JPH10114058A - Synchronous controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make origin doubling and ordinary operation be done continuously by a method in which when the mutual phases of machine axes are held in a given relationship, the speed of a motor is changed to make the origin doubling be done based on a pulse signal corresponding to the rotation of each machine axis and an origin detecting signal of each machine axis. SOLUTION: In a shaftless newspaper rotary press, when origin doubling of the machine axes 1a-4a of printing machines 1-3 and a folding machine 4 is done, when printing operation is started, a low speed speed command is output from a comprehensive controller 70 to each controller 61-64, and each motor 11-14 is controlled based on the speed command. Next, the origin of each machine axis 1a-4a is detected, the speeds of the motors 11-14 are changed by each controller 61-64 so that each phase of each machine axis 1a-4a becomes a prescribed phase. When it is confirmed that the printing machines 1-3 and the folding machine 4 are being controlled synchronously in a prescribed phase, a speed command value for outputting from the comprehensive controller 70 to each controller 61-64 is increased, and the motors 11-14 are accelerated to a prescribed printing speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous control device, and keeps the mutual phases (rotation angles) of machine axes of a plurality of machines rotationally driven by a plurality of motors such as a shaftless newspaper rotary press in a fixed relationship. This is useful when applied to a case where the plurality of motors are controlled synchronously.

[0002]

2. Description of the Related Art As shown in FIG. 5, a conventional newspaper rotary press is used to synchronize pages, that is, a plurality of (three in the illustrated example) printing machines 1, 2, 3 and a folding machine 4. Shafts 1a, 2
The rotating shafts of motors 5, 6, 7 for rotating these mechanical shafts 1a, 2a, 3a, 4a are connected by a mechanical shaft 8 in order to keep the mutual phases of the rotating shafts a, 3a, 4a constant. I was

On the other hand, recently, as shown in FIG. 6, the machine shafts 1a, 2a, 3
motors 11, 12, 13, 14 for rotationally driving a, 4 a
The rotary shafts are not connected by a mechanical shaft, and the phases of the mechanical shafts 1a, 2a, 3a, and 4a are maintained in a constant relationship by electrical control to synchronize the machines. Has been adopted.

[0004] In such a shaftless newspaper rotary press, it is necessary to know the phase (rotation angle) of the machine shaft for synchronous control. As a detector for detecting the phase of the mechanical axis, as shown in FIG.
2, 33, 34), proximity switch 21 (22, 23, 2)
4).

Proximity switch 21 (22, 23, 24)
The gear 11c is driven by the motor 11 (12, 13, 14).
(2c, 3c, 4c), which are fixed to the vicinity of a cylinder (roll on which a printing plate is wound) shaft and a folding machine shaft 1b (2b, 3b, 4b) which are driven to rotate via (2c, 3c, 4c). By detecting the detected portion 1d (2d, 3d, 4d) provided at one location on the outer peripheral surface of the folder shaft 1b (2b, 3b, 4b), the mechanical shaft 1a (2a, 3a, 4) is detected.
The origin of a) is detected.

The rotary encoder 31 (32, 33,
34) is an increment type, and the motor 1
1 (12, 13, 14), and according to the rotation of these rotating shafts, that is, the mechanical shafts 1a (2a,
A pulse signal is output according to the rotation of 3a, 4a).

The control device 41 (42, 43, 44) controls the rotation speed of the motor 11 (12, 13, 14),
This is a control device that controls the phases of the machine shafts 1a (2a, 3a, 4a) to have a constant relationship, and detects signals from the proximity switches 21 (22, 23, 24) and the rotary encoders 31 (32, 33). , 34), the A-phase and B-phase pulses of the rotary encoder 31 (32, 33, 34) are constantly integrated, so that the phase of the machine axis is recognized. (12,1
The speed of (3, 14) is adjusted (acceleration or deceleration) to correct the phase shift.

Specifically, a reference pulse (oscillator output) and a rotary encoder 31 (32, 33, 3)
A deviation counter value from the detection pulse of 4) is obtained by a deviation counter, and a speed command value from a general control device, which will be described later, is corrected according to the deviation count value, thereby obtaining the speed of the motor 11 (12, 13, 14). (Acceleration or deceleration) to correct the phase shift.

As shown in FIG. 8, each control device 41, 4
2, 43 and 44 are connected to the overall control device 50.
The overall control device 50 receives an origin adjustment completion signal from the control devices 41, 42, 43, and 44 of the individual printing presses 1, 2, 3, and the folding device 4, and also inputs these signals.
The speed command is output to 42, 43, 44.

In the above-mentioned synchronous control device, the origin is adjusted as follows in the origin adjustment mode before the printing operation is started.

That is, when the power is turned on, the printing presses 1, 2, 3
Since the phases of the machine shafts 1a, 2a, 3a and 4a of the folder 4 are not known, the motors 31, 32, 33 and 34 are rotated at a low speed as shown in FIG. 9 (the folder is not shown). Thus, the mechanical axes 1a, 2a, 3
The origin of a, 4a is determined by the detected parts 1d, 2d, 3d, 4d.
(Detected by the proximity switches 21, 22, 23, 24) and by detecting the Z phase of the rotary encoders 31, 32, 33, 34.

Subsequently, since the length of the course through which the paper to be printed passes differs for each of the printing presses 1, 2, and 3, the reference position for synchronizing (this is referred to as a register position) is also set for the printing presses 1, 2, and 3.
3, the motors 11, 12, and 13 of the printing presses 1, 2, and 3 are not stopped immediately after the origin is found, but are continuously moved to the register position before the motor 1.
1, 12, and 13 are stopped to prepare for the printing operation. And
As described above, during the printing operation, control is performed such that the mutual phase relationship of the mechanical axes 1a, 2a, 3a, 4a set in this manner is always kept constant.

[0013]

However, in the origin adjustment in the above-mentioned conventional synchronous control device, each printing press stops at the register position and waits until the origin adjustment of all the printing presses 1, 2, and 3 is completed. Therefore, printing cannot be started until the origins of all the printing presses 1, 2, 3 have been adjusted. For this reason, a maximum waiting time of several tens of seconds is required, and the work efficiency is accordingly reduced.

Accordingly, the present invention has been made in view of the above-mentioned prior art, and is not intended for synchronizing a shaftless newspaper rotary press or the like which can continuously perform origin adjustment and normal operation (printing operation or the like) without stopping all the machines. It is an object to provide a control device.

[0015]

According to a first aspect of the present invention, there is provided a synchronous control apparatus for controlling a plurality of machines, the plurality of machines being driven by a plurality of motors so as to maintain the mutual phases of machine axes in a fixed relationship. A synchronous control device for synchronously controlling a plurality of motors, wherein when the operation is started, the motor is first operated at a low speed, and during this low-speed operation, according to the rotation of the machine shaft output from a plurality of rotary encoders. The motor is actuated so that the phases of the machine axes have a constant relationship based on the pulse signal and the origin detection signal of the machine axis output from the rotary encoder or other origin detecting means. The method is characterized in that the motor is decelerated and the origin is adjusted, and thereafter the motor is controlled to be accelerated to a normal operation speed.

Also, there is provided a synchronous control device for synchronously controlling the plurality of motors so as to maintain the mutual phases of machine axes of a plurality of machines rotationally driven by the plurality of motors in a fixed relationship, wherein the operation is started. Then, the motor is first started at a gradual acceleration rate, and during this acceleration, a pulse signal output from a plurality of rotary encoders according to the rotation of the machine shaft and a pulse signal from the rotary encoder or other origin detection means are output. Based on the output of the origin detection signal of the machine axis, the motor is accelerated and decelerated to perform the origin alignment so that the phases of the machine axes have a constant relationship.
Thereafter, the motor is controlled to be accelerated to a normal operation speed at an acceleration rate steeper than the acceleration rate.

According to the synchronous control device having the above configuration, the reference position (newspaper) for synchronizing the machine axes of the respective machines while the motor is rotating at a low speed or accelerated at a gentle acceleration rate. The origin is adjusted so that it becomes the register position on the rotary press, and when the origins of all machine axes are adjusted, the normal operating speed (printing speed for newspaper rotary press)
Accelerate up to. That is, the origin adjustment and the normal operation (printing operation or the like) can be continuously performed without temporarily stopping all the machines.

[0018]

Embodiments of the present invention will be described below in detail with reference to the drawings. The same parts as those in the related art are denoted by the same reference numerals, and overlapping detailed description will be omitted.

FIG. 1 is an overall configuration diagram of a shaftless newspaper rotary press provided with a synchronization control device according to an embodiment of the present invention,
FIG. 2 and FIG. 3 are explanatory diagrams for explaining the function relating to the origin adjustment of the synchronous control device shown in FIG.

As shown in FIG. 1, the synchronous control device according to the present embodiment is composed of the control devices 41, 42, 43, 44 and the general control device 5 in a conventional synchronous control device (see FIG. 8).
Instead of 0, control devices 61, 62, 63, 64 and a general control device 70 are provided. These control devices 6
1, 62, 63, 64 and the general control device 70 are provided with the conventional control devices 41, 42,
43 and 44 and the overall control device 50. Therefore, here, the function relating to the origin adjustment will be described in detail, and other detailed description will be omitted.

In the synchronous control device according to the present embodiment, the origins of the machine axes 1a, 2a, 3a, 4a of the printing presses 1, 2, 3 and the folder 4 are adjusted as shown in FIG. That is, the origin is adjusted in the following procedures (1) to (4).

When the printing operation is started, first, the motors 11, 12, 13, 1 of each of the printing presses 1, 2, 3 and the folding machine 4 are used.
Drive 4 at low speed. That is, a low-speed (constant speed) speed command is output from the central control device 70 to each of the control devices 61, 62, 63, 64, and each of the control devices 61, 62, 63, 64.
Then, based on this speed command, each of the motors 11, 12,
Control is performed so that the rotation of the motors 13 and 14 is performed at a low speed.

Proximity switches 21, 22, 23, 24
And rotary encoders 31, 3233, and 34, the machine axes 1 a, 2 a, and 3 of each of the printing presses 1, 2, 3 and the folding machine 4.
When the origins of the printing machines 1, 2, 3 and the folding machine 4 are detected, the control devices 61, 62, 63, 64 of the printing machines 1, 2, 3 and the machine axes 1a, 2a, 3a, 4a
Phase of each is predetermined phase shift with respect to the reference phase (register position)
The motors 11, 12, 13 are accelerated or decelerated in order to advance or delay the phases of the mechanical shafts 1a, 2a, 3a so that That is, with respect to the phase of the reference pulse (made by the oscillator) output from the central control device 70, each printing press 1,
2, 3 and the machine shafts 1a, 2a, 3a, 4a of the folding machine 4 have respective phases (register positions),
The motors 11, 12, 13, and 14 rotating at low speed are temporarily accelerated / decelerated.

More specifically, as shown in FIG. 3, the machine shafts 1a, 2a, 3a, 4a of the printing presses 1, 2, 3, and the folding machine 4 are provided.
After detecting the origin of each, rotary encoder 3
The pulses output from 1, 32, 33, and 34 are counted, and these count values are stored in the respective registers when the reference switch (made by an oscillator), which is the reference origin signal, is output from the general control device. If it is larger than the count value up to the position, the motors 11, 12, 13, 14
If it is small, the motors 11, 12, 13, 14 are accelerated, and the mutual phases of the machine axes 1a, 2a, 3a, 4a are adjusted.

After confirming that all the printing presses 1, 2, 3, and folding machine 4 are performing synchronous control at the register position, the overall control device 70 sends a command to each of the control devices 61, 62, 63, 64.
Increase the speed command value output to the motor 11, 12,
13 and 14 are accelerated to a predetermined printing speed.

In the above description, the motors 11, 12, 13,
14 is operating at low speed, but if the acceleration rate is moderated, the motor 1
While accelerating 1,12,13,14, the machine axes 1a, 2a, 3a, 4a of the printing presses 1,2,3 and the folding machine 4 are brought to the register position in the same manner as in the case of the low speed described above ( Origin adjustment). That is,
Align the origin in the procedure described above.

When the printing operation is started, first, the motors 11, 12, 13, 1 of the printing presses 1, 2, 3 and the folding machine 4 are started.
4 is started at a moderate acceleration rate. That is, a speed command that increases at a gradual acceleration rate is output from the central control device 70 to each of the control devices 61, 62, 63, and 64. Each of the control devices 61, 62, 63, and 64 outputs a speed command based on the speed command. The motors 11, 12, 13, and 14 are controlled to accelerate at a moderate acceleration rate.

Proximity switches 21, 22, 23, 24
And rotary encoders 31, 3233, and 34, the machine axes 1 a, 2 a, and 3 of each of the printing presses 1, 2, 3 and the folding machine 4.
When the origins of the printing machines 1, 2, 3 and the folding machine 4 are detected, the control devices 61, 62, 63, 64 of the printing machines 1, 2, 3 and the machine axes 1a, 2a, 3a, 4a
The motors 11, 12, 13, 14 are accelerated or decelerated in order to advance or delay each phase of the mechanical axes 1a, 2a, 3a, 4a so that each phase is at the register position with respect to the reference phase.

After confirming that all of the printing presses 1, 2, 3, and the folding machine 4 are performing synchronous control at the register position, the central control unit 70 sends a command to each of the control units 61, 62, 63, 64.
Then, the acceleration rate of the speed command value to be output is increased, and the motors 11, 12, 13, 14 are accelerated to a predetermined printing speed according to the acceleration rate.

As described above, according to the synchronous control apparatus of the present embodiment, the origin adjustment and the printing operation can be performed continuously without stopping all the machines once. Can be eliminated. Therefore, the work efficiency can be improved accordingly.

In particular, when the origin is adjusted while the motor is gradually accelerated, the work efficiency can be further improved as compared with the case where the origin is adjusted during low-speed operation.

In the above description, when the detection pulse (pulse output from the rotary encoder) is ahead of the reference pulse, the motor is decelerated to delay the detection pulse, and when the detection pulse is delayed, the motor is accelerated. Although the detection pulse is advanced, it is desirable that the motor be accelerated to advance the detection pulse and make one revolution to catch up with the reference pulse. This is to prevent the motor from rotating backward due to the home position adjustment operation while the motor is stopped or running at a low speed.

[0033]

As described above in detail with the embodiments of the present invention, according to the synchronous control device of the present invention, the origin can be adjusted while the motor is operating at a low speed or while accelerating at a slow acceleration rate. Thereby, the origin adjustment and the normal operation (such as the printing operation) can be continuously performed without stopping all the machines. Therefore, the conventional waiting time can be eliminated, and the working efficiency can be improved accordingly.

In particular, when the origin is adjusted while the motor is gradually accelerated, the work efficiency can be further improved as compared with the case where the origin is adjusted during low-speed operation.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a shaftless newspaper rotary press including a synchronization control device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram for explaining a function related to origin adjustment of the synchronous control device shown in FIG. 1 (when origin adjustment is performed during low-speed operation).

FIG. 3 is an explanatory diagram for explaining a function relating to origin adjustment of the synchronous control device shown in FIG. 1;

FIG. 4 is an explanatory diagram for explaining a function relating to the origin adjustment of the synchronous control device shown in FIG. 1 (when the origin is adjusted during acceleration at a moderate acceleration rate).

FIG. 5 is a configuration diagram of a conventional newspaper rotary press having a mechanical shaft.

FIG. 6 is a configuration diagram of a shaftless newspaper rotary press.

FIG. 7 is a configuration diagram of each printing press of a shaftless newspaper rotary press.

FIG. 8 is an overall configuration diagram of a shaftless newspaper rotary press provided with a conventional synchronous control device.

FIG. 9 is an explanatory diagram for explaining a function related to origin adjustment of the synchronous control device shown in FIG. 8;

[Description of Signs] 1, 2, 3 Printing machine 1a, 2a, 3a Mechanical axis 4 Folding machine 4a Mechanical axis 11, 12, 13, 14 Motor 21, 22, 23, 24 Proximity switch 31, 32, 33, 34 Rotary Encoders 61, 62, 63, 64 Control device 70 Overall control device

Claims (2)

[Claims] 1. A synchronous control device for synchronously controlling a plurality of motors so as to maintain a mutual relationship between machine axes of a plurality of machines that are rotationally driven by a plurality of motors, wherein the operation is started. When it is done, first drive the motor at low speed,
During this low-speed operation, based on a pulse signal corresponding to the rotation of the mechanical axis output from a plurality of rotary encoders and an origin detection signal of the mechanical axis output from the rotary encoder or other origin detection means. The motor is accelerated or decelerated to adjust the origin so that the mutual phases of the machine axes have a fixed relationship, and thereafter, control is performed so as to accelerate the motor to a normal operation speed. Synchronous control device. 2. A synchronous control device for synchronously controlling a plurality of motors so as to maintain the mutual phases of machine axes of a plurality of machines rotationally driven by a plurality of motors in a fixed relationship, wherein the operation is started. Then, the motor is first started at a gradual acceleration rate, and during this acceleration, a pulse signal output from a plurality of rotary encoders according to the rotation of the machine shaft and a pulse signal from the rotary encoder or other origin detection means are output. Based on the output of the origin detection signal of the machine axis, so that the phases of the machine axes have a constant relationship,
A synchronous control device, wherein the motor is accelerated or accelerated / decelerated to perform origin adjustment, and thereafter, the motor is controlled to be accelerated to a normal operation speed at an acceleration rate steeper than the acceleration rate.