JPS6282405A - Servomotor controller - Google Patents

Abstract

PURPOSE:To raise the processing speed by designating an address of a storage part, where preliminarily taught position data is stored, by an address designating means on a basis of the instruction from a higher device. CONSTITUTION:A servomotor controller is provided with a main control part 1, a storage part 2 of position data, and a driving part 3 of a servomotor 4, and designated information, set information, etc. from a higher controller are transmitted and received by the main control part 1. The output of the driving part 3 is outputted to the servomotor 4. When the servomotor 4 is accelerated or decelerated, designation of the acceleration, designation of a maximum speed, etc., are set to the driving part 3 by the main control part 1. As the result, controlled system by the servomotor 4 is positioned freely.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to means for driving and controlling servo motors used in robots, automatic machines, and the like.

〔overview〕

The present invention provides a servo motor controller that controls the drive of a servo motor, which stores position data corresponding to the drive position of the controlled object of the servo motor in advance, and eliminates the need to perform position calculations each time, thereby quickly responding to commands. This allows the servo motor to be driven by

[Conventional technology]

The conventional device continuously outputs a pulse train to the servo motor drive unit until the controlled object is positioned at the specified position from the controller. Furthermore, it was not possible to specify the acceleration and maximum speed, which are the operating conditions of the servo motor, and to select the servo motor to be operated when a plurality of servo motors were used.

[Problem that the invention seeks to solve]

In such conventional devices, calculations such as position command values must be executed by a higher-level control means, which has the disadvantage of causing a delay in processing speed. Another disadvantage is that it is difficult to apply to robots, where the operating conditions of the servo motor often change depending on the task.

The present invention aims to eliminate such drawbacks, and provides a servo motor controller 10 that can change the operating conditions of the servo motor without causing a delay in the calculation speed of position command values, etc. .

[Means for solving problems]

The present invention provides a servo motor controller equipped with a drive unit that drives a servo motor that positions a controlled object based on position data corresponding to a device instructed by an L position device, in which position data taught in advance is stored. The main control section is characterized in that the main control section has an address specifying means for specifying an address of the storage section based on an instruction from a host device.

The main control section may include means for setting operating conditions for the servo motor in the drive section.

The operating condition of the servo motor may be -7, which is the acceleration exhibited by the servo motor.

The operating condition of the servo motor may be the maximum speed that the servo motor exhibits.

The operating condition of the servo motor may be the driving target.

The addressing means may include means for specifying an address for storing (6) new position data in a servo motor that is currently positioning the controlled object.

[Effect]

For example, when the present invention is applied to a servo motor of a robot, desired position data is stored in the storage section at the teaching stage,
The controlled object is driven based on the position data read out by addressing during the actual operation stage, and the movement location can be changed while the servo motor is being driven on the condition of an external movement signal.

In addition, the main control unit specifies the acceleration during acceleration and deceleration of the servo motor, the maximum speed of the servo motor, and the designation of the servo motor to drive among multiple servo motors based on commands from the host controller. Can be set to . Thereby, the controlled object can be freely positioned.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS A device according to an embodiment of the present invention will be explained below based on the drawings.

FIG. 1 is a block diagram showing instructions of an apparatus according to an embodiment of the present invention. FIG. 2 is a timing chart showing the operation of this embodiment device.

First, instructions for the apparatus of this embodiment will be explained based on FIG. This embodiment device includes a main control section 1, a storage section 2 in which position data is stored, and a drive section 3 that drives and controls a servo motor. The main control unit 1 is connected to a higher-level controller (not shown) to exchange designation, settings, and response information related to the controlled object, is connected to a storage unit 2 via an address bus 12, and is connected to an operating condition setting line to a drive unit 3. 13. The readout output of the storage section 2 is connected to the drive section 3 via a position command value setting line 23. Drive part 3
The outputs of are connected to servo motors 4-1 to 4-4.

Next, the operation of this embodiment device will be explained based on FIGS. 1 and 2.

During work such as teaching the robot, the storage unit 2 and drive unit 3
Data is exchanged between the vehicle and the vehicle, and the data of the movement route is stored in the storage section 2. In the case of actual operation, after the program written in the robot language is processed, the main control unit 1
Various commands are issued. When an address is set in PO to P9 of the main control section 1 and a movement start signal (S-3T) is input, the servo motor is driven according to the position data stored in the designated address. At the end of the operation:
, a movement end signal SED is returned. When changing the movement to another position by input from a device other than the motor during operation, the external movement signal OED [Effects of the Invention] As explained above, the present invention uses the In this case, the processing speed can be increased, various robot languages can be supported, and the system can be used not only for robots but also for the frequent use of specialized machines.

[Brief explanation of drawings]

FIG. 1 is a block instruction diagram showing instructions of an apparatus according to an embodiment of the present invention. FIG. 2 is a timing chart showing the operation of the apparatus according to the embodiment of the present invention.

Claims (1)

[Claims] 1) In a servo motor controller equipped with a drive unit that drives a servo motor that positions a controlled object based on position data corresponding to a position instructed by a host device, a position taught in advance A servo motor controller comprising: a storage section for storing data; and a main control section, the main control section having addressing means for specifying an address of the storage section based on an instruction from a host device. . (2) The servo motor controller according to claim (1), wherein the main control section has means for setting operating conditions of the servo motor in the drive section. (3) The servo motor controller according to claim (2), wherein the operating condition of the servo motor is the acceleration exhibited by the servo motor. (4) The servo motor controller according to claim (2), wherein the operating condition of the servo motor is the maximum speed exhibited by the servo motor. (5) The servo motor controller according to claim (2), wherein the operating condition of the servo motor is a driving object. (6) The servo motor according to claim 1, wherein the addressing means has means for specifying the address of an area in which new position data is stored in the servo motor that is currently positioning the controlled object. motor controller.