JPH11282513A - Servo system controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten a line process time with no fluctuation in delay/start time by previously preparing the information on the servo control and immediately executing the servo control when a transfer condition is satisfied. SOLUTION: At an arithmetic control part 2, an arithmetic processing program such as an SFC program is previously stored in an arithmetic control memory 5 by a user via a peripheral device interface 7. An arithmetic control CPU 4 of the part 2 fetches the input information sent from an input unit 8 which is connected to an arithmetic control object via an input/output interface 6, executes in sequence the steps of the SFC program and repetitively updates the output information and the internal information. Thus, the CPU 4 performs the arithmetic control of the control object based on the output information and an output unit 9. The device information including the input information, output information, internal information, etc., which are updated at an arithmetic control processing are stored in a common memory 15. The positioning information, etc., used for the servo control are also stored in the memory 15.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to arithmetic control of a servo system controller for controlling a servo system by an SFC program, and more particularly to a control process for shifting to servo control and a process for shifting from servo control.

[0002]

2. Description of the Related Art A conventional example will be described with reference to the drawings. FIG.
Is a general configuration diagram of a conventional servo system controller including an arithmetic control unit and a servo control unit, 1 is a servo system controller main body, 2 is an arithmetic control unit,
It comprises an arithmetic control CPU 4, an arithmetic control memory 5, an input / output interface 6, and a peripheral device interface 7. Reference numeral 3 denotes a servo control unit, which is a servo control CPU 1
0, servo control memory 11, servo program memory 1
2. It is composed of a servo interface 13. Reference numeral 15 denotes a common memory that exchanges information between the arithmetic control unit 2 and the servo control unit 3. As shown in FIG. 20, the common memory 15 has a device information area 15a, a startup information area 15b, and a monitor area 15c.

The arithmetic control memory 5 stores an SFC program written from a peripheral device via the peripheral device interface 7 and operates the arithmetic control CPU 4. The servo control memory 11 and the servo program memory 12 store a servo program written from a peripheral device via the peripheral device interface 7,
This is for operating the servo control CPU 10.

Next, the operation will be described. Operation control unit 2
The arithmetic control CPU 4 describes input information from a control target (not shown) input through the input unit 8, internal information, output information to the control target, arithmetic processing, and start processing to the servo. Each step of the existing SFC program is sequentially executed in the order of shifting to the next step when the shift condition is satisfied, and the operation of updating the output information and the internal information is sequentially executed. The controlled object is arithmetically controlled. Operation control unit 2
In the step in which the calculation result stored in the predetermined device by the execution of the SFC program is written to the device information area 15a of the common memory 15 and the startup processing to the servo is set, the predetermined startup information is stored in the startup information area 15b. Write. The servo control unit 3 monitors the start information area 15b of the common memory 15, and when predetermined start information is written, reads the value of device information from the device information area 15a, and uses this information to read the servo information stored in the servo program memory 12. Servo control data is created by the program, and the servo interface 1
3, the servo control of the servo system 14 is performed.

In the servo control unit 3, data such as a position during servo control and error information are also stored in the common memory 15 at any time.
In the monitor area 15c.

When the servo control is completed, the servo control section 3 stores information indicating that the servo control has been completed in the monitor area 15c of the common memory 15.

When executing the servo start processing step, the arithmetic control unit 2 checks the information of the servo control completion based on the transition condition, and when the transition condition is satisfied, proceeds to the next step and continues the arithmetic control.

[0008]

In the conventional servo system controller, the arithmetic and control unit checks the satisfaction of the shift condition by the SFC program and then shifts to the processing of the next step. When a start command to the servo is executed and the start information is written in the start information area, the servo control unit reads the device information from the device information area and, based on this information, reads the servo information stored in the servo program memory. Since the execution of servo control was started after the control information was read and servo control information was created, there was a delay between the execution of the servo start processing step by the arithmetic control unit and the execution of servo control. There is a problem that the time / start time varies.

Further, after execution of the servo start processing step, the servo control cannot be completed unless the servo control is completed.
There is a problem in that the processing shifts to the next step without waiting for the completion of the servo control and arithmetic control and the like cannot be performed.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems. By preparing servo control information in advance, the servo control is executed immediately when the transition condition is satisfied. It is an object of the present invention to provide a servo system controller which does not vary in delay time / start time and can reduce the tact time.

Further, depending on the type of the transition condition, it is possible to arbitrarily select the control to be shifted to the next step without waiting for the completion of the servo control and the control to be shifted to the next step after the completion of the servo control. It is an object of the present invention to obtain a servo system controller that facilitates creation of a corresponding program.

[0012]

A servo system controller according to the present invention includes a servo controller for servo-controlling a control target, and input information, internal information, output information to the control target, and the like from the control target in an SFC program. A servo system controller having a calculation control unit for sequentially calculating and controlling each step based on servo control information for a control target in advance, and immediately performing servo control of the control target using input information from the control target as a trigger It is provided with.

Further, when the servo control is started for the control target, a shift means for shifting to the next control to the control target after the completion of the servo control, and a next control to the control target without waiting for the completion of the servo control of the control target. It is provided with a transition means for shifting to control.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 Embodiment 1 of the present invention will be described with reference to FIGS. FIG. 1 is a configuration diagram of a servo system controller according to the first embodiment. In this embodiment, an arithmetic control unit 2 for performing arithmetic control and a servo control unit 3 for performing servo control are provided in a servo system controller main body 1. The arithmetic control unit 2 includes an arithmetic control CPU 4, an arithmetic control memory 5, an input / output interface 6, and a peripheral device interface 7. The servo control unit 3 includes a CPU 10 for servo control, a servo control memory 11, a servo program memory 12, a servo interface 13, and a program management memory 16. Reference numeral 15 denotes a common memory that exchanges information between the arithmetic control unit 2 and the servo control unit 3.

FIG. 2 shows an example of the configuration of an operation processing program storage area 20 secured in the operation control memory 5 of FIG. 1. The SFC program storage area 21 and the operation control program (hereinafter referred to as F program) storage area 22 ,
A transition program (hereinafter referred to as a G program) storage area 23 is provided. The SFC program storage area 21 is an SFC program 1 (hereinafter, SFC1) storage area 21 for storing SFC programs of program numbers 1 to n.
a, SFC2 storage area 21b to SFCn storage area 2
1c. The F program storage area 22 includes F program 1 (hereinafter referred to as F1) storage areas 22a and F2 storage areas 2a for storing F programs of program numbers 1 to n.
2b to Fn storage area 22c. The G program storage area 23 stores G program 1 (hereinafter referred to as G1) storage areas 23a, G2 storage areas 23b to Gn storage areas 23c for storing G programs of program numbers 1 to n.
Consists of

FIG. 3 shows the servo program memory 12 of FIG.
In the figure, reference numeral 30 denotes a servo parameter storage area, and reference numeral 31 denotes a servo program (K program) storage area. The servo parameter storage area 30 includes a one-axis servo parameter storage area 30a for storing one-axis to n-axis servo parameters, for example, a unit system, a servo amplifier type, a servo motor type, and the like, and two-axis servo parameter storage areas 30b to n. It is composed of an axis servo parameter storage area 30c. The K program storage area 31 includes a servo program 1 (hereinafter referred to as K1) storage area 31a for storing servo programs of program numbers 1 to n, and K2 storage areas 31b to Kn storage areas 31c.

FIG. 4 shows a servo start information storage area 35 secured in the servo control memory 11 of FIG. 1, and is composed of start information 36, start axis information 37, and start program number 38.

FIG. 5 shows a setting example of the SFC program.
Reference numeral 40 denotes an SFC 100 having a program number 100, which is stored in an area of a corresponding program number in the SFC program storage area 21 in FIG. 41 and 43 are operation control steps F100 and F of program numbers 100 and 101, respectively.
101, an arithmetic control program is executed in this arithmetic control step. Reference numeral 42 denotes a transition step G110 of the program number 110. At this transition step, it is checked whether a transition condition set in the transition program is satisfied. 45 is the program number 1
20 is a servo control step K120, in which a start instruction of the servo program K120 is executed. Reference numeral 44 denotes a WAITON (WAITOFF) transition step used as a pair with the servo control step, which prepares the start of the next servo control step, and executes an immediate start command when the designated device M100 is turned on or off.

FIG. 6 shows a setting example of the arithmetic control program. Numerals 50 and 53 are operation control programs F100 and F101 of program numbers 100 and 101, respectively, which are stored in areas of corresponding program numbers in the F program storage area 22 of FIG. F100 (50) in this setting example is a program for turning on Y100 after storing the operation result of adding 50 to device D20 in device D0.
101 (53) is a program for turning off Y100.

FIG. 7 shows an example of setting a transition program. Reference numeral 51 denotes a transition program G110 having a program number 110, which is stored in a corresponding program number area of the G program storage area 23 in FIG. G110 (51) of this setting example is a transition program for checking whether M100 is ON or not and determining the transition condition. When M100 is ON, the transition condition is satisfied. Here, M100 is an internal relay used for arithmetic control, and is used for condition determination and the like.

FIG. 8 shows a setting example of the servo program.
52 is a servo program K12 of program number 120
0, which is stored in the area of the corresponding program number in the servo program area 31 in FIG. The servo program K120 (52) is a servo program for linearly controlling the axis 1 and the axis 2 in an absolute manner. The servo program K120 (52) performs two-axis linear interpolation at a combined speed 100 so that the axis 1 is positioned at the address 10000 and the axis 2 is positioned at the address 20000. Do.

FIG. 9 shows a WAITON (WAITOFF) information area secured in the program management memory 16, reference numeral 60 denotes an information area indicating whether or not there is a WAITON (WAITOFF) transition step immediately before the servo control step in the SFC program. WA
Device name information area of ITON (WAITOFF) designated device, 62 is WAITON (WAITOFF)
Number information area of the designated device, 63 is WAITON /
This is a discrimination information area indicating whether or not WAITOFF.

Next, the operation will be described. In the arithmetic control unit 2 of FIG. 1, an arithmetic processing program such as an SFC program is stored in advance in the arithmetic control memory 5 by the user via the peripheral device interface 7. The arithmetic control CPU 4 of the arithmetic control unit 2 takes in input information from the input unit 8 connected to the arithmetic control target via the input / output interface 6, sequentially executes each step of the SFC program, and outputs output information and internal information. Is updated, and the control target is arithmetically controlled by the output information and the output unit 9 via the input / output interface 6. Device information such as input information, output information, and internal information that is updated during the arithmetic control process is stored in the common memory 15. Further, information such as positioning at the time of servo control is also stored in the common memory 15. Therefore, the servo control unit 3
With reference to the device information in the common memory 15, the operation result of the operation control unit can be used for servo control. Further, the arithmetic control unit 2 can use data such as the operation state of the servo control unit 3 by accessing the specific device information of the common memory 15.

In the servo control section 3, the servo program and the servo parameters are stored in the servo program memory 12 in advance by the user via the input / output interface 6 and the common memory 15.

Referring to FIG. 10, the processing of the SFC program will be described. The SFC 100 (40) reads and executes the operation control program F100 from the operation control program storage area 22 in step S1, and reads and executes the transition program G110 from the transition program storage area 23 in step S2.
It is determined whether the transition condition is satisfied. If the transition condition is satisfied, the process shifts to step S3, executes the arithmetic control program F101, and shifts to the process of step S4. Since step 4 is a WAITON transition step, the servo control step K1 of the next step S5
After reading out the servo program K120 from the servo program storage area 31 and setting the data necessary for the start in the servo start information storage area 35 of the servo control memory 11, the information of the designated device used for determining the condition of the WAITON transition step WAIT
Stored in the device name information area 61 and the device number information area 62 of the ON (WAITOFF) information area,
3 in the WAITON / WAITOFF discrimination information area.
Stores AITON information and stores WAITON (WA
ITOFF) is stored, and the preparation for starting the servo control step is completed. In the servo control step S5 in the start preparation completed state, the WAITON (WA
ITOFF) Because there is information with, WA of 61-63
The WAITON designated device is checked in real-time processing based on the data in the ITON (WAITOFF) information area, and a command to the servo is started immediately upon detecting the satisfaction of the ON device transition condition of the designated device, and step S6.
The process is shifted to and the execution of the SFC program 100 ends.

Embodiment 2 of the Invention Second Embodiment A second embodiment of the present invention will be described with reference to FIGS. FIG. 11 and FIG. 12 show setting examples of the SFC program. 70 is the SFC 10 of the SFC program number 101
1 and 74 are SFC 102 of SFC program number 102
And stored in the area of the corresponding program number in the SFC program storage area 21 in FIG. 71 is a servo control step K200 of the program number 200,
In this servo control step, a start command of the servo program K200 is executed. Reference numeral 72 denotes a shift transition step G210 of a program number 210. In this transition step, if the immediately preceding step is a servo control step, the operation proceeds to the next step if the transition condition set in the transition program is satisfied without waiting for the completion of the servo operation. I do. Reference numeral 73 denotes an arithmetic control step F220 of the program number 220, in which the arithmetic control program is executed. 75 is the program number 210
Is a wait transition step G210. In this transition step, if the immediately preceding step is a servo control step, the servo program waits for completion of servo operation even if the condition for completion of servo operation is not included in the transition program, and the transition condition set in the transition program The process proceeds to the next step when is established.

FIG. 13 shows a setting example of the arithmetic control program. Numeral 80 denotes an arithmetic control program F220 having a program number 220, which is stored in the F program storage area 22 in FIG.
Is stored in the area of the corresponding program number. F220 (80) of this setting example is a program for turning on Y200.

FIG. 14 shows an example of setting a transition program. Reference numeral 81 denotes a transition program G210 having a program number 210, which is stored in a corresponding program number area of the G program storage area 23 in FIG. G210 (81) of this setting example is the device D1
This is a transition program for checking whether 00 is greater than 100 and determining a transition condition.
When 00 is greater than 100, the transition condition is satisfied.

FIG. 15 shows a setting example of the servo program. 52 is a servo program K of program number 200
200 is stored in the area of the corresponding program number in the servo program area 31 of FIG. The servo program K200 (82) is an axis 1
Is a servo program that performs linear interpolation control of axis 1 and axis 2.
Is 10000, and 2 axis linear interpolation is performed at a combined speed of 100 so that axis 2 moves 20,000.

FIG. 16 shows a transition information area secured in the program management memory 16. Numeral 90 denotes the next step when the servo control step is started, and after the completion of the servo operation, the transition condition set in the transition program is satisfied. If the transition condition set in the transition program is satisfied without waiting for the completion of the servo operation, the area to set the information of whether or not to proceed to the next step is to wait for the completion of motion. When waiting, an area for setting information on the number of axes to be started in the immediately preceding servo control step, 93a to 93c
Is an area for setting an axis number to be started, and 91 is an area for setting information indicating whether information of 92 and 93 has been set or not.

Referring to FIG. 17, the processing of the SFC program will be described. The SFC 101 (70) reads the servo program K200 of the servo control step K200 of step S11 from the servo program storage area 31 and reads the information of the transition of the next step S12.
Set 0 for no motion completion wait. In the servo control step, data necessary for starting is set in the servo start information storage area 35 of the servo control memory 11 and the like. At this time, since information indicating that there is no motion completion wait is set in 90, a command to the servo is started without setting the information in 91 to 93, and control is transferred to the next step. In step S12, the transition program G210 is read from the transition program storage area 23 and executed, and it is determined whether the transition condition is satisfied.
When the transition condition is satisfied, the information indicating that there is no motion completion wait is set in 90. Therefore, the arithmetic control program F220 is executed in the next step S13, and the control of the SFC 101 is ended in step S14.

Referring to FIG. 18, the processing of the SFC program will be described. Since the SFC 102 (74) reads the servo program K200 of the servo control step K200 of step S21 from the servo program storage area 31 and reads the transition information of the next step S22, the SFC 102 (74) is a wait transition step.
90 is set to wait for motion completion. In the servo control step, data necessary for the start is set in the servo start information storage area 35 of the servo control memory 11, etc., and information indicating that there is a motion completion wait is set in 90. After setting the number of axes to be started and the axis number information to be started in the immediately preceding servo control step to 93, the start axis information setting completion is set to 91, a command to the servo is started, and the process proceeds to the next step. In step S22, the transition program G21 is stored in the transition program storage area 23.
0 is read and executed to determine whether or not the transition condition is satisfied. Even if the transition condition is satisfied, the information indicating that there is a motion completion wait is set in 90. Therefore, if the axes set in the start axis information of 92 and 93 are under servo control, the process does not proceed to the next step S23. When the servo control of the axis set in the starting axis information is completed, the process proceeds to the next step. In step S23, the arithmetic control program F220
Is executed, and the control of the SFC 101 ends in step S24.

[0033]

According to the present invention as described above,
By preparing the servo control information in advance, the servo control is executed immediately upon establishment of the transition condition, thereby preventing the delay time / starting time from being dispersed, and shortening the tact time. .

Further, depending on the type of the transition condition, it is possible to arbitrarily select the control to be shifted to the next step without waiting for the completion of the servo control and the control to be shifted to the next step after the completion of the servo control. There is an effect that a corresponding program can be easily created.

[Brief description of the drawings]

FIG. 1 is a hardware configuration diagram of a servo system controller according to a first embodiment of the present invention.

FIG. 2 is a memory configuration diagram of an operation processing program storage area in an operation control memory according to the first embodiment of the present invention.

FIG. 3 is a memory configuration diagram of a servo program memory according to the first embodiment of the present invention.

FIG. 4 is a memory configuration diagram of a servo activation information storage area in a servo control memory according to the first embodiment of the present invention.

FIG. 5 is a diagram showing a setting example of an SFC program according to the first embodiment of the present invention.

FIG. 6 is a diagram illustrating a setting example of an arithmetic control program according to the first embodiment of the present invention.

FIG. 7 is a diagram showing a setting example of a transition program according to the first embodiment of the present invention.

FIG. 8 is a diagram showing a setting example of a servo program according to the first embodiment of the present invention.

FIG. 9 is a memory configuration diagram of a WAITON (WAITOFF) information area in the program management memory according to the first embodiment of the present invention.

FIG. 10 is a diagram showing a processing example of an SFC program according to the first embodiment of the present invention.

FIG. 11 is a diagram showing a setting example of an SFC program according to the second embodiment of the present invention.

FIG. 12 is a diagram showing a setting example of an SFC program according to the second embodiment of the present invention.

FIG. 13 is a diagram showing a setting example of an arithmetic control program according to the second embodiment of the present invention.

FIG. 14 is a diagram showing a setting example of a transition program according to the second embodiment of the present invention.

FIG. 15 is a diagram showing a setting example of a servo program according to the second embodiment of the present invention.

FIG. 16 is a memory configuration diagram of a transition information area in a program management memory according to the second embodiment of the present invention.

FIG. 17 is a diagram illustrating a processing example of an SFC program according to the second embodiment of the present invention.

FIG. 18 is a diagram illustrating a processing example of an SFC program according to the second embodiment of the present invention.

FIG. 19 is a hardware configuration diagram of a conventional servo system controller.

20 is a configuration diagram of the common memory shown in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Servo system controller main body 2 Operation control part 3 Servo control part 4 Operation control CPU 5 Operation control memory 6 I / O interface 7 Peripheral device interface 8 Input unit 9 Output unit 10 Servo control CPU 11 Servo control memory 12 Servo program memory 13 Servo interface 14 Servo system 15 Common memory 15a Device information area 15b Startup information area 15c Monitor area 16 Program management memory 20 Operation processing program storage area 21 SFC program storage area 21a SFC1 storage area 21b SFC2 storage area 21c SFCn storage area 22 Operation control Program storage area 22a F1 storage area 22b F2 storage area 22c Fn storage area 23 Transition pro RAM storage area 23a G1 storage area 23b G2 storage area 23c Gn storage area 30 Servo parameter storage area 30a 1-axis servo parameter storage area 30b 2-axis servo parameter storage area 30c n-axis servo parameter storage area 31 servo program storage area 31a K1 storage area 31b K2 storage area 31c Kn storage area 35 Servo start information 36 Start information storage area 37 Start axis information storage area 38 Start program number storage area 40 SFC100 41 Operation control step F100 42 Transition step G110 43 Operation control step F101 44 WAITON (WAITOFF) transition step 45 servo control step K120 50 F100 51 G110 52 K120 3 F101 60 With / without WAITON (WAITOFF) Storage area 61 WAITON (WAITOFF) device name storage area 62 WAITON (WAITOFF) device number storage area 63 WAITON / WAITOFF discrimination information storage area 70 SFC101 71 Servo control step K200 72 Shift transition step G210 73 Operation control step F220 74 SFC102 75 Wait transition step G210 80 F220 81 G210 82 K200 90 Transition information Motion completion wait state storage area 91 Transition information Start axis information setting completion / incomplete storage area 92 Transition information Start axis number storage area 93a Transition information Starting axis information Axis number 1 93b Tiger Jishon information start axis information axis number 2 93c transitions information start axis information axis number n

Claims (2)

[Claims] A servo control unit for servo-controlling a control target, and input information, internal information, output information to the control target, and the like from the control target are each processed based on an SFC (sequential function chart) program. In a servo system controller having an arithmetic control unit for sequentially performing arithmetic control, servo control information for a control target is prepared in advance, and means for immediately performing servo control on the control target using input information from the control target as a trigger is provided. A servo system controller, characterized in that: And a shift means for shifting to the next control to the controlled object after the completion of the servo control when the servo control is started for the controlled object, and the control means without waiting for the completion of the servo control of the controlled object. 2. The servo system controller according to claim 1, further comprising: a transition unit that transitions to a next control for the target.