JPH10161748A - Motor positioning controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely position the rotation of a direct drive motor in a short time. SOLUTION: A motor controller 30 executes a program according to the command of a sequencer 40 and comes into a 16-multiplied pulse string inputting state by the execution of an NC program. A pulse string from a pulse string oscillator 50 is inputted and based on this pulse string, the motor controller starts the fast driving of a direct drive motor 10 by a 16-multiplied pulse string to speedily and roughly position a table 20 in a short time. After then the motor controller comes into a 1-multiplied pulse string inputting state by the execution of the NC program. The pulse string is inputted from the pulse string oscillator and based on this string the motor controller starts the slow driving of the direct drive motor by the 1-multiplied pulse string to position the precise position of the table at a low speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor positioning control device for determining a rotation position of a high-precision positioning motor for rotating a rotary table on which works are mounted at equal intervals.

[0002]

2. Description of the Related Art Conventionally, a positioning control device for a high-precision positioning motor such as a direct drive motor or a servomotor has a main controller 1 such as a sequencer, as shown in FIG. Input, start input, etc. were input, and servo ON, OFF, etc. were input to the motor control device 2. Then, the motor control device 2 drives the motor 4 by the pulse train output from the pulse train oscillator 3 and rotates the rotary table 5 attached to the output shaft 4a of the motor 4 and having a plurality of works W arranged at equal intervals. It is turning. In this case, since there is no appropriate controller for controlling the motor 4 with a high-frequency pulse for high-speed positioning, the motor is currently driven by a low-frequency pulse having a maximum frequency of about 100 kHz.

For example, the maximum frequency of a pulse train oscillator is 10
At 0 kHz, the maximum motor speed is 100 rpm, and the motor resolution is 540672 pulses / rotation (p / r), the maximum rotation speed R that can be specified by the pulse train and the moving time T during which the motor moves 90 ° are given by the following equations (1) and (2). It is calculated as follows.

[0004]

R = 60 (sec) ÷ 540678 (p / r) × 10
0 (kHz) = 11.1 (rpm)

[0005]

T = 540678 (p / r) ÷ 100 (kHz) ÷ 4
= 1.35 (sec)

After the motor 4 is roughly positioned in this manner, fine adjustment of rotation is further performed based on position detection by an external position detector 6 such as an image processing apparatus.

[0007]

However, in the conventional motor positioning control device, since the motor is driven by low-frequency pulses, a long time is required for positioning and the efficiency of the positioning operation is reduced. There is.
SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problem, and an object of the present invention is to provide a motor positioning control device that can accurately and rotationally position a motor in a short time.

[0008]

Means for Solving the Problems and Effects of the Invention In order to achieve the above object, a structural feature of the invention according to the first aspect is that it is attached to an output shaft of a motor and a plurality of positions are provided around the output shaft. A rotary table on which the workpieces are set at intervals, a rotary position detecting means for detecting the rotary position of the rotary table, and a position detection output from the rotary position detecting means to calculate the current position of the rotary table, A main control unit that issues a command for driving the motor, a pulse train oscillator that outputs a predetermined pulse train according to a command from the main control unit, and a motor that is driven based on a command from the main control unit and a pulse train output from the pulse train oscillator. And a motor control unit for rotating the rotary table. The multiplication factor is selected for a pulse train output from a pulse train oscillator. A numerical control program to be provided in the motor control unit, at the start of driving the motor, the pulse train is selected at a high multiplication factor to drive the motor at a high speed, and immediately before the driving of the motor is stopped, the pulse train is switched to a low multiplication ratio and the motor is driven at a low speed. I did it.

According to the first aspect of the present invention, at the start of driving the motor, a pulse train is output from the pulse train oscillator according to a command from the main control unit, and the motor control unit executes the numerical control program. , The pulse train from the pulse train oscillator is input, and the motor is driven at a high speed by recognizing the pulse train at a high multiplication factor to roughly position the motor. Thereafter, a pulse train is output from the pulse train oscillator according to a command from the main control unit, and the motor control unit receives the pulse train from the pulse train oscillator by executing a numerical control program, recognizes the pulse train at a low multiplication factor, and drives the motor at low speed.
The rotation position of the turntable detected by the rotation position detection means is calculated by the main control unit, and the motor is driven at a low speed by the control of the motor control unit while comparing with the calculation result, so that the accurate position of the rotation is adjusted. Is done.

As a result, according to the first aspect of the present invention,
Since the approximate positioning of the motor is performed based on the pulse train of the high multiplication factor, the positioning is performed in a very short time. Therefore, highly accurate positioning of the motor can be performed in a short time. Further, according to the present invention, even in a noisy environment, by inputting a pulse train through a low-pass filter, highly accurate positioning of the motor can be performed in a short time.

According to a second aspect of the present invention, there is provided a rotary table which is attached to an output shaft of a motor, and on which a plurality of positions are set at equal intervals around the periphery to mount a workpiece, and a rotary table. A rotational position detecting means for detecting a rotational position of the rotary table, a main control unit for receiving a position detection output from the rotational position detecting means, calculating a current position of the rotary table, and issuing a command for driving a motor; A pulse train oscillator that outputs a predetermined pulse train according to a command from the control unit, and a motor control unit that drives a motor based on the command from the main control unit and the pulse train output from the pulse train oscillator to rotate the rotary table are provided. A motor positioning control device, wherein a numerical control program for controlling high-speed driving of the motor is provided in the motor control unit, and the numerical control program is started when the motor starts driving. To high-speed driving of the motor based on the arm, in that so as to low-speed driving is switched immediately before the driving stop of the motor in the pulse train.

[0012] With the configuration according to the second aspect of the present invention, at the start of driving of the motor, the motor control unit drives the motor at a high speed by executing a numerical control program according to a command from the main control unit. Perform rough positioning of the motor. After that, a pulse train from the pulse train oscillator is output by a command from the main control unit, and the motor control unit
Based on this pulse train, the motor is driven at a low speed at a low multiplication factor. The rotation position of the turntable detected by the rotation position detection means is calculated by the main control unit, and the motor is driven at a low speed by the control of the motor control unit while comparing with the calculation result, so that the accurate position of the rotation is adjusted. Is done.

As a result, according to the second aspect of the present invention,
Since the rough positioning of the motor is performed at a high speed based on the numerical control program, the positioning is performed in a very short time. Therefore, highly accurate positioning of the motor can be performed in a short time.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a direct drive motor positioning control device (hereinafter, referred to as a first embodiment) according to a first embodiment.
(Referred to as a positioning control device) is schematically shown in a block diagram. The positioning control device includes a direct drive motor 10, a rotary table 20 fixed to the output shaft 11, a motor control device 30 for controlling the operation of the direct drive motor 10, and a motor control device 30.
A sequencer 40 which is a main control device for inputting selection and activation of a program number, a pulse train oscillator 50 for outputting a predetermined pulse train in accordance with a command from the sequencer 40,
An image processing device for detecting a rotation position of the turntable 20,
An external position detector 60 such as a laser displacement meter is provided.

At four equally spaced positions on the outer periphery of the rotary table 20, four works W to be worked by an external work unit (not shown) are placed. The motor control device 30 includes a control unit 31 and a drive unit 32. The control unit 31 is provided with an NC program (numerical control program) for positioning. The NC program includes a high-speed rotation command for rotating one pulse by 16 pulses and a low-speed rotation command for rotating one pulse by one pulse.

The sequencer 40 receives an input from the external position detector 60 to rotate the turntable 20 (ie, the motor 1).
The position of 0) is calculated, and a program number selection input, a start input, an emergency stop input, and the like are input to the motor control device 30. The sequencer 40 performs selection of a pulse train, start input, and the like to the pulse train oscillator 50, and receives a pulse train transmission end input from the pulse train oscillator 50. The control unit 31 executes positioning control of the rotary table 20 by executing a program number in response to a program number input, a start input, an emergency stop input, etc. from the sequencer 40 and executing an NC program. The drive unit 32 drives the direct drive motor 10 under the control of the control unit 31.

Next, the operation of the first embodiment configured as described above will be described. By the sequencer 40,
The program number input, start input, etc. are performed by the motor control device 30.
Done for Further, the sequencer 40 causes the pulse train oscillator 50 to select a pulse program for a pulse multiplication factor of 16 and start transmission.
The motor control device 30 executes the program according to the command of the sequencer 40, and enters the pulse train input state of 16 times by executing the NC program. Then, a pulse train from the pulse train oscillator 50 is input, and based on the pulse train, the motor control device 30 starts high-speed driving of the direct drive motor 10 by a factor of 16, and rough positioning of the rotary table 20, that is, the motor 10 at high speed. Done.

Thereafter, the sequencer 40 causes the pulse train oscillator 50 to select a pulse program for multiplying the pulse by 1 and start transmission. Also,
By executing the NC program, the motor control device 30
The pulse train is multiplied by one. Then, the multiplied by 1 pulse train is input from the pulse train oscillator 50, and based on this, the motor control device 30 starts low-speed driving of the direct drive motor 10. Here, based on the position input from the external position detector 60, the table position is calculated in the sequencer 40 and input to the pulse train oscillator 50,
Based on this, precise positioning of the rotary table 20, that is, the motor 10, is performed at a low speed.

As described above, according to the first embodiment, the rough positioning of the direct drive motor 10 is achieved by recognizing a pulse train at a high multiplication factor.
It is performed in a very short time, and as a result, highly accurate positioning of the direct drive motor 10 can be performed in a short time. Further, even in a noisy environment, by inputting a pulse train through a low-pass filter, highly accurate positioning of the motor 10 can be performed in a short time.

Next, a specific example of the above embodiment will be described. In the above-described motor positioning control device, for example, when the frequency of the pulse train oscillator is 56 kHz, the motor rotation speed is 100 rpm, and the motor resolution is 540672 pulses / rotation (p / r), the maximum rotation speed R 'that can be specified by the pulse train and the motor speed are 90移動 The moving time T ′ for movement is calculated as in the following Expressions 3 and 4.

[0021]

R ′ = 60 (sec) ÷ 540678 (p / r) × 5
6 (kHz) x 16 = 99.9 (rpm)

[0022]

T ′ = 540678 (p / r) ÷ 56 (kHz) ÷ 1
6 ÷ 4 = 0.15 (sec)

That is, according to the present embodiment, the maximum number of revolutions R 'is about 10 times as large as that of the prior art, and the moving time T' during which the motor moves 90 ° is greatly improved to about 1/9. In this embodiment, there is no acceleration / deceleration control of the motor. For example, in the case of performing control using a modified sinusoidal curve, the movement time T 'is set to about 0.27 sec.

Next, a second embodiment will be described.
In the second embodiment, the NC program provided in the control unit 31 of the motor control device 30 is not used for multiplication switching of the pulse train but for high-speed drive control of the direct drive motor 10. At the start of driving the motor, the motor controller 3
In the case of 0, the direct drive motor 10 is driven at a high speed by executing the NC program, and the direct drive motor 10 is roughly positioned. Thereafter, a pulse train is output from the pulse train oscillator 50 according to a command from the sequencer 40, and the motor control device 30
The direct drive motor 10 is driven at a low speed based on the multiplication factor. Then, the rotation position of the turntable 20 detected by the external position detector 60 is determined by the sequencer 40.
By controlling the pulse train oscillator 50 while comparing the result with the calculation result, the motor 10 is driven at a low speed, and the accurate position of the rotation is adjusted.

As a result, also in the second embodiment, the rough positioning of the direct drive motor 10 is
Since the operation is performed at high speed based on the NC program, positioning is performed in a very short time. Therefore, similarly to the first embodiment, highly accurate positioning of the motor 10 can be performed in a short time.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically showing a motor positioning control device according to an embodiment of the present invention.

FIG. 2 is a block diagram schematically showing a conventional motor positioning control device.

[Explanation of symbols]

10 direct drive motor, 11 output shaft, 20
... Rotary table, 30 ... Motor control device, 31 ... Control unit, 32 ... Drive unit, 40 ... Sequencer, 50 ... Pulse train oscillator, 60 ... External position detector, W ... Work.

──────────────────────────────────────────────────の Continued on front page (51) Int.Cl. ⁶ Identification code FI G05D 3/00 H02P 5/00 F H02P 5/00 G05B 19/407 Z

Claims (2)

[Claims] A rotary table mounted on an output shaft of the motor and mounting a work at a plurality of positions around the motor at equal intervals, and a rotational position detecting means for detecting a rotational position of the rotary table; A main control unit that receives a position detection output from a rotational position detection unit, calculates a current position of the rotary table, and issues a command for driving the motor, and outputs a pulse train according to a command from the main control unit. A motor positioning control device comprising: a pulse train oscillator; and a motor control unit that drives the motor based on a command from the main control unit and a pulse train output from the pulse train oscillator to rotate the rotary table. Providing a numerical control program for selecting a multiplication rate for a pulse train output from the pulse train oscillator in the motor control unit; At the beginning, the motor is driven at a high speed by selecting a pulse train with a high multiplication factor, and the motor is driven at a low speed by switching the pulse train to a low multiplication ratio immediately before the driving of the motor is stopped. Control device. 2. A rotary table which is mounted on an output shaft of a motor and on which a plurality of positions are set at equal intervals around the periphery and on which a workpiece is mounted, a rotary position detecting means for detecting a rotary position of the rotary table, and A main control unit that receives a position detection output from a rotational position detection unit, calculates a current position of the rotary table, and issues a command for driving the motor, and generates a predetermined pulse train by a command from the main control unit. A motor positioning control device comprising: a pulse train oscillator to output; and a motor control unit that drives the motor based on a command from the main control unit and a pulse train output from the pulse train oscillator to rotate the rotary table. Wherein a numerical control program for controlling high-speed driving of the motor is provided in the motor control unit, and the same numerical control program is used at the start of driving of the motor. The motor was driven at a high speed, the positioning motor control device is characterized in that so as to low-speed driving is switched to the pulse train immediately before stop driving of the motor based on.