JPH0965690A - Cpu with built-in software - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accelerate a stepping motor smoothly even if the load of the stepping motor is varied. SOLUTION: The whole of a CPU 7 is controlled by a whole control unit 1. The rotation state of a stepping motor 8 is decided by a load calculation unit 4 in accordance with the information of an encoder 9 attached to the stepping motor 8. If the stepping motor 8 is not accelerated smoothly, new acceleration data are calculated by a profile calculation unit 2 and the new acceleration data are transmitted to a memory unit 6 through the whole control unit 1 and, at the same time, transmitted to an output port part 3 as the phase signals of the stepping motor 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a software embedded CPU for controlling a stepping motor, and more particularly to profile control of a stepping motor.

[0002]

2. Description of the Related Art In a conventional software-embedded CPU, profile data for controlling a stepping motor is fixed as software.

[0003]

In the above-mentioned conventional software embedded CPU, when the load on the stepping motor increases, the starting torque for the increased load is required, but as it is, it is a fixed flow feel data. Since the stepping motor does not rotate smoothly, it has to be replaced with a CPU whose profile data has been changed, and there is a problem in that maintenance takes time.

[0004]

A software-embedded CPU according to the present invention includes a rotation monitoring section for monitoring the rotation status of a stepping motor by an encoder attached to the stepping motor, and a calculation section for calculating profile data from the monitored data. , And a control unit that controls the stepping motor according to the calculation result.

The software-embedded CPU of the present invention includes an encoder for detecting a rotation state, a stepping motor having the encoder, a storage section for storing profile data for controlling the stepping motor, and a reading section for reading from the storage section. From the profile calculator that calculates the output profile data and outputs the motor phase signal, the output port that receives this output motor phase signal, the input port that receives the signal from the encoder, and this output port When the change time for sampling the change point of the encoder signal at a constant cycle by the signal of No. 1 matches the profile data, the load calculation unit that outputs the next data transmission instruction and the storage unit for rotating the stepping motor are first stored. Read out the profile data via the profile calculator At the same time that the motor phase signal is sent to the output port section, the start of acceleration is notified to the load calculation section, and the next profile data is read from the storage section according to the next data transmission instruction from the load calculation section and sent to the profile calculation section. have.

[0006]

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of a software-embedded CPU of the present invention.

The overall control unit 1 is a unit that manages the entire CPU 7. In order to rotate the stepping motor 8, first, the overall control unit 1 reads the profile data stored in the storage unit 6, and the phase signal of the motor is sent to the output port unit 3 via the profile calculation unit 2. At the same time, the overall control unit 1 notifies the load calculation unit 4 of the start of acceleration. The load calculation unit 4 receives the signal of the encoder 9 via the input port unit 5 and samples the change point of the encoder signal at a constant cycle. If the change time matches the profile data, the next data transmission instruction is issued to the overall control unit 1. Overall control unit 1
Upon receiving this notification, the following profile data is stored in the storage unit 6
And sends it to the read profile calculation unit 2.

The above operation is repeated unless the load increases.

When the load calculator 4 does not match the change time of the signal of the encoder 9 and the profile data, it is determined that the stepping motor 8 is not rotating smoothly, and the profile calculator 2 is notified. The profile calculation unit 2 calculates profile data based on the information from the load calculation unit 4, and sends the phase data to the output port unit 3. Also, the same data is sent to the overall control unit 1 and the profile data in the storage unit 6 is rewritten. Changing the profile data changes the acceleration angle of the stepping motor 8 so that smooth rotation can be obtained even if the load on the stepping motor 8 becomes heavy. After that, the process is repeated until the acceleration process of the stepping motor 8 is completed.

Next, when the change point of the encoder signal in the load calculation section 4 is a certain time or more, or when the encoder signal does not change, the stepping motor 8
It is considered that the motor is not rotating or that it is overloaded for some reason. Therefore, the general control unit 1 is notified of the rotation abnormality. By this notification, the overall control unit 1 stops the data transmission to the profile calculation unit 2 and notifies the upper level unit 10 of the abnormality.

[0012]

As described above, the software-embedded CPU of the present invention checks the rotation state of the stepping motor with the encoder and calculates profile data so that the rotation becomes smooth. There is an effect that the replacement of the CPU becomes unnecessary and the maintenance time is reduced.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a software-embedded CPU of the present invention.

[Explanation of symbols]

 1 Overall Control Section 2 Profile Calculation Section 3 Output Port Section 4 Load Calculation Section 5 Input Port Section 6 Memory Section 7 CPU 8 Stepping Motor 9 Encoder 10 Upper Section

Claims (2)

[Claims] 1. A rotation monitoring unit that monitors a rotation state of a stepping motor by an encoder attached to the stepping motor, a calculation unit that calculates profile data from the monitored data, and a control that controls the stepping motor based on the calculation result. A CPU with a built-in software, which has a section. 2. An encoder for detecting a rotation state, a stepping motor equipped with the encoder, a storage unit for storing profile data for controlling the stepping motor, and profile data read from the storage unit. A profile calculation unit that calculates and outputs a motor phase signal, an output port unit that receives the output motor phase signal, an input port unit that receives the signal from the encoder, and a constant cycle based on the signal from the output port unit. When the change time for sampling the change point of the encoder signal agrees with the profile data, the load calculation unit that outputs the next data transmission instruction and the profile data stored in the storage unit to rotate the stepping motor are first stored. Read out the output port via the profile calculator When a phase signal of the motor is sent to the load calculation unit, the acceleration calculation is notified to the load calculation unit at the same time, and the next profile data is read from the storage unit according to the next data transmission instruction from the load calculation unit and is sent to the profile calculation unit. A CPU with a built-in software, which has a section.