JPH11136996A - Motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To permit any change only for one of the setting period for quantity of movement and the communication period between units thereby avoiding the change to both of them by dividing to predetermined pieces and storing the quantity of movement of a motor set by a constant period, estimating them sequentially, sending the estimate at certain time intervals, and driving the motor in response to the estimated value. SOLUTION: Quantity of movement L of each motor 10 is set for every certain time period at the numerical arithmetic section 22 of a numerical arithmetic unit 21, each quantity L of movement is divided into N and is then stored in a primary storage section 23. Quantities of movement divided into N-number are sent to each estimate counter 24 and estimated and are sent out to each serial signal line 27 by a communication control section 25. On the other hand, at the motor control unit 31, the estimated value A is taken in by the communication control section 32, sent to the arithmetic section 33, an estimated value B of the estimate counter 35 is subtracted from the calculated value A and any change in the estimated value A is detected, and the motor 10 is operated in response to the change. By doing this, any spreading of the change in the specifications to the change in the whole configuration including the numerical arithmetic unit 21 and the motor control unit 31 can be avoided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device for controlling, for example, a motor for driving an arm of a shaft of an industrial robot.

[0002]

2. Description of the Related Art An industrial robot having a plurality of axes has a plurality of motors for driving an arm of each axis, and further has a motor control device for controlling the driving of these motors. As an example of this motor control device, as shown in JP-A-3-222696, the moving amounts of a plurality of motors are set at a fixed period, and these moving amounts are sent to each motor control unit. Some motors drive each motor according to the amount of movement sent. FIG. 4 shows another example.

In FIG. 4, 1 is a numerical operation unit,
It comprises a numerical operation unit 2, a plurality of primary storage units 3, a communication control unit 4, and a main control unit 5. The numerical calculation unit 2 calculates and simultaneously sets the movement amounts (corresponding to the absolute movement positions of the arms) of the plurality of motors 10 described later at regular intervals, for example, every 24 msec.

[0006] The primary storage unit 3 includes six buffer memories 3
a,... 3f, and the moving amount set by the numerical operation unit 2 is
It is divided into six and stored in each buffer memory sequentially. The communication control unit 4 sequentially transmits the six divided movement amounts in each primary storage unit 3 to each serial signal line 6 every 4 msec. (The time required for transmitting all six divided movement amounts is 24 ms.
ec).

[0005] The main control unit 5 controls the operation timing of the numerical operation unit 2, each primary storage unit 3, and the communication control unit 4. Each serial signal line 6 is connected to four motor control units 11. Each motor control unit 11
Is a communication control unit 12, a primary storage unit 13, an integration counter 1
4, a motor drive unit 15 and a main control unit 16 are provided.

[0006] The communication control unit 12 is connected to the serial signal line 6.
The 6 divided movements sent every 4 msec are sequentially captured. The primary storage unit 13 has four buffer memories 1
.. 13d, and the divided movement amounts sequentially taken in by the communication control unit 12 are sequentially divided into four and sequentially stored in each buffer memory.

[0007] The integrating counter 14 has a buffer memory 13
a,... 13d are integrated every 1 msec. The motor drive unit 15 calculates the integrated value of the integration counter 14
The motor 10 is driven so that the arm reaches the position corresponding to the integrated value by referring to the value every 1 msec. Motor 10
Drives the arm of each axis of the industrial robot. The main control unit 16 controls operation timings of the communication control unit 12, the primary storage unit 13, the integration counter 14, and the motor drive unit 15, respectively.

[0008]

In the motor control device shown in FIG. 4, the set period of the moving amount by the numerical operation unit 2 of the numerical operation unit 1 is 24 msec, and the serial signal between the numerical operation unit 1 and the motor control unit 11 is provided. The communication cycle via the line 6 is 4 msec (the time required for all communication of the divided movement amount is 24 msec), and the value obtained by dividing the movement amount setting period by an integer between the movement amount setting period and the inter-unit communication period. There is a relationship that (divided value) becomes the inter-unit communication cycle.

For this reason, if for some reason it becomes necessary to change the specification so that the communication cycle between the units is longer than 4 msec, for example, 8 msec, the movement setting cycle is set to 32 msec, for example, longer than 24 msec. There must be. Conversely, if an attempt is made to change the movement amount setting cycle, the inter-unit communication cycle must be changed in conjunction therewith. In other words, if one specification change is required, it affects all the configuration changes of the numerical operation unit 1 and each motor control unit 11.

[0010] The present invention has been made in view of the above circumstances,
The purpose is to change either one of the movement amount setting cycle and the inter-unit communication cycle,
It is an object of the present invention to provide a motor control device having excellent flexibility and versatility capable of limiting only one change and avoiding the other change.

[0011]

Means for Solving the Problems First Invention (Claim 1)
The motor control device sets the moving amount of the motor at a constant cycle, divides the set moving amount by a predetermined number, stores the divided moving amounts, sequentially accumulates the stored divided moving amounts, and accumulates the integrated value at regular time intervals. And a second unit for driving the motor in accordance with the integrated value sent from the first unit.

According to a second aspect of the present invention, there is provided a motor control device for setting a moving amount of a plurality of motors simultaneously in a fixed cycle, and dividing the moving amounts set by the setting unit into a predetermined number and storing the divided amounts. A first unit having a plurality of storage means for performing integration, a plurality of integration means for sequentially integrating the divided movement amounts in each of the storage means, and a transmission means for transmitting the integrated value of each of the integration means at regular time intervals; Detecting means provided for each motor for detecting a change amount of the integrated value sent from the sending means; storing means for dividing the change amount detected by the detecting means into a predetermined number and storing the divided amount; And a plurality of second units having a motor driving means for driving a corresponding motor in accordance with the integrated value of the integrating means.

According to a third aspect of the present invention, there is provided a motor control device for setting a moving amount of a plurality of motors simultaneously at a constant period N, and dividing each moving amount set by the setting unit into N portions. A plurality of primary storage means for primary storage; a plurality of integration means for sequentially integrating the N divided movement amounts in each of the primary storage means for each fixed time ta; and an integrated value A of each integration means for each fixed time tb. A first unit having a sending unit for sending to the motor, a detecting unit provided corresponding to each of the motors for detecting a change amount of the integrated value A sent from the sending unit, and a change amount detected by the detecting unit. Primary storage means for primary storage by dividing by a predetermined number M, integration means for integrating the M divided values in the primary storage means at regular time intervals tc, and driving a motor corresponding to the integrated value B of the integration means Motor drive And a plurality of second unit having means. In a motor control device according to a fourth invention (claim 4), in the third invention, the motor drive means operates at regular time intervals tc.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 21 denotes a numerical operation unit (first unit), which is a numerical operation unit 22, a plurality of primary storage units (storage units) 23, a plurality of integration counters (integration units) 24, and a communication control unit (transmission unit) 25. , And a main control unit 26.

The numerical calculation unit 22 calculates the movement amount L (corresponding to the absolute movement position of the arm) of each of the plurality of motors 10 at regular intervals of Nmsec, and simultaneously sets them. Fixed cycle Nms
“N” of ec is a predetermined value.

The primary storage unit 23 has N buffer memories 23a,..., 23n corresponding to "N" of a predetermined number, for example, "N" of a constant period Nmsec, and divides the moving amount L set by the numerical operation unit 22 into N. Then, the data is temporarily and sequentially stored in each buffer memory.

The integrating counter 24 has a buffer memory 23
a,... N divided movement amounts (= L / N) within 23n are sequentially integrated for a predetermined time ta, for example, every 1 msec. The communication control unit 25 calculates the integration value A of each integration counter 24 for a certain time t.
b For example, the signal is sequentially transmitted to each serial signal line 27 every 10 msec.

The main controller 26 controls the operation timings of the numerical calculator 22, the respective primary storages 23, the integrating counter 24, and the communication controller 25. Each serial signal line 27 is connected to a plurality of motor control units (second units) 31.

Each motor control unit 31 includes a communication control unit 32, a subtraction unit (change amount detecting means) 33, a primary storage unit (storage means) 34, an integration counter (integration means) 35, a motor driving unit 36, The control unit 37 is provided.

The communication control unit 32 includes a serial signal line 2
The integrated value A sent every 7 to 10 msec is sequentially taken. The subtraction unit 33 sequentially subtracts the integrated value B of the integration counter 35 from the integrated value A sequentially taken in by the communication control unit 32, and thereby the amount of change of the integrated value A (= AB).
Are sequentially detected.

The primary storage unit 34 stores a predetermined number M, for example, 10
.. 34j, and the subtraction unit 3
The amount of change (= AB) detected at 3 is a predetermined number M (= 10)
The data is divided and temporarily stored in each buffer memory sequentially.

The integrating counter 35 has a buffer memory 34
a,... 34j are divided for a certain period of time tc
Integrate sequentially every 1 msec. The motor drive section 36 refers to the integrated value B of the integrating counter 35 every 1 msec (= tc) and drives the motor 10 so that the arm reaches a position corresponding to the integrated value B.

The main control section 37 controls the operation timing of each of the communication control section 32, the subtraction section 33, the primary storage section 34, the integration counter 35, and the motor drive section 36. Next,
The operation of the above configuration will be described with reference to the flowcharts of FIGS.

In the numerical operation unit 22 of the numerical operation unit 21, the movement amount L (corresponding to the absolute movement position of the arm) L of each motor 10 is set simultaneously at regular intervals Nmsec (step 101). Each set movement amount L is divided into N, and the buffer memory 23 of each primary storage unit 23 is divided into N.
, 23n (step 102).

The buffer memory 23 of each primary storage unit 23
a,... 23n divided movement amounts (= L /
N) is sent to each integration counter 24 every 1 msec and integrated (step 103).

The integrated value A of each integrating counter 24 is calculated by the communication control unit 25 every 10 msec.
7 (step 104). On the other hand, in the motor control unit 31, the serial signal lines 27 to 10
The integrated value A sent every msec is sequentially taken in by the communication control unit 32 (step 201).

The integrated value A is sent to the subtracting section 33, where the integrated value B of the integrating counter 35 is subtracted from the integrated value A, thereby changing the integrated value A (= AB).
Is detected (step 202).

The detected amount of change is divided into 10 in the primary storage section 34 and stored in buffer memories 34a,... 34j (step 203). The divided values in the buffer memories 34a,... 34j are sequentially sent to the integration counter 35 every 1 msec and integrated (step 204).

Then, the integrated value B of the integrating counter 35 becomes 1
It is sent to the motor drive unit 36 every msec (step 205
), The motor 10 operates at a position corresponding to the integrated value B (step 206). By this operation, the arm reaches the absolute movement position corresponding to the set movement amount L.

In such a configuration, the setting cycle of the movement amount L by the numerical operation unit 22 of the numerical operation unit 21 is N
msec, and the communication cycle between the numerical operation unit 21 and the motor control unit 31 via the serial signal line 27 is tb, for example, 10 msec. ) Does not have a special relationship that is the unit communication cycle.

That is, since the integration counter 24 is interposed between the moving amount setting means and the inter-unit communication means, even if the inter-unit communication cycle needs to be changed for some reason, the moving amount setting cycle is changed. No need at all. Conversely, even if it is necessary to change the movement amount setting cycle, there is no need to change the inter-unit communication cycle.

It is possible to avoid a situation in which one specification change affects all the configuration changes of the numerical operation unit 21 and each motor control unit 31, thereby achieving excellent versatility and flexibility.

Further, each motor control unit 31 detects the amount of change of the integrated value A that has been taken, and
Since the motor drive unit 36 is configured to sequentially drive the motor, control of the motor drive is simplified. Therefore,
Even when it becomes necessary to shorten the control cycle of motor driving, proper arm driving is possible. The present invention is not limited to the above embodiment, and various modifications can be made without changing the gist.

[0034]

As described above, according to the present invention, the moving amount of the motor is set at a constant period, the set moving amount is divided into a predetermined number and stored, and the stored divided moving amounts are sequentially stored. Integrate and send out this integrated value at regular intervals.
Since the unit and the second unit for driving the motor in accordance with the integrated value sent from the first unit are provided, it is necessary to change any one of the moving amount setting cycle and the inter-unit communication cycle. In addition, it is possible to provide a motor control device with excellent flexibility and versatility that can change only one of them and avoid the other change.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

FIG. 2 is a flowchart for explaining the operation of the numerical operation unit of the embodiment.

FIG. 3 is a flowchart for explaining the operation of the motor control unit of the embodiment.

FIG. 4 is a block diagram showing a configuration of a conventional device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Motor 21 ... Numerical calculation unit 22 ... Numerical calculation part 23 ... Primary storage part (primary storage means) 24 ... Integration counter (Integration means) 25 ... Communication control part 26 ... Main control part 27 ... Serial signal line 31 ... Motor control Unit 32 Communication control unit 33 Subtraction unit (change amount detection means) 34 Primary storage unit (primary storage unit) 35 Integration counter (integration unit) 36 Motor control unit 37 Main control unit

Claims (4)

[Claims] 1. A moving amount of a motor is set at a constant period, the set moving amount is divided into a predetermined number and stored, and the stored divided moving amounts are sequentially integrated. A motor control device, comprising: a first unit for sending out; and a second unit for driving the motor according to an integrated value sent out from the first unit. 2. A setting means for simultaneously setting the movement amounts of a plurality of motors at a constant period, a plurality of storage means for dividing each movement amount set by the setting means into a predetermined number, and storing the divided movement amounts. A first unit having a plurality of integrating means for sequentially integrating the divided movement amounts, a sending means for sending the integrated value of each of the integrating means at regular time intervals, and a sending unit provided corresponding to each of the motors; Detecting means for detecting the amount of change in the integrated value sent from the storage means, storing means for dividing the amount of change detected by the detecting means into a predetermined number, and storing the divided value; integrating means for sequentially integrating each divided value in the storing means; A plurality of second units each having a motor driving unit that drives a corresponding motor in accordance with the integrated value of the integrating unit. 3. A setting means for simultaneously setting the movement amounts of a plurality of motors at a constant period N, a plurality of primary storage means for dividing each of the movement amounts set by the setting means into N parts and temporarily storing them, and each of these primary storage parts A first unit having a plurality of integrating means for sequentially integrating the N divided movement amounts in the means for each fixed time ta, and a sending means for sending the integrated value A of each integrating means for each fixed time tb; Detecting means provided for each of the motors for detecting a change amount of the integrated value A sent from the sending means; primary storage means for dividing the change amount detected by the detecting means into a predetermined number M and temporarily storing the divided amount; A plurality of second units each including an integrating means for integrating the M divided values in the primary storage means at regular time intervals tc, and a motor driving means for driving a motor corresponding to the integrated value B of the integrating means. When, Motor control device characterized by being provided. 4. The motor control device according to claim 3, wherein said motor drive means operates at predetermined time intervals tc.