JPH11231915A - Method for defining axis of motion controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten design time by removing useless hardware constitution or low programming efficiency in the case of controlling the motion of plural equipments by one CPU. SOLUTION: A motion controller 1 has two motion control modules 11, 12 and the axis of a controlled target is defined by one CPU module 14 to execute motion control. In this case, the plural axes of the modules 11, 12 are defined by grouping them as an optional virtual set like 1st and 2nd groups 25, 26 independently of their physical constitution.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion control device for controlling the motion of a device to be controlled, such as an industrial machine, and more particularly to a method for defining axes of a motion control device for controlling one or more axes.

[0002]

2. Description of the Related Art Conventionally, various motion control devices have been proposed which control a servo amplifier or the like based on a motion program and perform positioning control of an industrial machine or the like. FIG. 7 shows a first example of a motion control device that controls a plurality of axes. The first example is a modular type motion controller having an analog output type motion control module. FIG.
The motion controller 50 includes two motion control modules 51 and 52, a power supply module 53, a CPU 54 as a control module, and an input / output I / O module 55. In such a motion control device, when one CPU controls a plurality of devices by a motion program, the definition of the logical name of the axis as a control unit is defined in units of a motion control module or all axes are defined. The method of defining as a serial number or a unique name was adopted. In the configuration of FIG. 7, the definition of the logical name of the axis is generally defined for each motion control module as shown in FIG. 8. When devices are controlled by a motion program, the module and the device to be controlled are defined. Need to correspond one-to-one. In this definition method, when the axis configuration of the control target device is smaller than the maximum number of axes of each module, there is a waste that an empty axis is formed in the module. Conversely, if the axis configuration of the device to be controlled exceeds the maximum number of axes for each module, the axes must be controlled using a ladder program instead of a motion program, making programming for motion control difficult and time-consuming to create. There is such a problem. FIG. 9 shows a second example of a motion control device for controlling a plurality of axes. The second example is a motion controller that performs motion control by instructing a plurality of servo drivers using a digital communication method. The motion controller 61 in FIG. 9 includes a CPU and a motion control module, and a plurality of servo drivers 62 are connected via a communication interface 63. In the configuration of FIG. 9, the motion control module function is built-in, and the form is the same as the one-module configuration. Therefore, the definition of the logical name of the axis is in units of motion control modules as shown in FIG. 10, and the logical name needs to be defined so as not to be duplicated. In this definition method, when a plurality of devices are controlled by one CPU, the same problem as the configuration in FIG. 7 occurs.

[0003]

As described above, in the conventional method of defining axes of a motion control device, one-dimensional motion control modules are not allowed to be overlapped through motion control modules or motion control modules according to the physical configuration. Had to be defined. For this reason, when trying to perform motion control on a plurality of devices with one CPU, if the axis configuration of the control target device and the hardware configuration of the motion control module do not match well, an empty axis is created in the module, There is a problem in that the hardware configuration is wasted and the design time is increased due to inefficient programming, for example, the axes must be controlled by a ladder program instead of a motion program when the maximum number of axes of the module is exceeded. Was.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and can eliminate waste of hardware configuration and inefficiency of programming, which occur when a single CPU performs motion control of a plurality of devices, and reduce design time. An object of the present invention is to provide a method for defining axes of a motion control device that can be shortened.

[0005]

According to a first aspect of the present invention, there is provided a method of defining an axis of a motion control apparatus, wherein at least one control unit having servo control means is defined as an axis, and the name of the axis is defined as a motion. In a motion control device that performs motion control of these axes by instructing on a program, the axes are logically grouped and defined so as to be a set unit of an arbitrary virtual axis.
In addition, the method of defining an axis of the motion control device according to claim 2 is provided with a group definition table that defines the set unit of the virtual axis as a group, and an axis definition table for each of the groups. It is characterized by defining virtual and logical axes. In the present invention, an axis definition parameter is provided in a unit called a virtual group to form a table, and the number of axes used in each group, a physical number of the axis, and a logical name for the axis are arbitrarily set. Axis definition and motion program creation are made possible by enabling motion program creation in group units. As a result, the axis as a control unit can be defined not only as a motion control module unit or a one-dimensional serial number in accordance with the hardware configuration but also as an arbitrary virtual group unit. Flexible motion control independent of the hardware configuration becomes possible.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a functional configuration of a motion control device according to an embodiment of the present invention.
FIG. 3 is a front view showing an external configuration of the motion controller. The motion control device includes a motion controller 1 that performs motion control by defining a plurality of control units 20 as axes. The motion controller 1 is a modular motion controller having two analog output type motion control modules. The motion controller 1 includes a mount base 10 as an apparatus housing, two motion control modules 11 and 12, a power supply module 13 for supplying power to each unit, and a CPU that is a control module for controlling the motion control modules 11 and 12.
Module 14, CPU module 14 and CPU
Module 14 and motion control module 1
I / O I / O for exchanging signals with
An O module 15 is mounted. Each of the motion control modules 11 and 12 is provided with a plurality of (four in this case) output connectors 16 as interfaces for outputting analog voltages for control. Each control unit 20 has an input unit 21 for inputting an analog voltage from the motion control modules 11 and 12, and a servo control unit 22 for driving and controlling a servo motor 23 based on the input voltage to the input unit 21. And
Each is a motion control module 11,1
2 output connector 16. Then, a speed control feedback loop is configured so that an output signal from a position detector 24 such as an encoder indicating rotation information of the servomotor 23 is returned to the servo control unit 22.
Thereby, motion control of each control unit 20 in a control target device such as an industrial machine is performed.

The motion controller 1 of the present embodiment
Has a group definition table 30 for defining a set of virtual axes shown in FIG. 3 as a group, and axis definition tables 31 and 32 for each group shown in FIG. Thus, instead of the conventional definition of the axis for setting the logical name for the physical axis number of the motion control module, a virtual logical axis definition of a group unit is performed. In other words, a plurality of axes in the two motion control modules 11 and 12 can be divided into arbitrary virtual axis set units such as a first group 25 and a second group 26 shown in FIG. 2 regardless of the physical configuration of the modules. Logically group and define as follows.
Each of the tables is configured by software.
The data is stored in a memory (not shown) provided in the CPU module 14. An axis definition method in the case where a single CPU controls a plurality of devices as in the configuration of FIG. 1 will be described. Here, the motion control module 11
And 12 are modules of maximum 4-axis control, and exemplify a case of a configuration in which motion control is performed on a machine A 35 having a 5-axis configuration and a machine B 36 having a 3-axis configuration as control target devices as shown in FIG. First, as shown in FIG.
Any group name (machine A,
Set the machine B). Next, as shown in FIG. 4, the physical axis numbers of the motion control modules for controlling the five axes of the machine A35 and their logical names are arbitrarily set in the axis definition table 31 of the group number 1. 01.0 of physical axis number
1 indicates the module number before the point and the axis number after the point. Similarly, three axes of the machine B36 are defined in the axis definition table 32 of the group number 2. Then, motion programs A33 and B34 are created for each group as shown in FIG. Motion control of each device is performed by a motion program A3 for the machine A35.
3 and the machine B36 is performed by the motion program B34. At this time, the motion programs A33 and B34 are simultaneously or asynchronously executed for each group.

As described above, the axes are defined arbitrarily in virtual and logical groups according to the axis configuration of the control target devices, and the axes are defined. By providing a motion program for each group, each device (machine A 35 and machine A 35 B36) can be controlled independently and in multiple series. Therefore, there is no limitation on the maximum number of axes of the motion control module, and there is no waste of hardware such as generation of an empty axis, thereby enabling flexible motion control. Although the above is an example in which there are two motion control modules, the method of defining an axis according to the present embodiment can be similarly performed even when there are three or more motion control modules. In addition, the definition of the axis may not only be defined as a motion control module unit or a one-dimensional serial number in accordance with the same hardware configuration as in the related art, but may also be defined in the above-described group unit.

FIG. 6 is a block diagram showing another configuration example of the motion control device. The motion control device of FIG.
It has a motion controller 41 for instructing a plurality of servo drivers to perform motion control by a digital communication system. This motion controller 41
It has a CPU and a motion control module, and a plurality of servo drivers 42 are connected via a communication interface 43. In the motion controller 41 having such a motion control module function, similarly to the above, the axes corresponding to the plurality of servo drivers 42 virtually and logically in groups such as the first group 45 and the second group 46. Is defined. In this way, when a single CPU performs motion control of a plurality of devices, each device can be controlled in an independent multi-series manner, so that flexible motion control can be performed regardless of the hardware configuration of the motion control module. Can be.

As described above, in the present embodiment, the method of defining the axes in the motion controller is not limited to a one-dimensional definition that does not allow duplication through a motion control module unit or a motion control module in accordance with the hardware configuration. Since the virtual and logical definition method of the unit is used, the definition of the axis which was conventionally restricted by the maximum number of axes of the motion control module can be defined as the axis suitable for the device to be controlled. Accordingly, when a plurality of devices are controlled by one CPU, there is no waste in hardware configuration such as generation of an empty axis in the motion control module. In addition, since multiple devices can be flexibly controlled independently and in multiple series by a motion program, system simplification, cost reduction, and efficiency of motion control application programs can be achieved, and design time can be reduced. Becomes possible.

[0011]

As described above, according to the present invention, one or more control units are defined as axes, and the names of the axes are specified on a motion program to control the axes. In the apparatus, since the axes are logically grouped and defined so as to be a set unit of an arbitrary virtual axis, a hardware configuration which is generated when a single CPU performs motion control of a plurality of devices. There is an effect that waste and inefficiency in programming can be eliminated, and the design time can be reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a functional configuration of a motion control device according to an embodiment of the present invention.

FIG. 2 is a front view showing an external configuration of the motion controller according to the embodiment.

FIG. 3 is a diagram showing a group definition table according to the embodiment.

FIG. 4 is a diagram illustrating an axis definition table for each group according to the embodiment;

FIG. 5 is a diagram showing a motion program for controlling each control target device.

FIG. 6 is a block diagram showing another configuration example of the motion control device according to the embodiment.

FIG. 7 is a front view showing a first example of a conventional motion control device.

FIG. 8 is a diagram showing an axis definition table in the motion control device of FIG. 7;

FIG. 9 is a block diagram showing a second example of the conventional motion control device.

FIG. 10 is a diagram showing an axis definition table in the motion control device of FIG. 9;

[Explanation of symbols]

 Reference Signs List 1 motion controller 10 mount base 11, 12 motion control module 13 power supply module 14 CPU module 15 I / O module 16 output connector 20 control unit 21 input unit 22 servo control unit 25 first group 26 second group 30 group definition table 31 axis Definition table (group number 1) 32 Axis definition table (group number 2) 33 Motion program A 34 Motion program B 35 Machine A 36 Machine B

[Procedure amendment]

[Submission date] March 26, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0005

[Correction method] Change

[Correction contents]

[0005]

Defining the axis of the motion control apparatus according to claim 1, SUMMARY OF THE INVENTION The present invention is a motion co consisting comprise one or more control units having a servo control means
Has a cement roll module to define the control unit as each axis, the motion control apparatus for motion control these axes to command the name of this axis on the motion program, the motion control said shaft
Logical grouping is defined as a set of arbitrary virtual axes irrespective of the physical axis configuration of the module, and a motion program is created for each of these groups.
Characterized in that it formed. In addition, a method of defining an axis of a motion control device according to claim 2 is provided with a group definition table that defines the set unit of the virtual axis as a group, and an axis definition table for each group. It is characterized by defining virtual and logical axes. In the present invention, an axis definition parameter is provided in a unit called a virtual group to form a table, and the number of axes used in each group, a physical number of the axis, and a logical name for the axis are arbitrarily set. Axis definition and motion program creation are made possible by enabling motion program creation in group units. As a result, the axis as a control unit can be defined not only as a motion control module unit or a one-dimensional serial number in accordance with the hardware configuration but also as an arbitrary virtual group unit. Flexible motion control independent of the hardware configuration becomes possible.

Claims (2)

[Claims] 1. A motion control device which defines one or more control units each having a servo control means as an axis, and commands the name of this axis on a motion program to perform motion control on these axes. A method of defining an axis of a motion control device, wherein the axis is logically grouped and defined so as to be a set unit of an arbitrary virtual axis. 2. The method according to claim 1, wherein a group definition table for defining the set unit of the virtual axis as a group and an axis definition table for each group are provided to perform virtual logical axis definition for each group. Claim 1.
3. The method for defining an axis of a motion control device according to item 1.