomotor SV1 to perform the positioning operation. Only when the target position shown in FIG. 3 is reached in step S103, the process proceeds to step S104,
The “completion flag” is set to “ON” (set), and the processing in the motion control unit 2 is completed.

According to this embodiment, the sequence controller 1
With respect to the speed command set by the motion control section 2, the work manager himself can change the voltage resistance of the volume resistor to arbitrarily set the speed in the forward and reverse directions. Therefore, it is possible to finely adjust the forward rotation and the reverse rotation of the operation speed, and it is possible to perform finer control and shorten the adjustment time at the time of adjustment.

Embodiment 7. FIG. FIG. 38 is a block diagram showing the configuration of the servo amplifier 3. In the figure, 31 is an interface section with the motion control section 2, 36 is a volume resistor, and the normal rotation of the torque ratio is caused by rotating the volume. Side voltage is set, and 33 is a similar volume resistor, which sets the reverse side voltage. 34
Is an AD converter for converting the voltage set by the volume resistor 32 into a digital value, which corresponds to the setting on the motor forward side. Reference numeral 35 is an AD converter similar to 34, and corresponds to the setting on the motor reverse side.

FIG. 39 is a block diagram showing the processing blocks in the servo amplifier. The position loop processing block performs processing based on the position command and the feedback signal from the servo motor, and the speed command and the feedback signal from the servo motor. Based on the speed loop processing block that performs processing, the forward rotation side torque limit value that performs forward rotation side torque limitation, the reverse rotation side torque limit value that performs reverse rotation side torque limitation, the current value that is controlled to limit torque, and the feedback from the servo motor. It has a current loop processing block that performs processing based on a signal.

FIG. 40 is a block diagram showing a memory in the servo amplifier 3. The forward rotation side torque ratio and volume which are digital values obtained by AD-converting the motor forward rotation side voltage set by the volume resistor 36. The reverse rotation side torque ratio, which is a digital value obtained by AD-converting the motor reverse rotation side voltage set by the resistor 37, and the torque limit value set in advance by a peripheral device or the like are stored. FIG. 41 is a flowchart executed by the servo amplifier.

Next, the operation will be described with reference to FIG. In the servo amplifier 3, first, step S108.
Then, it is determined whether the command from the motion control unit 2 is a forward rotation command or a reverse rotation command. If it is a forward rotation command, step S10
9, the work manager reads and sets the forward rotation side torque ratio set by rotating the volume of the volume resistor 36, and in step S110, the preset torque limit value (see FIG. 40). Is multiplied by the forward rotation side torque ratio, and the result of the multiplication is taken as the set torque.

On the other hand, in step S108, if the command to the servo amplifier 3 is a reverse rotation direction command, the process proceeds to step S111, and the reverse rotation side torque ratio set by the work manager rotating the volume of the volume resistor 37. Is read out and set, and in step S112, the preset torque limit value (see FIG. 40) is multiplied by this reverse rotation side torque ratio, and the result of this multiplication is taken as the set torque. The current value setting operation for controlling the servo motor according to the torque is the same as the conventional one.

According to this embodiment, the sequence controller 1
With respect to the command set by the motion control unit 2, the work manager himself can change the voltage resistance of the volume resistor to arbitrarily set the torque in the forward and reverse directions. Therefore, it is possible to finely adjust the forward and reverse rotations of the torque control, and it is possible to perform finer control and shorten the adjustment time during the adjustment.

Embodiment 8. FIG. 42 is another example of the sequence program input and set by the user via a keyboard or the like which is a peripheral device, and is stored in the sequence program unit 11. Here, the difference between the sequence program shown in FIG. 44 and the sequence program shown in FIG. 2 described in the first embodiment is whether or not a condition signal for designating torque is described. The TRQ contact described in this embodiment is always "O".
It is set to "N" and never turned "OFF".
The meaning of the RQ contact indicates a command for instructing that torque is designated.

FIG. 43 shows data (memory configuration) exchanged between the sequence control unit 1 and the motion control unit 2 via the interfaces 13 and 23, and the motion control unit is provided inside thereof. "Start flag" for detecting the start command to the motion control unit 2
"Completion flag" that detects the end of the command to the servo amplifier 3 in step 1, "Point No" that specifies the point number of the setting data of the target position and command speed stored in the data section 21, and is set by the sequence program. "Servo N" to specify the number of the servo amplifier 3
“O” and “torque designation” indicating the presence of torque designation.

FIG. 44 shows, for example, "target position", "command speed" for each point which is input and set by the user via a keyboard which is a peripheral device, and "for generating a predetermined torque at the target position". "Torque command" is set data, and the motion control unit 2 is set in advance.
Stored in the data section 21 of FIG. 45 is a block diagram showing processing blocks in the servo amplifier. The speed loop processing block performs processing based on the speed command from the motion control unit 2 and the feedback signal from the encoder 5 of the servo motor, the speed limiter, A comparator that compares the torque command from the motion control unit 2 with the output (torque value) from the speed loop, a torque limit value that limits the torque, a current value that is controlled to limit the torque, and a feedback signal from the servo motor. It has a current loop processing block that performs processing based on the above, and a motor position accumulator that counts the cumulative value of the servo motor position and outputs cumulative position data that is feedback data to the motion control unit 2.

FIG. 46 is a flow chart showing the operation when the sequence control unit 1 processes a sequence program. FIG. 47 is a flowchart showing the operation of the motion control unit 2.

Next, the operation will be described. First, FIG.
The operation of the sequence controller 1 will be described with reference to FIG. First, the control unit 12 in the sequence control unit 1 reads the sequence program shown in FIG. 42 stored in the sequence program unit 11. Based on the sequence program shown in FIG. 42, the starting contact is “O”.
N ", P1 contact is" OFF ", and TRQ contact is" O "
46, the processing of the flowchart of FIG. 46 is performed. Here, the contact point P1 is turned on when the point 1 is reached, and turned off when it is not reached, and the TRQ contact point has the torque designation. Is a contact point that indicates SV1
Represents a servo motor, and "1" of SV1 represents the first servo motor. That is, when driving a plurality of servo motors, the servo motors to be driven are designated by changing the numbers.

First, in step S113, the coil type of the sequence program is determined. If the coil type is SV (servo motor), the process proceeds to step S114, and the P (point) number (target position to be positioned) "1" described in the line in which SV is described is set from the sequence program. Read out. On the other hand, if the coil type is not SV (servo motor), positioning cannot be performed, so the processing of the sequence control unit 1 ends.

Then, in step S115, as shown in FIG.
Sequence control unit 1 and motion control unit 2 shown by 3
"Startup flag" of data exchanged with
Determine the state of. Here, the "starting flag" is "OF
If it is F ″, it is determined that no command is currently issued to the motion control unit 2, so that it is possible to perform the positioning this time. Then, the process proceeds to step S116 and “1” is set to “Point No”. (Based on P1) "Servo N
"1" (based on SV1) is set to "o", and the process proceeds to step S117.

At step S117, T is added to the sequence.
Determine whether there is an RQ contact. With a TRQ contact,
Since the presence of torque designation is indicated, step S118 is performed.
43, the "torque designation" of the communication data shown in FIG. 43 is set, and the process proceeds to step S119. on the other hand,
If the TRQ contact is not described, the torque designation drive is not performed, so the process proceeds to step S119 without setting "torque designation".

In step S119, "point No."
Since the first unit of the servo motor 4 is driven by the positioning command based on “and Servo No”, the ON / OFF information of all the contacts from P0 to Pn shown in FIG. 6 is reset, and the process proceeds to step S120. Step S1
In 20, the input of information from the sequence control unit 1 for performing positioning is completed, so the "start flag" is set, and the processing of the sequence control unit 1 ends.

If the "starting flag" is "ON" in step S115, it indicates that the command transmitted to the motion control unit 2 is still valid. Therefore, in step S121, the state of the "completion flag" is determined. "Complete flag" is "ON"
If so, since the processing based on the command of the previous sequence program in the motion control unit 2 has been completed, the ON / OFF information of the corresponding Pn contact whose positioning based on the command of the previous sequence program is completed is set. (Step S122), the process proceeds to step S123.

In step S123, the "torque designation" is reset, the process proceeds to step S124, and the processing based on the sequence program at the previous time is completed.
The "starting flag" and the "completion flag" are reset, and the series of processing in the sequence control device 1 is ended. Further, in step S121, the "completion flag" is "O".
If it is FF ″, the process is being performed in the motion control unit 2, so the process as the sequence control unit 1 is terminated and another sequence control is performed.

Next, the operation of the motion control section 2 will be described with reference to the flowchart of FIG. In step S125, looking at the data shown in FIG. 43 of the memory configuration,
When the “start flag” is “ON”, the motion control unit 2 operates. Here, the "starting flag" is "O".
If it is not N ”, the process of the motion control unit 2 ends, but if it is“ ON ”, the process proceeds to step S126 and the number“ 1 ”(P) set in“ Point No ”is set.
The "target position", "command speed" and "designated torque" for performing the positioning corresponding to 1) are read from the setting data shown in FIG.

Then, the processing shifts to step S127, and FIG.
"Target position" and "command speed" for each point shown in
Setting data, and "acceleration time", "deceleration time", and "speed limit value" for determining the operation pattern for instructing the servo amplifier 3 to drive the servo motor 4 shown in FIG. A command pattern for commanding the servo amplifier 3 to drive the servo motor 4 is determined from the set data and the speed command value is created.

Then, in step S128, the actual position of the servo motor 4 is read from the motor position accumulator of the servo amplifier 3. In step S129, the speed command created in step S127 is passed to the servo amplifier as the speed limit value of the speed limiter of the servo amplifier 3 in step S129.
Move to 130. In step S130, the torque command read based on FIG. 44 is passed to the servo amplifier as an input of the comparator of the servo amplifier 3.

After that, in step S131, if the motor position read from the servo amplifier 3 has reached the P1 target position, the process proceeds to step S132, and FIG.
Set the "completion flag" of. On the other hand, step S13
If the motor position has not reached the P1 target position at 1, the sequence processing this time is ended.

In the present embodiment, the control is performed so as to drive by the freely set torque until the positioning at the point 1. That is, the position of the servo motor 4 until the positioning to the point 1 is fed back to the motion control unit 2 by the motor position accumulator, and the torque control for the servo amplifier 3 is performed based on the feedback value (actual servo motor position). , Drive the servo motor. Therefore, the motion control unit 2 outputs the speed command and the torque command to the servo amplifier 3, but does not output the position command.

Therefore, according to this embodiment, it becomes possible to perform positioning while changing the applied torque,
It becomes possible to easily perform control at the time of mold clamping with a mold or the like. Further, since the positioning is performed by the torque designation, the designated torque can be generated even when the positioning is stopped at the predetermined position. In addition,
In the present embodiment, the case of driving to the point P1 has been described, but the same applies to forward / reverse movements and the like.

[0146]

Since the present invention is configured as described above, it has the following effects.

In the positioning control device according to the present invention, the control target device that reciprocally drives in a single direction and the target position data for positioning the control target device at the target position are stored in advance for each target point number. Read out the target position data corresponding to the designated point number designated from the data section and the above target point number,
Based on this target position data, a motion control unit having a motion control means for automatically creating a motion program for positioning the device to be controlled at the target position and outputting a positioning command to the servo amplifier, A sequence control unit that stores a sequence program for instructing a positioning operation of the control target device by designating the designated point number, and a servo amplifier that controls the control target device based on the positioning command output from the motion control unit. , The work manager does not need to create and input a motion program for driving and controlling a control target device that is reciprocally driven in a single bidirectional manner, and programming work efficiency is improved.

Further, a control target device that reciprocally drives in a single direction and target position data and torque data for positioning the control target device at a target position with a predetermined torque are stored in advance for each target point number. Data section,
And, while reading out the target position data corresponding to the designated point number designated from the target point numbers, the control target device which is feedback data fed back from the servo amplifier for controlling the control target device Input the cumulative position data, and based on this cumulative position data and the target position data, automatically create a motion program to position the controlled device at the target position, and then perform positioning commands and torque to the servo amplifier. A motion control unit having a motion control unit for outputting a command, a sequence control unit storing a sequence program for instructing a positioning operation of the control target device by designating the designated point number, and a motion control unit output from the motion control unit. Controls the controlled device based on the positioning command And Boanpu, since with a, may be positioned control while the torque control.

The sequence control section notifies the motion control section of a condition command different from the designated point number on the sequence program, and the motion control means responds to the condition command. Predetermined condition data is read from the data section, and the control target device is controlled based on the read condition data, so it is necessary to control using multiple motion programs Complex operation of the control target device Also, it is possible to control without creating and inputting a complicated motion program.

Further, the servo amplifier creates a second command by multiplying the positioning command from the motion control section by the input set ratio, and controls the device to be controlled. The control can be set more finely.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a positioning control device according to the present invention.

FIG. 2 is a diagram showing a sequence program according to the first embodiment.

FIG. 3 is a diagram showing setting data according to the first embodiment.

FIG. 4 is a diagram showing setting data according to the first embodiment.

FIG. 5 is a diagram showing data exchanged between a sequence control unit and a motion control unit according to the first embodiment.

FIG. 6 is a diagram showing an internal memory configuration used by the sequence control unit 1 in the first embodiment.

FIG. 7 is a flowchart showing an operation when processing a sequence program according to the first embodiment.

FIG. 8 is a flowchart showing the operation of the motion control unit according to the first embodiment.

FIG. 9 is a command curve diagram showing a method in which the motion control unit according to the first embodiment determines a command value.

FIG. 10 is a diagram showing a sequence program according to the second embodiment.

FIG. 11 is a flowchart showing an operation of a sequence control unit in the second exemplary embodiment.

FIG. 12 is a flowchart showing an operation of a sequence control unit according to the second exemplary embodiment.

FIG. 13 is a diagram showing a sequence program according to the third embodiment.

FIG. 14 is a detailed memory diagram showing condition data according to the third embodiment.

FIG. 15 is a memory detail diagram showing condition data according to the third embodiment.

FIG. 16 is a diagram showing data exchanged between a sequence control unit and a motion control unit according to the third embodiment.

FIG. 17 is a flowchart showing the operation of the sequence control unit in the third embodiment.

FIG. 18 is a flowchart showing the operation of the sequence control unit in the third embodiment.

FIG. 19 is a flowchart showing the operation of the sequence control unit in the third embodiment.

FIG. 20 is a diagram showing a sequence program according to the fourth embodiment.

FIG. 21 is a detailed memory diagram showing condition data according to the fourth embodiment.

FIG. 22 is a diagram showing data exchanged between the sequence control unit and the motion control unit according to the fourth embodiment.

FIG. 23 is a flowchart showing the operation of the sequence control unit in the fourth embodiment.

FIG. 24 is a flowchart showing the operation of the motion control unit according to the fourth embodiment.

FIG. 25 is a motion control unit 2 according to the fourth embodiment.
FIG. 6 is a command curve diagram showing a method for determining a command pattern.

FIG. 26 is a diagram showing a sequence program according to the fifth embodiment.

FIG. 27 is a diagram showing data exchanged between the sequence control unit and the motion control unit according to the fifth embodiment.

FIG. 28 is a memory detail diagram showing condition data according to the fifth embodiment.

FIG. 29 is a memory detail diagram showing condition data according to the fifth embodiment.

FIG. 30 is a division position-stroke ratio diagram in the fifth embodiment.

FIG. 31 is a time-speed diagram of command values in the fifth embodiment.

FIG. 32 is a time-speed diagram when a cam data command is issued in the fifth embodiment.

FIG. 33 is a flowchart showing the operation of the sequence control unit in the fifth embodiment.

FIG. 34 is a flowchart showing the operation of the motion control unit in the fifth embodiment.

FIG. 35 is a block diagram showing the configuration of a servo amplifier according to the sixth embodiment.

FIG. 36 is a memory detailed diagram of the servo amplifier according to the sixth embodiment.

FIG. 37 is a flowchart showing the operation of the motion control unit in the sixth embodiment.

FIG. 38 is a block diagram showing a configuration of a servo amplifier according to the seventh embodiment.

FIG. 39 is a control block diagram of the servo amplifier according to the seventh embodiment.

FIG. 40 is a memory detailed diagram of the servo amplifier according to the seventh embodiment.

FIG. 41 is a flowchart showing the operation of the servo amplifier according to the seventh embodiment.

FIG. 42 is a diagram showing a sequence program according to the eighth embodiment.

FIG. 43 is a diagram showing data exchanged between the sequence control unit and the motion control unit according to the eighth embodiment.

FIG. 44 is a diagram showing setting data according to the eighth embodiment.

FIG. 45 is a control block diagram of the servo amplifier according to the eighth embodiment.

FIG. 46 is a flowchart showing the operation of the sequence control unit in the eighth embodiment.

FIG. 47 is a flowchart showing the operation of the motion control unit in the eighth embodiment.

FIG. 48 is a block diagram showing a configuration of a conventional positioning control device.

FIG. 49 is a diagram showing a conventional sequence program.

FIG. 50 is a diagram showing a conventional motion program.

FIG. 51 is a diagram showing a conventional sequence program.

FIG. 52 is a diagram showing a conventional motion program.

FIG. 53 is a diagram showing a conventional sequence program.

FIG. 54 is a diagram showing a conventional motion program.

FIG. 55 is a diagram showing a conventional motion program.

FIG. 56 is a diagram showing a conventional relationship between speed and time.

FIG. 57 is a conventional cam mechanism diagram.

FIG. 58 is a conventional displacement curve diagram.

FIG. 59 is a conventional rotation angle-velocity diagram.

FIG. 60 is a diagram showing a conventional motion program.

FIG. 61 is a conventional time-speed and time-motor torque relationship diagram.

FIG. 62 is a detailed memory diagram of a conventional servo amplifier.

FIG. 63 is a control block diagram of a conventional servo amplifier.

[Explanation of symbols]

1 sequence control unit 2 motion control unit 3 servo amplifier 4 motor 5 encoder 11 program unit 12 control unit 13 I / F unit 21 data unit 22 motion control unit 23 I / F unit 24 I / F unit 31 I / F unit 32 volume Resistor 33 Volume Resistor 34 AD Converter 35 AD Converter 36 Volume Resistor 37 Volume Resistor 38 AD Converter 39 AD Converter

Claims (4)

[Claims] 1. A control target device that reciprocally drives in a single direction, a data section in which target position data for positioning the control target device at a target position is stored in advance for each target point number, and the target point. The target position data corresponding to the specified point number is read out from the numbers, and based on this target position data, the motion program for positioning the above-mentioned controlled device to the target position is automatically created, and the servo A motion control unit having a motion control unit for outputting a positioning command to an amplifier, a sequence control unit storing a sequence program for instructing a positioning operation of the control target device by designating the designated point number, and the motion control Controls the controlled device based on the positioning command output from the control unit Servo amplifier to
Positioning control device. 2. A control target device that reciprocally drives in a single direction and target position data and torque data for positioning the control target device at a target position with a predetermined torque are stored in advance for each target point number. The data portion and the target position data corresponding to the designated point number designated from the target point numbers are read out, and the feedback data is fed back from the servo amplifier for controlling the controlled device. Input the cumulative position data of the controlled device and automatically create a motion program to position the controlled device at the target position based on this cumulative position data and the target position data. A motion control unit having a motion control means for outputting a positioning command and a torque command; A servo amplifier for controlling the sequence control unit which stores a sequence program for instructing the positioning operation of the control target device, the control target device based on the positioning command output from the motion control unit by specifying the cement number,
Positioning control device. 3. The sequence control section notifies the motion control section of the condition command when the condition command different from the designated point number exists in the sequence program, and the motion control means responds to the condition command. The positioning control device according to claim 1 or 2, wherein predetermined condition data is read from a data section, and the control target device is controlled based on the read condition data. 4. The servo amplifier creates a second command by multiplying a positioning command from the motion control section by a ratio set by input, and controls a device to be controlled. The positioning control device according to any one of items 1 to 3.