JPH10340106A - Switch device for motion control module function - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a switch device of a motion control module function which can switch the function to an output function of voltage of a fixed level and a simple counter function in addition to a positioning function. SOLUTION: A motion control module has one or more sets of analog command output circuits 7 and pulse input counters 8 and successively analyzes (2) the motion instructions (1) to carry out the positioning control. Then the function switch means SW (4, 24 and N4) are added to the motion control module to perform the switching actions among a positioning function (route B), an analog voltage output function and an external pulse counter function (route A) respectively based on the setting of a program. Thus, a single control module can control various types of equipments via the switching of functions which are carried out by the switch means SW.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a function switching device for a motion control module of one or more analog command output type used in a programmable controller.

[0002]

2. Description of the Related Art There is a conventional motion control module as disclosed in Japanese Patent Application Laid-Open No. 8-44411. According to the invention described in the publication, in a motion control module including N positioning control devices, a signal other than a positioning control signal in a known device up to that time, such as an input of an origin sensor or a limit sensor, According to the invention, input / output signals dedicated to axis control such as outputs of brakes are monitored and controlled by a central programmable controller using an I / O module. This is to share the role of the central programmable controller.

FIG. 3 is a block diagram showing the main constituent blocks of a programmable controller and the relationship with peripheral devices connected to the main constituent blocks. Reference numeral 30 denotes a programmable controller. As a basic module constituting the programmable controller 30, a power supply module 32,
There are a CPU module 33, a motion control module 34, and an I / O module 35, which are connected to each other by the internal bus 31. The power supply module 32 supplies power to each module. The CPU module 33 is for executing a scan process of the programmable controller 30, stores a ladder program, decodes the ladder program, and processes the ladder program. Then I
The input data is fetched from the / O module 35, processed, and the decoding result is output to the output module. In addition, it exchanges data with the motion control module 34 periodically. The data includes information for controlling the motion program from the ladder program, and information such as an execution state and an alarm from the motion control module 34. The motion control module 34 stores a motion program, decodes the motion program, and issues a position control command to the axis positioning control device 37 via the communication bus 38. The I / O module 35 exchanges data with the outside. The programming device 36 inputs and outputs a ladder program of the CPU module 33, a motion program of the motion control module 34, and information related thereto via a communication port of the CPU module 33. The axis positioning controller 37 is the motion control module 3
4 receives a position control command, and outputs an analog command to the servo motor 39 based on a feedback pulse from the position detector 40 in accordance with the command to control the analog command. The number of axis positioning control devices 37 is equal to the number of axes of the multi-axis robot. If the robot has an N-th axis, there are N axis positioning control devices 37.

FIG. 2 shows a conventional configuration diagram of the motion control module 34 shown in FIG. In FIG. 2, reference numeral 101 denotes the motion control module 34.
Of various motion programs (instruction 1, instruction 2, instruction 3 ...)
Command N) is stored, and this motion program is sequentially analyzed by the sequential analysis unit 102 of the motion control module 34, and a target value is given to a predetermined positioning control device among the N axis positioning control devices. Can be

In the first axis positioning control device, reference numeral 103 denotes a target value output unit, 105 denotes a position loop control amount calculator (hereinafter referred to as "Kp"), 106 denotes a current value output unit, and 107 denotes a current value output unit. Analog command output circuit (hereinafter referred to as “D /
A ". ) And 108 are counters. D / A10
7 to servo motor (including servo controller) 3
An analog command output is supplied to the counter 9, and a pulse from a position detector 40 such as an encoder indicating rotation information of the servomotor 39 is supplied to the counter 108. Thus, the position control feedback is constituted by the D / A 107 and the counter 108 in the positioning control device,
Positioning was performed by a motion command (program).

[0006] The positioning control device for the second axis has the same configuration, 203 is a target value output unit, 205 is Kp, 206 is a current value output unit, 207 is a D / A, and 208 is a counter. The N-th axis positioning control device has a similar configuration.
Is a target value output unit, N05 is Kp, N06 is a current value output unit, N07 is a D / A, and N08 is a counter.

[0007]

However, in the above-mentioned conventional example, even if N positioning control devices as shown in FIG. Some multi-axis robots require fewer axes, and in such a case, not all of the N positioning controllers are used. For example, as shown in FIG.
The axis positioning controller and the second axis positioning controller are D /
An analog command output is supplied from A107 to the servomotor 39, and a pulse from the position detector 40 indicating rotation information of the servomotor 39 is supplied to the counter 108. D /
The A and N08 counters remained unused.

On the other hand, the robot also needs input / output of input / output signals not originally dedicated to axis control, such as control signals of inverters and voltage command devices and pulses of a single encoder.
For this purpose, conventionally, a dedicated D / A or counter has been separately prepared.

Even if the D / A and the counter are left unused in the axis positioning control device of the motion controller module 34, they are not used because the control target of all axes is limited to the servo controller. This is because it is impossible to control the inverter and the voltage command device and input / output the pulse of the single external encoder using the free shaft. For this reason, there is waste in the system configuration.

Accordingly, the present invention provides a module function switching device that enables connection and control of various devices such as a servo controller, an inverter, a voltage command device, and an external encoder using a D / A and a counter in the module. It is intended to be.

[0011]

According to the first aspect of the present invention, there is provided a motion control module having at least one set of an analog command output circuit and a pulse input counter. A motion control module function switching device that performs positioning control by sequentially analyzing operation instructions, wherein the motion control module performs a positioning function, an analog voltage output function, and an external pulse counter function based on settings made by a programming device. It is characterized by having a function switching means for switching between.

As described above, the setting means of the operation program performs the setting input of the normal positioning operation program for operating the D / A and the pulse input counter as a position feedback loop from the programming device, and the D / A of the open axis. As a setting for enabling the A and the pulse input counter to be used independently, parameters of a constant voltage output command to the D / A and a pulse input command to the pulse input counter are set, and the function switching means sets the above parameters. The D / A and the pulse input counter can be used independently by switching the route based on the above and disabling the positioning feedback loop.

Further, according to the present invention described in claim 2,
In the switching device for the motion control module function, the programming device performs setting of a parameter that enables an analog voltage output circuit and a pulse input counter to be used independently by a programming device connected to the motion control module. I have.

According to the third aspect of the present invention, in the motion control module function switching device, the function switching means switches a route based on the parameter and calculates a target value and a position loop control amount calculation. The present invention is characterized in that the position feedback loop passing through the device is invalidated, and the analog voltage output circuit and the pulse input counter can be used independently.

As described above, the program structure in which a constant voltage output command or a pulse input command is passed as a subroutine execution parameter using the parameter management function makes it possible to provide the motion module system with a positioning function and an analog voltage output function. By providing a software switch to switch between the external pulse counter function and turning it on / off from the programming device,
D / A and pulse input counters for one or more axes in a module can be operated to be disassembled or combined into individual elements.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a control block diagram of the motion control module according to the embodiment of the present invention. The embodiment shown in FIG. 1 is a control block diagram for N axes. In FIG. 1, reference numeral 1 denotes a program file, and various motion programs (here, instructions 1 and 2) are stored in the memory of the motion control module 34.
Instruction 2, instruction 3... M of instructions M) are stored. For example, MOV is a “positioning command” and VCT
Is a “constant voltage output command”, and PCN is a “programmable controller ON command”. This motion program is transferred to the motion control module 3
The sequential analysis unit 2 sequentially performs the analysis, and as a result, a target value is given to a predetermined positioning control device among the M positioning control devices.

Referring to the first axis positioning control device, reference numeral 3 denotes a target value output unit, and reference numeral 4 denotes a switch SW-1 provided by the present invention for switching between route A and route B. 5 is Kp, 6 is the current value output unit, 7 is D /
A and 8 are counters. An analog command output is supplied from the D / A 7 to the servo motor (including the servo controller) 39, and a pulse from a position detector 40 such as an encoder indicating rotation information of the servo motor 39 is supplied to the counter 8. I have. As described above, the position control feedback is constituted by the D / A 7 and the counter 8, and the positioning is performed by the motion command (program).

The D / A 7 and the counter 8 are constituted by hardware, and the system of the program file 1, sequential analysis means 2, target value output unit 3, switch 4, Kp5, and current value output unit 6 is software. It consists of.

The positioning control device for the second axis has the same configuration. Reference numeral 23 denotes a target value output unit, and reference numeral 24 denotes switches SW-2 and SW-2.
5 is Kp, 26 is a current value output unit, 27 is D / A, and 28 is a counter. The positioning control device for the N-th axis has the same configuration, where N3 is a target value output unit, N4 is a switch SW-N,
N5 is Kp, N6 is the current value output unit, N7 is D / A, N8
Is a counter.

Next, the operation will be described. The SW-1 of 4 representing the software switch is, as described above, a route A or Kp5 that directly connects the target value output unit 3 to the D / A7.
Is a direction switch for selecting the route B to be connected to the programmable controller. The specific switching is based on the settings made by the programming device (36 in FIG. 3) connected to the programmable controller. For example, if the content of the operation command of the program file 1 input from the programming device 36 analyzed by the sequential analysis means 2 is the command 1 (MOV), the conventional servo controller is used as MOV =
Since it is a “positioning command”, SW-1 of 4 connects the target value output unit 3 to Kp5 and sets the target value to D / D through Kp5.
A7 to drive the servo motor 39. In addition, a pulse from the position detector 40 of the servomotor 39 is input by the counter 8 and the data of the current value output unit 6 is updated to form a feedback route.

On the other hand, the operation command of the program file 1 input from the programming device 36 is
If the contents analyzed in the above are subroutine structure and the parameter setting is VCT "constant voltage output command" of command 2, SW-1 of 4 is switched to the route A side which does not pass Kp5, and K
The position feedback loop of p5 becomes invalid and D / A
Each element of the counter 7 and the counter 8 can be used independently. The instruction 2 of the program file 1 in this case is the SW-1 of 4
Is valid at the time of switching to the route A side, and D / A
7 enables connection to an inverter other than the servomotor or another voltage command device. Similarly, since the counter 8 can be used independently, the pulse input count of the external encoder can be performed.

The same applies to the SW-2 24 of the second axis. The position feedback loop of the Kp25 is turned on / off based on the setting contents of the program file 1 from the programming device 36, and the servo passing through the Kp25 is turned on. The switching operation between the positioning function, the analog voltage output function using the D / A 27 and the counter 28 independently, and the external pulse counter function becomes possible.

FIG. 1 shows a state in which the first axis positioning control device and the second axis positioning control device select route B, and the Nth axis positioning control device selects route A. Thus, according to the present embodiment, D / A of 7
And 8 of counters, 27 of D / A and 28 of counters, ...
・ N / A of D / A and N8 of counter are used not only for positioning through control of CPU module, but also as a control function unique to the motion module. Therefore, the function of the motion module can be expanded and the use efficiency can be further improved.

In the embodiment of the present invention,
Although the structure of the software switch has been described using a parameter setting method that is simple and has few malfunctions or erroneous operations in terms of timing, the invention is not particularly limited to this. Even if the program structure uses another instruction, it is necessary. It is only necessary to be able to configure a software switch capable of performing the same operation, and these are also within the applicable range.

[0025]

As described above, according to the present invention,
The motion control module, which had only the positioning function as a servo controller, can be switched to a constant voltage output function and a simple counter function, so that a single motion module can serve as a servo controller, inverter, and other voltage commands. It is possible to connect to various devices such as devices and external encoders and control them, and the system configuration such as positioning module, D / A module, counter module simplifies control, improves efficiency and reduces costs. There is.

[Brief description of the drawings]

FIG. 1 is a control block diagram of a motion control module according to an embodiment of the present invention.

FIG. 2 is a control block diagram of a conventional motion control module.

FIG. 3 is a block diagram showing a relationship between main constituent blocks of a programmable controller and peripheral devices connected thereto.

[Description of Signs] 1 Program file 2 Sequential analysis means 3, 23, N3 Target value output unit 4, 24, N4 switch 5, 25, N5 Position loop control amount calculator (Kp) 6, 26, N6 Current value output unit 7, 27, N7 Analog command output circuit (D / A) 8, 28, N8 Counter 30 Programmable controller 31 Internal bus 32 Power supply module 33 CPU module 34 Motion control module 35 I / O module 36 Programming device 37 Axis positioning control device 38 Communication bus 39 Servo motor 40 Position detector

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI G05D 3/12 G05B 19/05 L 19/18 U

Claims (3)

[Claims] 1. A motion control module having at least one set of an analog command output circuit and a pulse input counter circuit, wherein the motion control module function switching device performs positioning control by sequentially analyzing operation commands. The motion control module has a function switching means for switching between a positioning function, an analog voltage output function, and an external pulse counter function based on settings made by a programming device; . 2. The motion control module function switching device, wherein the programming device sets a parameter that enables an analog voltage output circuit and a pulse input counter circuit to be used independently by a programming device connected to the motion control module. The switching device of the motion control module function according to claim 1, wherein the switching is performed. 3. The motion control module function switching device, wherein the function switching means switches a route based on the parameter, invalidates a position feedback loop that passes a target value through a position loop control amount calculator, and sets an analog voltage. 3. The switching device according to claim 1, wherein the output circuit and the pulse input counter circuit can be used independently.