JPS59186826A - Conveyance control device - Google Patents

Abstract

PURPOSE:To enable the high speed conveyance of various conveying tables by enabling various conveying conditions to be set efficiently and flexibly being suited to the objectives and specifications of various conveying mechanisms without changing the circuit of the driving part of a motor. CONSTITUTION:The conveying conditions, such as, the acceleration and deceleration and the maximum speed, target quantity of travel, deceleration starting point, etc. of a conveying table can be efficiently set by programs from a computer. Then, the counting frequency of an up-down counter 10 which outputs the commands for servo-type driving mechanisms 13, 14, 3 is controlled by the preset acceleration and deceleration, by means of a drive control circuit consisting of comparators 12, 15, 17, etc., and the starting and ending times of counting of the up-down counter are controlled by the preset maximum speed, target quantity of travel, deceleration starting point, etc. Thereby the conveying conditions can be set efficiently and flexibly suited to the specifications and objectives of the positioning mechanism for conveyance, enabling a high speed conveyance of each conveying table.

Description

[Detailed description of the invention] [Field of application of the invention] The present invention relates to a device for controlling the conveyance of an object.

In particular, it has one function that allows various conveyance conditions to be easily set (for use in the table conveyance section of a trimming device, etc.).

The present invention relates to a suitable conveyance control device.

Intermediate between Hikari-1 [Skiji] Functional trimming equipment trims the workpiece into a predetermined position.

The table is transported to a position and positioned, and for this purpose the table transport section's acceleration, deceleration, and maximum speed are important.

Which conveyance conditions are conventionally set once at the beginning.

Another drawback was that it was often difficult to change it all the time, and even if it could be changed, it was necessary to reprogram and manually operate switches, etc., which was not very efficient.

[Purpose of the invention]

An object of the present invention is to provide a transport control device that allows transport conditions to be set flexibly and efficiently in accordance with the specifications and purposes of a transport positioning mechanism.

[Summary of the invention]

The present invention makes it possible to efficiently set the acceleration and deceleration of the transport table, as well as transport conditions such as maximum speed, target travel distance, deceleration start point, etc., by programming 111 from a computer, and transfers the transport table to a servo-type drive mechanism. of an up/down counter that outputs commands.

The counting frequency is controlled by the set acceleration or deceleration.

Control 2 and 1. During the counting of the up/down counter.

This is characterized in that the start and end points are controlled based on the set maximum speed, objective case l-1 movement, deceleration start point, etc.

[Embodiment J of the Invention The present invention will be explained below with reference to Examples. FIG. 1 is a diagram showing the entire configuration of a conveyance control system using the control device of the present invention, in which each setting data for motor drive is set by a CPU 1 that performs data setting and calculation control.

It is set in the transport control device 2. A start signal from the operation unit 5 is input to the transfer control device 2 via the handler control unit 4, and a command voltage to the DC motor 3 is output from the transfer control device 2 in accordance with each setting data. Straight for driving the transport table.

Rotate the flow motor 3.

FIG. 2 shows an embodiment of the conveyance control device 2 of the present invention, and FIG. 5 is an explanatory diagram of its operation. In FIG. 2, the acceleration data a+ is set.

The output pulse period of pulse generator 7 is determined.

This is the UP end of the up/down counter 10.

input to the child. The binary output of counter 10 is:

〃It is converted into an analog quantity by the A converter 13 1゜-
The signal is input to the point amplifier 14. And servoan.

The DC motor 6 is driven by the output of the pump 14. Follow.

Therefore, the command voltage which is the output of the JΔ converter 13 increases at a slope determined by the acceleration data a+, and the DC motor 3 is accelerated as shown in FIG. Binary output of up/down counter 10.

gradually increases, and when this matches the set maximum speed ν, the comparator 12 detects this and stops the pulse output of the pulse generator 7 at time t1 in FIG. 3. Therefore, the DC motor 6 has the set maximum speed V,
It becomes a constant speed driving state.

The speed control of this DC motor 6 is performed using an octopus generator.
This is done by feeding back the output to the servo amplifier 14.

While accelerating and traveling at a constant speed in this manner (1116), the encoder 20 is interlocked with the motor 3.

Because it outputs a number of pulses proportional to the number of rotations.

The output of the counter 21 that integrates these pulses is .

- A moving path of the conveyance table driven by the motor 6.

It shows distance. Therefore, the output of the counter 21 indicates.

The moving distance becomes the set deceleration point data X-.

The comparator 15 detects this and generates a pulse.

- Instruct the generator 8 to start its operation and cover its output.

The pulse is input to the DO1F'N terminal of the up/down counter 10. As a result, from time t2, the maximum is 14
- The output of the up/down counter 10', which was a speed output, decreases at a speed corresponding to the set deceleration data a- (which determines the output frequency of the pulse generator 8). Therefore, the command voltage which is the output of the νA comparator 13 decreases with a slope determined by the value of the deceleration data 5α-, and the DC motor 3 decreases in speed.

If the deceleration continues as it is, the movement of the transport table will end at time t3 in FIG. 6, but the movement amount detected by the counter 21 will be set and the target movement amount data 1°-X. When it becomes, the comparator at that point.

17 detects this, and the pulse generator 8 outputs the signal.

Stop pulse output and use up/down counter 1G.

Clear the output command voltage and set it to zero.

- Desired displacement I by stopping the evening rotation.

-Complete the movement of To. Among the above actions, acceleration.

If the DC motor 6 is driven while constantly reading the speed, deceleration, maximum speed data, deceleration point data, and target movement amount data from the computer.

Using each setting data, it is possible to efficiently and efficiently realize an operating state that suits the purpose.

〔Effect of the invention〕

As is clear from the above embodiments, according to the present invention,
Without changing the motor drive circuit, various conveyance conditions can be efficiently and flexibly set according to the purpose, specifications, and specifications of various conveyance mechanisms, allowing high-speed conveyance of various conveyance tables.

It has the effect of

[Brief explanation of drawings]

Figure 1 shows the overall configuration of the transport control system. Figures 2 and 5 show an embodiment of the present invention. and is an explanatory diagram of its operation. 1...CPU. 2... Conveyance control device. 6...DC motor, 1° 7.8...Pulse generator. 10...Up/down counter. 12... Comparator. 16... Leq converter. 14... Servo amplifier. 7・ 15, 17... Comparator. 19... Octopus senator. 20...Encoder. 21...Counter. a10...Acceleration data. α−...Deceleration data. v,... Maximum speed data. X-...Deceleration data. jco...Objective movement amount data. 0 5 d groan Figure 1 Third mouth Figure 3

Claims (1)

[Scope of Claim] A pulse generating circuit that generates an acceleration pulse or a deceleration pulse having a period corresponding to acceleration and deceleration data set from the outside, and the above-mentioned acceleration. An up/down counter whose digital output value increases or decreases by counting speed pulses or deceleration pulses, and the digital output value. Conveyance drive cycle 1) in which the conveyance means is driven at a speed determined by and an operation control circuit, and the operation control circuit performs acceleration by generating the acceleration pulse. The above digital output values are set externally during operation. The above pulse when the maximum speed data is reached. The generation of acceleration pulses from the acceleration pulse generation circuit is stopped. When the moving distance of the conveyance means detected by the conveyance drive circuit reaches the deceleration point data set from the outside, the pulse generation circuit generates a deceleration pulse to set the conveyance means to a constant speed running state. Furthermore, when the detected moving distance of the transport means reaches the target moving amount/data set from the outside, the generation of deceleration pulses from the pulse generating circuit is stopped and the contents of the up/down counter are changed. 3. A conveyance control device characterized in that it is configured to clear to zero and control the conveyor/stage to stop.