JPS61177506A - Digital servo circuit - Google Patents

Digital servo circuit

Info

Publication number
JPS61177506A
JPS61177506A JP1653585A JP1653585A JPS61177506A JP S61177506 A JPS61177506 A JP S61177506A JP 1653585 A JP1653585 A JP 1653585A JP 1653585 A JP1653585 A JP 1653585A JP S61177506 A JPS61177506 A JP S61177506A
Authority
JP
Japan
Prior art keywords
pwm
command
output
microcomputer
frequency
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP1653585A
Other languages
Japanese (ja)
Inventor
Yuichi Minamimura
南村　雄一
Kenzo Takechi
武市　謙三
Minoru Makita
牧田　稔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP1653585A priority Critical patent/JPS61177506A/en
Publication of JPS61177506A publication Critical patent/JPS61177506A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42237—Pwm pulse width modulation, pulse to position modulation ppm

Abstract

PURPOSE:To facilitate software processing and to increase a PWM frequency without reference to the software processing by inputting an N-bit parallel command and outputting PWM pulses proportional to the parallel command input. CONSTITUTION:A PWM generating circuit 5 is connected in front of a PWM amplifier 2. The output of a microcomputer 1 is the N-bit parallel command, which commands a motor applied voltage. The output of the PWM generating circuit 5 is inputted to the PWM amplifier 2 and PWM pulses proportional to the command of the microcomputer 1, and those pulses are applied to a motor. A frequency divider 1 is set to 1/2N and then the output pulse frequency becomes fPWM and a counter 8 with a preset input inputs a command output at its preset input.

Description

【発明の詳細な説明】 〔発明の利用分野〕 本発明はディジタルサーボ回路、特にロボットの制御装
置に用いて好適な回路に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a digital servo circuit, and particularly to a circuit suitable for use in a robot control device.

〔発明の背景〕[Background of the invention]

従来のサーボ系に関する制御装置は、電流・速度・位置
等のサーボループの少な（とも１つはアナログ回路とな
っていたので温度特性、部品バラツキによるサーボ性能
の変動が生じるというような欠点があり、また、オール
ディジタルサーボでマイクロコンピュータから直接ＰＷ
Ｍパルスを出力するものにあっては、マイクロコンピュ
ータの処理速度の制約からＰＷＭ発振周波数を上げられ
ないという欠点があった。Conventional control devices for servo systems have drawbacks such as having a small number of servo loops for current, speed, position, etc. (one of them is an analog circuit, so servo performance fluctuates due to temperature characteristics and component variations. , In addition, all-digital servo allows direct PW from the microcomputer.
Those that output M pulses had the disadvantage that the PWM oscillation frequency could not be increased due to limitations on the processing speed of the microcomputer.

〔発明の目的〕[Purpose of the invention]

本発明の目的は、サーボ回路において、１庫特性・経時
変化がな（、かつ、マイクロコンピュータの処理速度に
制約されないで、制御指令入力に比例したＰＷＭパルス
を発生する回路を提供することにある。An object of the present invention is to provide a servo circuit that generates a PWM pulse proportional to a control command input without any characteristic or aging change (and without being restricted by the processing speed of a microcomputer). .

〔発明の概要〕[Summary of the invention]

本発明は、オールディジタルサーボ回路においてＮビッ
トパラレル指令を入力とすることにより、マイクロコン
ピュータの処理速度に依存せずにＰＷＭ発振周波数を設
定でき、パラレル指令入力に比例したＰＷＭパルスを出
力することを特徴とする。The present invention makes it possible to set the PWM oscillation frequency without depending on the processing speed of the microcomputer by inputting an N-bit parallel command to an all-digital servo circuit, and to output a PWM pulse proportional to the parallel command input. Features.

〔発明の実施例〕[Embodiments of the invention]

以下、本発明の一実施例を第１図、第２図、第３図によ
り説明する。第１図において、１はマイクロコンビエー
タ等の制御装置、２はＰＷＭ増幅器、３はサーボモータ
、４はエンコーダ、５はＰＷＭ発生回路であり、ＰＷＭ
発生回路５は、ＰＷＭ増幅器２の前段に接続される。マ
イクロコンピュータ−の出力はＮビットパラレル指令で
、モータ印加電圧を指令する。ＰＷＭ発生回路５の出力
は、ＰＷＭ増幅器２に入力されており、マイクロコンピ
ュータ−の指令に比例したＰＷＭパルスでモータを印加
する。An embodiment of the present invention will be described below with reference to FIGS. 1, 2, and 3. In FIG. 1, 1 is a control device such as a micro combinator, 2 is a PWM amplifier, 3 is a servo motor, 4 is an encoder, and 5 is a PWM generation circuit.
Generation circuit 5 is connected upstream of PWM amplifier 2 . The output of the microcomputer is an N-bit parallel command, which commands the voltage applied to the motor. The output of the PWM generation circuit 5 is input to the PWM amplifier 2, which applies PWM pulses proportional to the commands from the microcomputer to the motor.

第２図は第１図に示したＰＷＭ発生回路５の構成を示す
。６は基準クロック発振器で、発振周波数はｆＰＷＭ×
２　　である。ここでｆＰ％ｖＭは設定したいＰＷＭ発
掘周波数、Ｎは第１図のマイクロコンピュータ−の指令
ビット数である。７は分周器で夫に設定することにより
、出力パルス周波数はｆＰＷＭになる。８はプリセット
入力付のカウンタで、指令出力をプリセット入力に入れ
る。９はフリップフロップである。FIG. 2 shows the configuration of the PWM generation circuit 5 shown in FIG. 1. 6 is a reference clock oscillator, and the oscillation frequency is fPWM×
It is 2. Here, fP%vM is the PWM excavation frequency to be set, and N is the number of command bits of the microcomputer shown in FIG. By setting a frequency divider 7, the output pulse frequency becomes fPWM. 8 is a counter with a preset input, and inputs the command output to the preset input. 9 is a flip-flop.

第３図は第２図のタイミングチャートを示す。FIG. 3 shows the timing chart of FIG.

■は基準クロック、■はｆＰＷＭであり、■のクロック
に同期して、■はセットされ、ＰＷＭ出力をオンし同時
に、プリップフロップ９のプリセット入力取込可能端子
に■のクロックが入ることにより、指令を取り込む。カ
ウンタ８には指令が負論理のときはアップカウンタ、正
論理のときはダウンカウンタを使用することにより、指
令を取り込んだ後■に指令数だけのパルスが入ったとき
に■（キャリ一端子、ボロ一端子、Ｎ＋ｌビット目の出
力端子等を使用）にパルスを発生する。［Ｆ］のパルス
はフリップフロップ９の出力■を反転させ、ＰＷＭ出力
をオフする。と同時にカウンタ８のクロック入力を禁止
する。この状態は次のｆＰＷＭパルス■が入ってくるま
で続き、ｆＰＷＭが入ったときに■をオンさせ、以下こ
れをくり返す。■ is the reference clock, ■ is fPWM, and in synchronization with the clock in ■, ■ is set, the PWM output is turned on, and at the same time, the clock in ■ is input to the preset input input terminal of the flip-flop 9. Take in instructions. The counter 8 uses an up counter when the command is negative logic and a down counter when the command is positive logic. A pulse is generated at the BORO-1 terminal, the N+l-th bit output terminal, etc.). The [F] pulse inverts the output ■ of the flip-flop 9 and turns off the PWM output. At the same time, clock input to the counter 8 is prohibited. This state continues until the next fPWM pulse (2) comes in. When the fPWM pulse (2) comes in, (2) is turned on, and this process is repeated.

本実施例によれば、ＰＷＭの発振と制御装置からの指令
とは非同期に構成できるので、マイクロコンピュータの
サーボ系処理速度に依存せずにＰＷＭ周波数を上げるこ
とができ、また、指令タイミングは任意に設定できる。According to this embodiment, since the PWM oscillation and the command from the control device can be configured asynchronously, the PWM frequency can be increased without depending on the servo system processing speed of the microcomputer, and the command timing can be set arbitrarily. Can be set to

さらに制御装置出力はパラレル指令なので指令分解能を
大きく設定しても制御装置の処理速度を上げる必要がな
い。Furthermore, since the control device output is a parallel command, there is no need to increase the processing speed of the control device even if the command resolution is set large.

〔発明の効果〕〔Effect of the invention〕

本発明によれば、指令出力はＮビットパラレル信号でよ
いので、マイクロコンピュータ等の制御装置をＰＷＭパ
ルスに対してリアルタイムで動作させる必要がないため
制御装置のソフトウェア処理を簡略化できる。また、Ｐ
ＷＭ周波数をソフトウェア処理とは無関係に高（するこ
とができる。According to the present invention, since the command output may be an N-bit parallel signal, it is not necessary to operate a control device such as a microcomputer in real time in response to PWM pulses, so that the software processing of the control device can be simplified. Also, P
The WM frequency can be increased independently of software processing.

等の効果がある。There are other effects.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明に係るオールディジタルサーボ系の一実
施例を示すブロック図、第２図は本発明第１図に示した
一実施例の要部を示すブロック図、第３図は第２図に示
したブロック図の各部におけるタイミングチャートであ
る。 １・・・マイクロコンピュータ、２・・・Ｐ　Ｗ　Ｍｔ
［器、３・・・サーボモータ、４・・・エンコーダ、５
・・・ＰＷＭ発生回路、６・・・基準クロック発生回路
、７・・・分周＄１図 ＄２図 ＄、３の ＰＷＭ社〃■FIG. 1 is a block diagram showing an embodiment of an all-digital servo system according to the present invention, FIG. 2 is a block diagram showing main parts of the embodiment shown in FIG. 1, and FIG. 3 is a timing chart of each part of the block diagram shown in the figure. 1... Microcomputer, 2... P W Mt
[Instrument, 3... Servo motor, 4... Encoder, 5
... PWM generation circuit, 6... Reference clock generation circuit, 7... Frequency division $1 Figure $2 Figure $, 3 PWM company〃■

Claims (1)

【特許請求の範囲】[Claims] サーボモータとサーボドライバより成るサーボ系におい
て、Ｎビットパラレル指令をディジタル的にＰＷＭパル
ス信号に変換する装置とからなることを特徴とするディ
ジタルサーボ回路。A digital servo circuit comprising a device for digitally converting an N-bit parallel command into a PWM pulse signal in a servo system comprising a servo motor and a servo driver.
JP1653585A 1985-02-01 1985-02-01 Digital servo circuit Pending JPS61177506A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1653585A JPS61177506A (en) 1985-02-01 1985-02-01 Digital servo circuit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1653585A JPS61177506A (en) 1985-02-01 1985-02-01 Digital servo circuit

Publications (1)

Publication Number Publication Date
JPS61177506A true JPS61177506A (en) 1986-08-09

Family

ID=11918959

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1653585A Pending JPS61177506A (en) 1985-02-01 1985-02-01 Digital servo circuit

Country Status (1)

Country Link
JP (1) JPS61177506A (en)

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