JPH1158094A - Device for setting starting position of servo press and method therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute the setting of a slide starting position to improve the production speed at the time of linking with the peripheral devices for executing carry-in and carry-out, etc., of a blank, by calculating a speed command, providing an output arithmetic means outputted to a servo amplifier and executing pressing. SOLUTION: The output arithmetic means 46 calculates the speed command value of an electric servo motor and outputs to the servo amplifier while observing the slide position so that the slide shifts at a prescribed speed along the preset prescribed motion curve with a press data setting means 44 based on a control command and a stop command from a starting/stopping judging means 45 when a press operating mode set with an operating mode setting means 32 is a linking mode. By this method, the position and the speed of the electric servo motor is controlled. The output arithmetic means 46 outputs the speed command quickly stopping the slide at the time of inputting the stopping command from the starting/stopping judging means 45. By this method, the servo amplifier 28 controls the speed of the electric servo motor to stop the slide within a prescribed one.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a servo press in which a slide is driven by an electric servomotor,
The present invention relates to an apparatus and a method for setting a start position of a servo press for setting a slide start position capable of improving a production speed when interlocking with peripheral devices that carry in and carry out a material.

[0002]

2. Description of the Related Art Conventionally, a press machine includes a mechanical press having a slide driven by converting rotational power of a crankshaft into a linear motion by a link mechanism, and a hydraulic press having a slide linearly driven by a hydraulic cylinder. There is a press or a servo press having a slide that is linearly driven by, for example, a ball screw mechanism or the like by the rotational power of an electric servomotor. Servo presses can reduce the working environment due to the fact that the movable range of the slide can be set arbitrarily compared to mechanical presses, and because the drive source is cleaner and less noisy than hydraulic presses. Widely used in important industrial fields.

On the other hand, in such a servo press, for example, a position detection sensor such as a limit switch is provided in order to perform an interlocking operation with a peripheral device for carrying in, transporting, or unloading a material, and a slide for a vertically moving slide is provided. The position has been detected. Then, the slide moving direction is determined based on the detection order of the predetermined position signal, and the slide position is determined based on the detected position. Based on these determination results, at a predetermined timing, a material loading instruction and a transport instruction are performed. Such a signal is output to the peripheral device, or after the slide is stopped, the slide is restarted after waiting for a feed completion signal from the peripheral device to perform the interlocking operation.

[0004] The mounting position of the position detecting sensor is empirically determined and set by an operator. For example,
The slide position when instructing the coil line control device that controls the coil material feeding device to start feeding the coil material is usually the upper position of the coil material when the slide of the servo press rises from the lower limit position. The position is set to a position further raised by a predetermined distance, that is, a position that does not interfere with the upper die when feeding the coil material. Similarly, the position where the slide is stopped until the coil material feeding completion signal is input from the coil line control device is set to a position where the upper die does not interfere with the feeding of the coil material. At this time, in order to increase the productivity, the above-mentioned coil material feed start command needs to be output at the earliest possible timing, and the position where the slide is stopped must be as close to the coil material as possible. There is. Therefore, the limit switch for instructing the start of the feed and the limit switch for stopping the slide are set as close as possible to the upper surface of the coil material. At this time, in order to prevent the coil material from being caught on the upper mold at the time of feeding, the operator empirically determines the above-mentioned set position in consideration of the variation in the thickness of the coil material.

[0005]

However, as described above, the positions of the conventional limit switches and the like are set with a margin since variations in the thickness of the coil material must be considered. Also, even for an operator who is skilled in this setting work, the set position is not always a position where the production speed can be maximized. Therefore, when the margin of the limit switch position for stopping and starting the slide is large, the descent time to the lower limit position after the slide restart is long, and the limit switch position for instructing the start of the feeding of the coil material. If the margin is large, the activation timing of the coil line control device is delayed, so that it is difficult to increase the production speed in the entire machining system in conjunction with the coil material supply device. In addition, since the position of the limit switch must be reset in response to a change in the thickness of the coil material, there is a problem that it takes a long time to change the setup. Furthermore, since the servo press is a mechanism that performs slide drive by reducing the rotational power of the electric servo motor via a ball screw or the like and increasing the pressing force, the production speed of the servo press itself is higher than that of a mechanical press. It is common to be slow. However, due to demands for increased productivity,
It is very important to produce a servo press at a production speed as close as possible to that of a mechanical press.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and is intended to activate a servo press for setting a slide activation position at the time of interlocking so as to improve the production speed in a machining system interlocked with peripheral equipment. It is an object of the present invention to provide a position setting device and a method thereof.

[0007]

In order to achieve the above object, the invention according to the first aspect is directed to an electric servo motor 4 controlled by a servo amplifier 28 based on an input speed command. The slide 2 which moves linearly at a predetermined speed is operated in synchronization with the peripheral device 10 which carries in, transports or unloads the workpiece, and performs the punching of the workpiece, and after the punching, the peripheral device 10 In the servo press starting position setting device for stopping and starting the slide 2 at a predetermined position until the next operation is completed, a slide position detecting means 33 for detecting the position of the slide 2 and a predetermined speed when the slide 2 is accelerated Press data, such as motion data including at least the slide distance data and lower limit position data at the time of punching Setting the press data setting means 4
4, a load detecting means 34 for detecting a load applied to the slide 2, and a slide position when the detected load starts to increase is input from a slide position detecting means 33, and this position is input to the upper surface position of the workpiece. A load generation position detecting means 41 stored as C and a stop command are output when the slide 2 is lifted after punching and comes to a position above the stored upper surface position C by the set acceleration distance data. And a start / stop determining means 45 for outputting a control command to start the slide 2 when an operation completion signal is input from the peripheral device 10, so that the slide 2 is suddenly stopped based on the stop command, and Based on this control command, a speed command is calculated and output to the servo amplifier 28 so that the speed of the slide 2 is controlled in accordance with the set motion data. Servo press start position setting device being characterized in that a force calculating means 46.

According to a fifth aspect of the present invention, the slide 2 which is linearly moved at a predetermined speed by the electric servomotor 4 is synchronously operated with a peripheral device 10 which carries in, carries or unloads a workpiece, and performs an interlocking operation. In this method, the slide 2 is stopped at a predetermined position until the operation of the peripheral device 10 is completed next after the punching, and the starting position of the servo press is set. The slide position at which the load starts to increase is stored as the upper surface position C of the workpiece, and is stopped when the slide 2 rises after punching and comes to a position above the upper surface position C by an acceleration distance, In addition, the slide 2 is activated and lowered when an operation completion signal is input from the peripheral device 10.

According to the first or fifth aspect of the present invention, it is possible to detect that the upper die has come into contact with the upper surface of the workpiece by detecting the start of the increase in the slide load value. Even if the plate thickness varies, the position of the upper surface of the workpiece can be accurately measured. Then, based on the measured upper surface position, a position above the upper surface position by a preset acceleration distance is calculated, and after punching, the slide is stopped when the slide moves up to the calculated position, and the peripheral device completes the operation. Then, the slide is started and lowered (for example, when the feeding of the coil feeder is completed). Therefore,
The time required for setting the limit switch for setting the slide start position does not take much time as before, and the start position is automatically set according to the measured upper surface position, so the setup time is reduced. And workability is improved. Further, since the starting position is set in the vicinity of the upper surface position, the peripheral device can reach the upper surface position of the workpiece and punch in a short time when the operation of the peripheral device is completed. As a result, the production speed when punching with a servo press in conjunction with peripheral equipment is greatly improved.

According to a second aspect of the present invention, the slide 2 which moves linearly at a predetermined speed by the electric servomotor 4 controlled by the servo amplifier 28 based on the input speed command is activated within a predetermined time after the start. The interlocking operation is performed in synchronization with the peripheral device 10 that completes the loading, transporting, or unloading of the workpiece,
The workpiece is punched, and after the punching, the slide 2 is stopped at a predetermined position until the peripheral device 10 completes the next operation, and the position of the slide 2 is detected by a start position setting device of a servo press for starting. The slide position detecting means 33, the coasting distance data of the slide 2 at the time of sudden stop, the acceleration distance data required to reach a predetermined speed when the slide 2 is accelerated, and at least the slide speed data and the lower limit position data at the time of punching. Press data setting means 44 for setting motion data including
A feed speed input unit 43 for inputting feed speed data of the peripheral device 10, a load detecting unit 34 for detecting a load applied to the slide 2, and a slide position detecting unit 33 for detecting a slide position when the detected load starts to increase. And a load generating position detecting means 41 for storing the position as the upper surface position C of the workpiece and an ascending / decreasing stroke for determining the ascending or descending stroke of the slide 2 based on the detected change in the slide position. Descending stroke discriminating means 37, an upper margin setting means 31 for setting a slide position when outputting a start signal to the peripheral device 10 during the ascending stroke of the slide 2, and an upward margin distance α from the upper surface position C; Based on the set slide speed value and the input feed speed data, the slide 2 is moved to the stored upper surface position C.
From the upper surface position C to the position higher than the upper surface position C by the set margin distance α, and a start signal is output to the peripheral device 10. Press start time calculating means 39 for calculating the time and the total time required for the peripheral device 10 to complete the operation in response to the start signal, and calculating the scheduled operation completion time based on the total required time; rear,
A stop command is output when the slide 2 rises and comes to a position higher than the stored upper surface position C by a distance obtained by adding the set coasting distance data and acceleration distance data,
Thereafter, a start / stop determining means 45 for outputting a control command to start the slide 2 when the calculated operation completion time is reached, so that the slide 2 is suddenly stopped based on the stop command. And output calculation means 46 for calculating a speed command and outputting it to the servo amplifier 28 so that the speed of the slide 2 is controlled based on the set motion data based on the control command. .

According to a sixth aspect of the present invention, there is provided a peripheral device which completes loading, transporting or unloading of a workpiece within a predetermined time after the slide 2 which is linearly moved at a predetermined speed by the electric servomotor 4 is started. 10, a synchronous press operation, a punching process of the work material, a slide 2 stopping at a predetermined position until the peripheral device 10 completes the operation after the punching, and a start position setting method of a servo press. When the load applied to the slide 2 starts to increase during the downward stroke, the slide position at this time is stored as the upper surface position C of the workpiece, and the slide position is determined based on the slide speed and the feed speed of the peripheral device 10. 2 rises after descending from the stored upper surface position C to the lower limit position L and rises above the upper surface position C by a preset margin distance α. To calculate the total time required for the peripheral device activation signal to be output to the peripheral device 10 and the time required for the peripheral device 10 to receive the peripheral device activation signal and complete the operation. The expected operation completion time is calculated based on the total required time, and after the punching, the slide 2 is lifted up to a position higher than the stored upper surface position C by a distance obtained by adding the preset coasting distance data and acceleration distance data. The slide 2 is stopped when it reaches the position, and thereafter, when the time reaches the calculated expected operation completion time, the slide 2 is started and lowered.

According to the second or sixth aspect of the present invention, it is possible to detect that the upper die has come into contact with the upper surface of the workpiece by detecting the start of the increase of the slide load value. Even if the plate thickness varies, the position of the upper surface of the workpiece can be accurately measured. Also, the measured upper surface position, preset lower limit position data, allowance distance data, slide speed data, and required operation time of peripheral devices (for example, a feed based on coil material feed speed data of a coil feeder). ) Is calculated based on the time. Then, based on the upper surface position, a position above the upper surface position by a distance obtained by adding a preset coasting distance and an acceleration distance is calculated, and after punching, the slide is stopped when the slide moves up to the calculated position. Thereafter, when the time reaches the calculated expected completion time of the operation of the peripheral device, the slide is activated and lowered. Therefore, it does not take much time to set the limit switch for setting the slide start position as in the related art, and the start position is automatically set in accordance with the measured upper surface position. Is shortened and workability is improved. In addition, the starting position is set to a predetermined position near the above-mentioned upper surface position, and when the operation of the peripheral device is scheduled to be completed, the descent is started. The material can be punched by reaching the upper surface position. As a result, the production speed when punching with a servo press in conjunction with peripheral equipment is greatly improved.

According to a third aspect of the present invention, there is provided the servo press starting position setting device according to the second aspect, wherein
The stop determination unit 45 starts the slide 2 when the time reaches the scheduled operation completion time of the peripheral device 10, and then moves the slide 2 to a position above the upper surface position C by the set coasting distance data. If the operation of the peripheral device 10 is not completed when it comes, a stop command for emergency stop of the slide 2 is output.

According to the third aspect of the present invention, when the slide is lowered and the peripheral device has not completed operation when the slide comes to a position above the upper surface position by the coasting distance, Emergency stop of slide. At this time,
Since the slide coasts within the set coasting distance and stops just before the upper surface position, even if the operation of the peripheral device cannot be completed in time, the slide and the work material Interference with equipment is eliminated, and safety can be improved. Further, as described above, the production speed when punching with a servo press in conjunction with peripheral equipment is greatly improved.

The invention described in claim 4 is the first or second invention.
In the servo press start position setting device described above, the load detecting means 34 calculates the load based on the motor output torque calculated from the drive current value of the electric servomotor 4.

According to the present invention, the slide load value is obtained based on the motor output torque calculated from the drive current value of the electric servomotor for driving the slide. At this time, the actual work torque is calculated as the pressing force actually required for pressurizing the workpiece, of the motor output torque, and the slide load value can be obtained based on the actual work torque. Therefore, since the slide load is accurately obtained, the upper surface position of the workpiece can be accurately detected based on the slide position when the slide load starts increasing. As a result, the stop position and the start position of the slide can be set to positions close to the workpiece by the detected upper surface position, so that it is possible to improve the production speed at the time of interlocking with the peripheral device and improve the productivity. .

[0017]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of a servo press starting position setting apparatus and method according to the present invention; In the following description, an example of a coil material supply device is shown as the peripheral device 10. However, the present invention is not limited to this. For example, a robot device or a transfer feeder device for loading or unloading a sheet material, or the like. It can be applied to the case.

FIG. 1 is a block diagram showing an example of an interlocking processing system of a servo press and a coil material supply device (hereinafter referred to as a coil line) according to the present invention. In the figure, a bed 9 is provided below the body frame 7 of the servo press 1, and the bolster 3 is installed above the bed 9. An electric servomotor (hereinafter, referred to as an electric servomotor 4) as an example of the slide drive unit 4 is disposed on the upper rear side of the main body frame 7. The unit is provided with a power conversion device 8 configured by, for example, a ball screw or the like that converts the rotational power of the electric servo motor 4 into a linear motion in the vertical direction. The output rotary shaft of the electric servomotor 4 is rotatably connected to the upper end of a rotating portion (for example, a screw portion of a ball screw) of the power conversion device 8 via a rotation transmitting member 4b (for example, a belt or a gear). Further, a linearly moving portion of the power converter 8 (for example, a nut portion of a ball screw).
The slide 2 is disposed at the lower end of the bolster 3 and at a position facing the bolster 3 so as to be able to move up and down. Slide 2
Is driven up and down by an electric servomotor 4. As the slide 2 moves up and down, the lower mold 6 attached to the upper surface of the bolster 3 and the upper mold 6 attached to the lower surface of the slide 2. Press working is performed with the mold 5.

A speed sensor 4a such as an encoder, for example, is mounted on the opposite side of the output rotary shaft of the electric servomotor 4 and coaxial with the output rotary shaft, and a speed signal from the speed sensor 4a is provided. Are input to a servo amplifier described later. Note that the electric servomotor 4 may be constituted by either an AC servomotor or a DC servomotor.

A slide position sensor 23 composed of, for example, a linear sensor is provided on the rear side of the slide 2. The slide position sensor 23 has a sensor rod 23a whose axis is parallel to the moving direction of the slide 2 and is supported at the rear part of the slide 2; And a sensor head 23b attached to the sensor head 23b. Then, as the slide 2 moves up and down, the sensor rod 23a moves up and down with respect to the sensor head 23b, whereby the position of the slide 2 is raised from the upper surface of the bolster 3 by the position detection unit inside the sensor head 23b. It is to be detected as. The position signal detected by the slide position sensor 23 is input to a press controller 20 described later,
The press controller 20 drives the electric servomotor 4 based on the position signal to control the position of the slide 2 so as to follow a predetermined motion curve (see FIG. 5).

On the side of the servo press 1, a coil line 10a for supplying a coil material as a workpiece is provided. The coil line 10a includes a coil line control device 11, a coil material uncoiler 12, and a leveler 1.
3 and a coil feeder 14. The coil material uncoiler 12 supplies the coil material 15 to the servo press 1 via the leveler 13 and the coil feeder 14 while rotating the reel around which the coil material 15 is wound at a predetermined speed. The leveler 13 feeds the coil material 15 while pressing the coil material 15 with a predetermined pressure from the opposite side of the bending direction of the coil material 15 to correct the bent material, and the coil feeder 14 feeds the corrected coil material 15 to the predetermined position. At this time, the servo press 1 is carried between the upper die 5 and the lower die 6. The coil line controller 11 transmits and receives signals to and from a press controller 20 (described later) that controls the operation of the servo press 1 to synchronize with each other, and the coil material uncoiler 12, the leveler 13, Coil feeder 14
A predetermined timing signal is output to each device.

FIG. 2 is a block diagram showing the hardware configuration of the apparatus for setting the upper limit position of the servo press according to the present invention.
The motor current sensor 24 detects the drive current value of the electric servomotor 4, and detects the drive current value by detecting, for example, a voltage drop across the shunt resistor.
A detection signal having a magnitude proportional to the drive current value is input to a press controller 20 described later, and the press controller 20 calculates an output torque of the electric servomotor 4 based on the drive current value, and calculates an actual work from the output torque. Calculate the torque. This actual working torque is equal to the substantial pressing force of the electric servomotor 4 for pressing the coil material 15. The slide position sensor 23 detects the position of the slide 2 in the height direction as described above, and the detected slide position signal is input to the press controller 20.

Further, the press controller 20 is provided with a press data setting switch 21, an operation mode switch 22, and an upper margin setting switch 29. The press data setting switch 21 is a switch for setting press-related control data of the upper limit position setting device according to the present invention. For example, a numeric keypad for inputting numerical data and a data type selection switch for selecting a data type to be set And so on. As the control data, the coasting distance LBK before stopping when the emergency stop is performed while the slide 2 is descending at the predetermined speed, the acceleration distance representing the distance required to accelerate the slide 2 to the predetermined speed, and
Motion data representing the relationship between each target position and the speed of the slide 2 during punching can be set. As the motion data, for example (see FIG. 5), each slide speed and the lower limit position L can be set. These setting data are input to the press controller 20. The operation mode switch 22 can select a press operation mode, and can select at least a production mode such as an interlock mode that can interlock with peripheral devices such as the coil line 10a. The selected mode signal is input to the press controller 20.

The upper margin setting switch 29 is used to set the coil material 15 at the slide position when the press controller 20 outputs a feeder conveyance start command (that is, a start command, hereinafter referred to as a start command) to the coil line control device 11.
Is set from the upper surface of the pressurizing device, and the set value of the surplus allowing distance α is input to the press controller 20. FIG. 3 is an explanatory diagram of the rising margin distance α, and shows the vicinity of the dies (the upper die 5 and the lower die 6) in a partial cross-sectional side view. In the figure, a coil material 15 having a thickness T is fed in the direction of arrow 16 and supplied between an upper die 5 and a lower die 6. A guide 17 is provided above the lower die 6 so that the coil material 15 does not fall out of a predetermined supply path even when the coil material 15 flaps during this supply, and the guide 17 presses the coil material 15 from above and from the left and right in the feed direction. Guided by. The arrow Z indicates the operation of the slide 2 during the upward stroke, and it is assumed that the upper die 5 has risen from the lower limit position L to the upper limit position U during the upward stroke. At this time, when the lower end of the upper die 5 has risen upward from the upper surface position C of the coil material 15 by the lift margin α, the press controller 2
0 outputs the start command. The rising margin distance α is a margin for preventing the coil material 15 from being caught on the upper mold 5 at the time of starting the feeding of the coil material 15 and the margin provided for the lower mold 6 and the coil material 15 when the coil material is carried in. The distance is set in consideration of a distance required for the pilot 18 to be positioned in contact with the material to escape upward, a response delay time of the coil feeder 14 to the start command, and the like. As a matter of course, if it is not necessary to consider the above-mentioned catching, the escape distance of the pilot 18, etc., the rising margin distance α may be set to zero, that is, a start command may be output at the upper surface position C. In the present invention, as described later, the upper surface position C of the coil member 15 is obtained based on the slide load value for each shot.

The press controller 20 is constituted by a general computer control device mainly composed of a microcomputer, for example. Inside the press controller 20, a memory 20a for storing the set value of the coasting distance LBK, the motion data set value of the motion curve, the set value of the rising margin distance α, and the like are provided. The press controller 20 receives the detection signals of the sensors, the set value data from the press data setting switch 21 and the upper margin setting switch 29, and the mode signal from the operation mode switch 22, and performs a predetermined calculation and determination process to be described later. It is carried out. And, based on this processing result,
A speed command is output to the servo amplifier 28 so that the slide 2 operates along the set motion curve, each control signal is transmitted and received to and from the coil line control device 11, or a set value display 27 described later is used. Coasting distance L
The set values of the BK and the allowance distance α, the set values of the motion data, the detected data of the upper surface position C, and the like are displayed.

The servo amplifier 28 controls the electric servo motor 4 based on the speed command from the press controller 20.
Control. That is, the servo amplifier 28 controls the drive current (corresponding to the motor output torque) of the electric servomotor 4 so that the speed deviation between the speed command and the feedback value of the motor rotation speed detected by the speed sensor 4a is reduced. I do. Thus, the slide 2 is controlled along the motion curve. Servo amplifier 28
Can be constituted by a general servo amplifier for driving a servo motor, for example, an analog servo circuit using an operational amplifier or the like, or a digital servo mainly using a computer or a digital signal processing IC (so-called DSP). It can be configured by a circuit.

The set value display 27 displays, based on a display command from the press controller 20, the set values of the coasting distance LBK and the allowance distance α, the motion data set value, and the top surface position as described above. C display data and the like, for example, a graphic display such as a liquid crystal or EL,
It can be constituted by a character display or the like including an LED display element or the like.

The transmission / reception circuit 26 is an interface circuit for transmitting / receiving a control signal to / from the coil line controller 11, and includes, for example, a serial communication circuit, a parallel I / O circuit, or a data bus communication circuit. Can be configured.

Two different embodiments of the method of starting the servo press in synchronization with the completion of feeding of the peripheral device when controlling the interlocking operation with the peripheral device by the above hardware configuration will be described below. .

First, as a first embodiment, the slide position at which the upper die 5 contacts the upper surface of the workpiece (the coil material 15 in this case) is detected by detecting a sudden increase in the slide load. The slide 2 is stopped based on the upper surface position C calculated by the above, the slide speed of the servo press 1 and the operation time of the peripheral device 10 (here, the operation time calculated by the feed speed of the coil feeder 14). A description will be given of a method of calculating the expected operation completion time of the peripheral device 10 (here, the estimated completion time of the feed of the coil feeder 14) and setting the activation position to be activated at the estimated operation completion time. FIG. 4 is a functional configuration block diagram of the activation position setting device in the first embodiment, and each functional configuration will be described with reference to FIG.

The slide position detecting means 33 receives a position signal from the slide position sensor 23, obtains a slide position based on the position signal, and uses the slide position data ascending / descending stroke discriminating means 37, starting signal generating means. 3
8, output to the press start time calculating means 39, the load occurrence position detecting means 41 and the start / stop determining means 45, respectively.

The load detecting means 34 detects the load applied to the slide 2 by receiving the reaction force from the coil member 15 during the press working, and in this embodiment, the electric servo motor for driving the slide 2 is used as the load. 4 based on the actual working torque. The actual working torque corresponds to the pressing force required for the actual pressurizing process in the output torque of the electric servomotor 4. The calculation of the actual work torque is performed, for example, as follows.

The load detecting means 34 has a load inertia constant for calculating acceleration or deceleration torque, a speed resistance torque proportional constant for calculating torque for maintaining a constant speed,
Each constant data such as a friction torque constant and a torque constant representing a relationship between the motor drive current and the output torque is stored. At the time of acceleration or deceleration, a required motor output torque is obtained based on the required acceleration value or deceleration value and each of the above constant data, and based on the drive current value detected by the motor current sensor 24, the actual motor current is calculated. The output torque is calculated, and the actual required motor output torque is subtracted from the actual motor output torque to calculate the actual work torque during acceleration / deceleration. At the time of constant speed, similarly, the required motor output torque is obtained based on the speed value to be maintained at this time and the above constant data, and the actual motor output torque calculated based on the drive current value detected at this time. Is subtracted from the required motor output torque to calculate the actual work torque at the constant speed. And this actual work torque and slide 2
The relationship with the pressing force is determined and stored in advance, and the actual working torque is determined based on the drive current value detected during processing.
The pressing force of the slide 2 can be calculated from the actual work torque.

The load on the slide 2 is detected by
As described above, without being limited to the method using the motor output torque obtained from the drive current value, for example, the strain of the main body frame 7 of the servo press 1 is detected by a strain gauge sensor,
It is also possible to calculate the slide load value based on the magnitude of this distortion.

The load generating position detecting means 41 detects the sliding position when the upper die 5 comes into contact with the upper surface of the coil material 15 based on the magnitude of the load value detected by the load detecting means 34. I have. Here, a method of determining whether or not the upper die 5 has contacted the upper surface of the coil material 15 based on the load value will be described with reference to FIG. In the same figure, a time chart showing the relationship between the motion curve of the slide 2 and the slide load is shown, and the horizontal axis represents the elapsed time.
The vertical axis represents the slide position and the slide load value. Now, considering the case of punching, the slide 2 descends from the upper limit position U to a predetermined position B at a predetermined high speed descent speed, and further from the position B to a lower limit position L at a predetermined low descent speed (processing speed). Then, it is assumed that motion data is set so as to rise to the upper limit position U at a predetermined low rising speed and then at a predetermined high rising speed.
As shown in the drawing, when the upper die 5 contacts the upper surface of the coil material 15 while the slide 2 is descending at a predetermined low descending speed (between the position B and the lower limit position L in the figure), the slide 2 descends. With this, the slide load value gradually increases.
Therefore, it can be determined that a load occurs when the load value starts increasing. The load generating position detecting means 4
1 outputs a load generation signal when the load value starts to increase, inputs the slide position at the time of the load generation from the slide position detection means 33, and determines the slide position as the upper surface position C of the coil material 15, It is stored in a predetermined area of the memory 20a.

The upper margin setting means 31 takes in the set value of the rising margin distance α inputted by the upper margin setting switch 29 and stores it in a predetermined area of the memory 20a. The input means of the set value of the allowance margin α is not limited to the upper allowance setting switch 29, but may be, for example, communication from another control device such as a host computer or the like. The ascending / descending stroke judging means 37 judges whether the slide 2 is the ascending stroke or the descending stroke based on the distinction of the temporal increase or decrease of the slide position data input from the slide position detecting means 33. Output the judgment result.

The starting signal generating means 38 inputs the position data of the upper surface position C from the load generating position detecting means 41 and the setting data of the rising margin distance α from the upper margin setting means 31, and inputs the data to both data. Based on this, a position A (see FIG. 3) at which a start signal is to be output to the peripheral device (here, the coil line control device 11) is determined. Here, the position data A0 of the position A is calculated by Expression 1.

A0 = C + α Further, the activation signal generating means 38 determines the slide position input from the slide position detecting means 33 when the stroke determination result input from the ascending / descending stroke determining means 37 is the upward stroke. When the slide 2 rises above the position A in comparison with the above, the peripheral device activation signal is output. And
The activation signal output means 42 receives the peripheral device activation signal and transmits it to the coil line control device 11 via the transmission / reception circuit 26.

The feed speed input means 43 inputs the feed speed value of the coil material 15 of the coil feeder 14 from the coil line controller 11 via the transmission / reception circuit 26. When the main feed speed value is a predetermined constant value, it can be stored in a predetermined area of the memory 20a in the press controller 20 in advance. The press data setting means 44 fetches the press-related control data input by the press data setting switch 21, that is, the coast distance data, the acceleration distance data, the slide speed data, the lower limit position, and the like. It is stored in a predetermined area. Then, these control data are converted into press start time calculating means 39, start / stop determining means 45, and output calculating means 46.
And output to.

When the press start time calculating means 39 receives the load generating signal output from the load generating position detecting means 41 (that is, when it comes to the upper surface position C), the press start time calculating means 39 determines the time at this time and the feed speed. Based on the feed speed data input from the input means 43 and the control data set by the press data setting means 44, the estimated time at which the coil feeder 14 completes feeding, that is, the time at which the peripheral device 10 completes operation, is calculated. The calculated scheduled time of completion of the feed (operation completion) is output to the start / stop determination means 45.

This calculation method will be described with reference to FIG. In the same figure, when the slide 2 descends from the upper surface position C to the lower limit position L at the predetermined speed set in the motion data and rises to the position A which is higher than the upper surface position C by a margin allowance α, the coil 2 A peripheral device activation signal is output to the line control device 11. This causes the coil feeder 14 to start feeding. Thereafter, the slide 2 is stopped at the position Q1 above the upper surface position C by a distance obtained by adding the coasting distance LBK and the acceleration distance LAC. During this time, the feed of the coil feeder 14 is completed (that is, the operation of the peripheral device is completed). ) And a feed completion signal (operation completion signal) is input from the coil line control device 11. At this time, a required time t from the time when the slide 2 has passed the upper surface position C in the descending stroke to the time when the coil feeder 14 completes feeding is t.
0 is obtained by the equation "t0 = t1 + t2".
Here, the time t1 represents the time required for the slide 2 to reach the position A from the upper surface position C via the lower limit position L,
It is calculated based on each data of the upper surface position C, the lower limit position, the ascending margin distance α, and the set slide speed. Also,
The time t2 represents the time required from when the coil feeder 14 receives the peripheral device activation signal at the position A until the feeding is completed, and is calculated based on the feeder feed speed data of the coil feeder 14. The time t2 may be a predetermined operation time set in advance corresponding to the workpiece.
Therefore, the estimated completion time of the feed can be calculated based on the time when the slide 2 comes into contact with the upper surface position C and the calculated required time t0.

The peripheral device operation complete input means 36 is the peripheral device 1
The operation completion signal is input from 0, and in this embodiment,
When the feeding of the coil material 15 by the coil feeder 14 is completed, the transmission / reception circuit 26
, A feeder completion signal is input. This feeder feed completion signal, that is, the operation completion signal, is output to the start / stop determination means 45, and the slide 2 of the servo press 1
Will be the command to restart.

The start / stop judging means 45 re-starts the slide 2 when the time reaches the scheduled feed completion time calculated by the press start time calculating means 39 while the slide 2 is stopped at the position Q1. A control command for starting and descending is output to the output calculation means 46. Then, during the subsequent descending stroke, the slide position detected by the slide position detecting means 33 is monitored, and the brake position R which is higher than the upper surface position C by the coasting distance LBK is monitored.
, The operation completion signal from the peripheral device operation completion input means 36 is checked. As a result of this check, when the operation completion signal has not been input, a stop command for emergency stop of the slide 2 is output to the output calculation means 46. Further, the slide 2 moves to the ascending stroke via the lower limit position L, and from the upper surface position C, the coasting distance LBK and the acceleration distance LAC
Is reached, the stop command for stopping the slide 2 is output to the output calculation means 46.

The operation mode setting means 32 inputs a mode signal from the operation mode switch 22 and, when the mode signal is in a production mode such as an interlock mode for interlocking with the peripheral device 10, outputs the interlock mode signal. The output is output to an output calculation means 46 described later. The operation mode setting means 32 is not limited to the mode signal from the operation mode switch 22, and may input the mode signal by communication from another control device such as a host computer.

When the press operation mode set by the operation mode setting means 32 is the interlocking mode, the output calculation means 46 presses the press data setting means 44 based on the control command and the stop command from the start / stop judgment means 45. Thus, the speed command value of the electric servomotor 4 is calculated and output to the servo amplifier 28 while monitoring the slide position so that the slide 2 moves at a predetermined speed along a predetermined motion curve set in advance. Thereby, the position and speed of the electric servomotor 4 are controlled. When the stop command is input from the start / stop determination unit 45, the output calculation unit 46 outputs a speed command to stop the slide 2 suddenly. Thus, the servo amplifier 28 controls the speed of the electric servomotor 4 and stops the slide 2 within the predetermined coasting distance LBK.

FIG. 7 shows a processing flowchart of the servo press starting position setting device according to this embodiment.
The setting method will be described with reference to FIG. Here,
Each processing step number is represented by adding S. Before starting the automatic operation in the production mode or the like, it is assumed that the press data setting switch 21 has set the motion data of the slide 2 and the press data such as the coasting distance LBK, the acceleration distance and the deceleration distance. These press data are
It is displayed on the set value display 27 and confirmed.

First, in S1, (up / down stroke determining means 3
7) It is determined whether or not the current stroke is a descending stroke. If it is a descending stroke, the process proceeds to S2. If it is not a descending stroke, that is, if it is a stop or ascending stroke, the process proceeds to S9. S
In 2 (start / stop determination means 45), it is determined whether the slide position is below the brake position R (that is, below the brake position R). If not, the process returns to S1 to be below the brake position R. Wait until. Here, it is assumed that the slide position data decreases along the slide 2 descending direction. And the brake position R
If the following conditions are satisfied, the process goes to S3 (start / stop judging means 4
5) It is determined whether or not the peripheral device operation complete input means 36 has received a feed completion signal (operation completion signal) from the coil line control device 11. If not, the slide 2 is emergency stopped in S8. A stop command to be output is output to the output calculation means 46. As a result, the slide 2 suddenly stops and coasts within the predetermined coasting distance LBK, and the emergency stop can be performed without contact with the coil member 15 above the upper surface position C. Thereafter, the processing of this flow ends.

If the feed completion signal has been received in S3, the output of the start signal to the coil line control device 11 is stopped in (start signal generation means 38) in S4, and then the load generation position detection is performed in S5. Means 41) It is determined whether or not a load has occurred, that is, whether or not the load has started increasing. If no load has occurred, the process of S5 is repeated until the load has occurred. When a load occurs, the slide position at that time is input and stored as the upper surface position C in S6. Next, in S7 (press start time calculating means 39), based on the slide speed data, the slide 2 descends from the upper surface position C to the lower limit position L and then rises to output a feeder start signal near the upper surface position C. The time t1 required to ascend to the desired position A is calculated, and based on the feeder feed speed data, the coil feeder 14
Is calculated (this corresponds to the operation completion time of the peripheral device 10). Then, the estimated time of completion of feeding of the coil feeder 14 is calculated based on the result of adding the calculated time t1 and time t2, and this scheduled time is stored as the scheduled press start time. Next, returning to S1, the above processing is repeated. At this time, after the punching, the ascending stroke of the slide 2 is entered, and S1
To S9.

In S9 (start signal generation means 38), it is determined whether the current slide position P satisfies the expression "P≥C + α".
That is, the rising margin distance α from the stored upper surface position C
It is determined whether or not it has risen to the position A just above. When the expression “P ≧ C + α” is not satisfied, S is satisfied until the expression is satisfied.
9 is repeated, and when satisfied, the peripheral device activation signal is output to the coil line control device 11 via the activation signal output unit 42 in (S10) (activation signal generation unit 38).
Thereafter, in S11 (start / stop judging means 45), whether the current slide position P satisfies the expression “P ≧ C + LBK + LAC”, that is, the distance obtained by adding the coasting distance LBK and the acceleration distance LAC from the upper surface position C It is determined whether or not the position has risen to the upper position Q1. Then, the equation “P ≧ C + LBK + L”
If "AC" is not satisfied, repeat step S11 until it is satisfied, and if satisfied, output a slide 2 stop command in step S12 (start / stop determination means 45). next,
In S13 (start / stop determination means 45), it is determined whether or not the current time has reached the scheduled press start time (scheduled completion time) calculated in S7. Then, S13 is repeatedly waited until the scheduled time is reached, and when the scheduled time is reached, the slide 2 descending command is output in accordance with the motion curve and restarted in S14. Thereby, the output calculation means 46 causes the slide 2 to be driven along the motion curve,
The speed command value of the electric servomotor 4 is calculated and output to the servo amplifier 28. Then, after S14, the descending stroke of the slide 2 starts, so that the process returns to S1 and then shifts to S2 again, and the subsequent processes are repeated thereafter.

Next, a second embodiment will be described with reference to FIGS. In the present embodiment, a sudden increase in the slide load is detected, and the workpiece (here, the coil material 1) is detected.
5) The upper surface position C is detected, and based on the upper surface position C, the slide 2 is stopped, and after the operation of the peripheral device 10 is completed (in this case, after the coil feeder 14 completes feeding), the start is performed to restart. A method for setting the position will be described.
Here, the configuration in the present embodiment is the same as in FIGS. 1 and 2.

FIG. 8 is a functional block diagram of the starting position setting apparatus according to the present embodiment. In the figure, the same reference numerals are given to the same functional components as those in FIG. 4 in the previous embodiment, and the following description will be omitted. Here, since the start / stop judgment method by the start / stop judgment means 45 is different, only this judgment method will be described.

As shown in FIG. 9, the start / stop judging means 45 moves the slide 2 to the ascending stroke via the lower limit position L after the punching, and the position Q2 which is higher than the upper surface position C by the acceleration distance LAC. Is reached, a stop command for stopping the slide 2 is output to the output calculation means 46. Next, while the slide is stopped at this position Q2, a feed completion signal (operation completion signal) from the peripheral device operation complete input means 36 is input.
Waits for the input, and the feed complete signal (operation complete signal)
Is input, a control command is output to the output calculation means 46 so that the slide 2 is restarted and moves along a predetermined motion curve.

FIG. 10 shows an example of a control flowchart according to this embodiment, and the control method will be described with reference to FIG.
First, in S21 (up / down stroke discriminating means 37), it is determined whether or not the current stroke is a down stroke.
The process shifts to S2, and when it is not the descending stroke, that is, when it is the stop or ascent stroke, the process shifts to S24. In S22 (load occurrence position detecting means 41), it is determined whether or not a load has occurred, that is, whether or not the load has started to increase. If no load has occurred, the process of S22 is repeated and waited until it occurs. Then, when a load occurs, the slide position at that time is input and stored as the upper surface position C in S23. Then, the process returns to S21 to repeat the above processing. At this time, after the punching, the ascending stroke of the slide 2 is entered, and S
The process moves from S21 to S24.

At S24 (start signal generation means 38), the current slide position P satisfies the expression "P≥C + α", that is, the slide position P rises from the stored upper surface position C to the position A which is higher by the lift margin distance α. It is determined whether or not it has been done.
If the formula “P ≧ C + α” is not satisfied, repeat step S24 until it is satisfied, and if satisfied, in step S25 (start signal generation means 38), send the peripheral device start signal via the start signal output means 42. In addition to the output to the coil line control device 11, a stop command for the slide 2 is output in S26 (start / stop determination means 45). Next, in S27 (start /
Stop judging means 45) judges whether the peripheral equipment operation complete input means 36 has received an operation completion signal (in this case, a feed completion signal from the coil line control device 11) from the peripheral equipment 10, and has not received it. Waits repeatedly until S27 is received, and when it is received, in S28, outputs a descending command of the slide 2 according to the motion curve and restarts, and at the same time, stops outputting the peripheral device activation signal. Thus, the output calculation means 46 calculates the speed command value of the electric servomotor 4 and outputs it to the servo amplifier 28 so that the slide 2 is driven along the motion curve. Then, after S28, the descending stroke of the slide 2 is performed, so that the process returns to S21 and shifts to S22 again.
Thereafter, the above processing is repeated.

As described above, the position at which the upper die contacts the upper surface of the workpiece (for example, the coil material) can be detected by determining the slide position at which the slide load value starts to increase. Even if the plate thickness varies, the position of the upper surface of the workpiece can be accurately measured. Then, based on the measured upper surface position, a start position higher than the upper surface position by a preset acceleration distance is calculated, and after punching,
When the slide has risen to the calculated starting position, the slide is stopped. Thereafter, when the operation of the peripheral device is completed (in the embodiment, the feeding of the coil feeder is completed), the slide is restarted and lowered. Accordingly, when the slide is accelerated and reaches a predetermined speed along the motion curve, the slide has reached the vicinity of the upper surface position, so that punching according to the motion curve can be performed within a short time after restarting. . Therefore, it does not take much time to set the slide start position such as the setting work of the limit switch as in the related art, and the start position is automatically set in accordance with the measured upper surface position. It is shortened and workability is improved. Further, since the starting position is set in the vicinity of the upper surface position, the peripheral device can reach the upper surface position of the workpiece and punch in a short time when the operation of the peripheral device is completed.

Alternatively, the measured upper surface position, predetermined lower limit position data, allowance distance data, slide speed data, and peripheral device operation time data (for example, operation time calculated based on feeder speed data) , Etc.), the scheduled time at which the peripheral device completes operation (in the embodiment, the coil feeder 14 completes feeding) is calculated, and the preset coasting distance and acceleration distance are set based on the upper surface position. Is calculated by calculating the start position above the upper surface position by a distance obtained by adding the above, and after punching, stop when the slide has risen to the calculated start position, and then, when the time is the calculated expected operation completion time, The slide may be activated and lowered. Accordingly, similarly to the above, it does not take time to set the slide starting position unlike the conventional case, and the starting position is automatically set in accordance with the measured upper surface position, so that the setup time is shortened. , Workability is improved. Furthermore, the starting position is set near the above-mentioned upper surface position, and when the operation completion scheduled time is reached, the descent is started, so that when the peripheral device completes the operation, it reaches the upper surface position of the workpiece in a short time. Can be punched.

In addition, when the slide is restarted and lowered, and when the peripheral device has not completed operation when the slide reaches a position above the upper surface position of the workpiece by the coasting distance, The slide is emergency stopped and stopped within the coasting distance. As a result, the slide stops before the upper surface position, so that even when the peripheral device has not completed operation, interference between the slide and the workpiece or the peripheral device is eliminated, and safety can be ensured. As a result of these,
The production speed when performing punching with a servo press while interlocking with a peripheral device such as a coil feeder can be greatly improved.

[Brief description of the drawings]

FIG. 1 shows a configuration diagram of an example of an interlocking processing system of a servo press according to the present invention.

FIG. 2 is a block diagram showing a hardware configuration of a servo press starting position setting device according to the present invention.

FIG. 3 is an explanatory diagram of a margin for rising of a starting position setting device according to the present invention.

FIG. 4 is a functional configuration block diagram of a start position setting device according to the first embodiment of the present invention.

FIG. 5 is a time chart showing a relationship between a motion curve and a slide load according to the present invention.

FIG. 6 is an explanatory diagram of a method of calculating a start position and a scheduled feeder completion time according to the first embodiment of the present invention.

FIG. 7 shows an example of a control flowchart according to the first embodiment of the present invention.

FIG. 8 is a functional block diagram of a starting position setting device according to a second embodiment of the present invention.

FIG. 9 is an explanatory diagram of a starting position according to a second embodiment of the present invention.

FIG. 10 shows an example of a control flowchart according to the second embodiment of the present invention.

[Explanation of symbols]

1 ... servo press, 2 ... slide, 3 ... bolster, 4 ...
Slide drive means (electric servo motor), 5 ... upper die, 6
... Lower mold, 9 ... Bed, 10 ... Peripheral equipment, 10a ... Coil line, 11 ... Coil line controller, 12 ... Coil material uncoiler, 13 ... Leveler, 14 ... Coil feeder, 15 ... Coil material, 17 ... Guide, 18 ... Pilot, 20 ... Press controller, 20a ... Memory, 21
... press data setting switch, 22 ... operation mode switch, 23 ... slide position sensor, 24 ... motor current sensor, 26 ... transmission / reception circuit, 28 ... servo amplifier, 29 ... upper margin setting switch, 31 ... upper margin setting means, 3
2 ... operation mode setting means, 33 ... slide position detection means, 34 ... load detection means, 36 ... peripheral device operation complete input means, 37 ... up / down stroke discrimination means, 38 ... start signal generation means, 39 ... press start time Calculation means, 41: Load generation position detection means, 42: Start signal output means, 43: Feed speed input means, 44: Press data setting means, 45: Start / stop determination means, 46: Output calculation means.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Akihiko Nakano 5 Yokaichi-cho, Komatsu-shi, Ishikawa Pref. Komatsu Manufacturing Co., Ltd. Komatsu Plant

Claims (6)

[Claims] 1. A slide (2), which moves linearly at a predetermined speed by an electric servomotor (4) controlled by a servo amplifier (28) based on an input speed command, loads, transports, or unloads a workpiece. Synchronized operation with the peripheral device (10) that performs such operations, punching of this work material, and after this punching, slide (2) until the peripheral device (10) completes the next operation
In a servo press starting position setting device for stopping and starting the slide at a predetermined position, a slide position detecting means (3) for detecting the position of the slide (2).
3) and press data setting to set press data such as acceleration distance data required to reach a predetermined speed when the slide (2) is accelerated and motion data including at least the slide speed data and lower limit position data at the time of punching. Means (44) and load detecting means (34) for detecting the load applied to the slide (2).
The load position detecting means (41) inputs the slide position at which the detected load starts to increase from the slide position detecting means (33) and stores this position as the upper surface position (C) of the workpiece. ), After the punching process, outputs a stop command when the slide (2) rises and comes to a position above the stored upper surface position (C) by the set acceleration distance data, and a peripheral device. Slide when the operation complete signal is input from (10)
(2) Start / stop judgment means that outputs a control command to start
(45), so that the slide (2) stops suddenly based on the stop command, and the speed of the slide (2) is controlled based on the set motion data based on the control command. A start position setting device for a servo press, comprising: output calculation means (46) for calculating a speed command and outputting it to a servo amplifier (28). 2. A slide (2), which moves linearly at a predetermined speed by an electric servomotor (4) controlled by a servo amplifier (28) based on an input speed command, receives a slide within a predetermined time after being started. Synchronized operation with the peripheral device (10) that completes the loading, transporting, or unloading of the work material, synchronized operation, punching of this work material, and after this punching, until the peripheral device (10) completes the next operation Stop the slide (2) in place,
In the starting position setting device of the servo press to be started, the slide position detecting means (3) for detecting the position of the slide (2)
3) and coasting distance data of slide (2) during sudden stop, slide
(2) press data setting means (44) for setting acceleration distance data required to reach a predetermined speed during acceleration and motion data including at least slide speed data and lower limit position data at the time of punching, and a peripheral device ( Feed speed input means (43) for inputting the feed speed data of (10), and load detecting means (34) for detecting the load on the slide (2)
The load position detecting means (41) inputs the slide position at which the detected load starts to increase from the slide position detecting means (33) and stores this position as the upper surface position (C) of the workpiece. ) And the slide is detected by the change of the detected slide position.
(2) ascending / descending stroke discriminating means (37) for discriminating the ascent stroke or descending stroke; and a slide position for outputting a start signal to the peripheral device (10) during the ascent stroke of the slide (2). An upper margin setting means (31) for setting a rising margin distance (α) with the upper surface position (C)
Based on the set slide speed value and the input feed speed data, the slide (2) rises after descending from the stored upper surface position (C) to the set lower limit position L. Time required to come to a position above the upper surface position (C) by the set margin distance (α) and output a start signal to the peripheral device (10), and
Press start time calculating means for calculating the total time required for the peripheral device (10) to receive the start signal and completing the operation, and calculating the expected operation completion time based on the total required time
(39), When the slide (2) rises after punching and comes to a position higher than the stored upper surface position (C) by a distance obtained by adding the set coasting distance data and acceleration distance data. A stop command is output, and thereafter, a start / stop determining means (45) for outputting a control command for starting the slide (2) when the time reaches the calculated expected operation completion time, and Based on the control command, the speed command is calculated so that the slide (2) stops suddenly, and based on the control command, the slide (2) is speed-controlled in accordance with the set motion data. 28. An apparatus for setting a start position of a servo press, comprising: an output calculating means (46) for outputting to a 28). 3. The servo press starting position setting device according to claim 2, wherein the start / stop determining means (45) is configured to perform a slide operation when the time reaches the scheduled completion time of the operation of the peripheral device (10). After starting 2), when the slide (2) comes to the position above the upper surface position (C) by the set coasting distance data and the peripheral device (10) has not completed operation. Is a start position setting device for a servo press, which outputs a stop command for emergency stop of the slide (2). 4. The start position setting device for a servo press according to claim 1, wherein said load detecting means (34) is based on a motor output torque calculated from a drive current value of said electric servomotor (4). A starting position setting device for a servo press, wherein a load is obtained by using the following method. 5. A slide (2), which is linearly moved at a predetermined speed by an electric servomotor (4), is operated in synchronism with a peripheral device (10) for carrying in, transporting, or unloading a workpiece. In the method of setting the starting position of the servo press, the slide (2) is stopped at a predetermined position until the peripheral device (10) completes the next operation after the punching, The slide position when the load applied to the slide (2) starts increasing is stored as the upper surface position (C) of the workpiece, and after the punching, the slide (2) rises and the acceleration distance from the upper surface position (C) is increased. A start position setting method of a servo press, wherein the slide (2) is started and lowered when an operation completion signal is inputted from the peripheral device (10) when the operation is completed. . 6. A peripheral device (1) which completes loading, transporting or unloading of a workpiece within a predetermined time after starting a slide (2) which is linearly moved at a predetermined speed by an electric servomotor (4).
(0) Synchronous operation in synchronization with (0), punching of this workpiece, and after this punching, the slide (2) is stopped at a predetermined position until the peripheral device (10) completes the next operation, and the servo press is started. In the starting position setting method, when the load applied to the slide (2) starts to increase during the descending stroke, the slide position at this time is stored as the upper surface position (C) of the workpiece, and the slide speed and the peripheral device are stored. On the basis of the feed speed of (10), the slide (2) descends from the stored upper surface position (C) to the lower limit position L and then rises, and then rises from the upper surface position (C) to a predetermined rising margin distance ( α), the time required until the peripheral device start signal is output to the peripheral device (10), and the time required until the peripheral device (10) receives the peripheral device start signal and completes the operation. Calculate the total time required for The expected operation completion time is calculated based on the total required time, and after punching, the slide (2) is raised and the preset coasting distance data and acceleration distance data are added from the stored upper surface position (C). Stop when you reach a position above by a distance, then
A start position setting method for a servo press, wherein the slide (2) is started and lowered when the time reaches the calculated expected operation completion time.