KR100261849B1 - Motor returning control apparatus to the original point - Google Patents

Abstract

PURPOSE: A motor returning control apparatus to an original point is provided to be capable of accurately controlling the synchronous of several motors by controlling the motors using simple switching circuits. CONSTITUTION: A first CCW(counterclockwise) limit sensor(20) and a first CW(clockwise) limit sensor(40) control the limits of a first motor(10). A second CCW limit sensor(60) and a second CW limit sensor(80) control the limits of a second motor(50). A first original point sensor(30) and a second original point sensor(70) controls the original points of the first/second motors(10,50). A motor controller(100) generates a pulse signal and a switching control signal for driving the motors in accordance with a controller(90). First/second switching parts(110,120) selectively supply/block the pulse signal output from the motor controller(100) in accordance with the switching control signal. First/second motor drivers(130,140) drive the motors(10,50) in accordance with the pulse signal selectively supplied from the first/second switching parts(110,120).

Description

Multiple motor origin return control device and control method

The present invention relates to a motor control, in particular, when a single controller is to control a plurality of motors by using a simple switching circuit to control a plurality of motor origin return to precisely synchronous control of a plurality of motors at a low price (Origin) control device and method.

As a conventional apparatus for controlling a two-axis motor, as shown in FIGS. 1 and 2, two methods using a single-axis motor controller and two methods using a two-axis controller are used.

First, the method shown in FIG. 1 controls each motor by using two 1-axis controllers and two motor drivers to control the two-axis motors, respectively.

The control method used here is the counterclockwise (CCW) limit sensor (②⑥) of motor 1 and motor 2 attached to each unit, the home sensor (③⑦), and the clockwise (CW) limit sensor of motor 1 and motor 2. It is to control (④⑧) by receiving a signal from each controller, and to connect and use each sensor signal to be controlled by the controller. (Same as FIG. 1 and FIG. 2)

Also, when the home return signal is input, the motor (①⑤) starts the CCW operation, the home sensor (③⑦) is turned on and then rotates in the counterclockwise (CCW) direction, and then the home sensor (③⑦) When it is turned off, it rotates clockwise (CW) to turn on the origin sensor (③⑦), and when it is turned off, it turns clockwise (CCW) again and when the origin sensor (③⑦) is turned on, the homing operation is finished. .

In addition, as a method for simply controlling two motors as one single-axis controller, as shown in FIG. 3, two motor drivers are connected in parallel to the single-axis motor controller to connect the origin sensors (③⑦) of each motor. Connect to perform homing operation.

In this case, the origin return method indicates that the motor (①) and the motor (⑤) are located at each position, and when the origin return signal comes in, the motor (①) and the motor (⑤) rotate in the CCW direction and the counterclockwise direction of the motor 1 (CCW). ) Rotation is performed until the limit sensor (③) or the counterclockwise (CCW) limit sensor (⑦) of the motor 2 is turned on, and then the return to origin is completed by the first sensor (③ or ⑦) turned on.

The operation flowchart thereof is shown in FIG. At this time, the CW signal or CCW signal from the one-side controller is transmitted to the motor driver 1 and the motor driver 2 simultaneously.

However, in the related art, when the motors are located at different positions, each motor performs the home return operation by the home return signal. At this time, the counterclockwise (CCW) limit sensor of motor 1 is turned on first and the counterclockwise (CCW) limit sensor of motor 2 is turned on later because the time to reach the home position is different because each position is different. Since the homing operation is performed only by the signal of the counterclockwise (CCW) limit sensor of the motor 1 which is turned on first, the signal of the counterclockwise (CCW) limit sensor of the motor 2 is ignored and in the case of the motor 2, the homing operation is completely The problem is that accurate positioning cannot be performed because the following operation is performed in a situation where the following operation is not performed, and on the contrary, the anticlockwise (CCW) limit sensor of motor 2 is turned on first and the anticlockwise (CCW) limit of motor 1 Even when the sensor is turned on, the same phenomenon occurs as described above.

Therefore, the present invention provides a plurality of motor origin return (Origin) control device to control the plural motors by a single controller to install a simple switching circuit and to control the plural motors precisely at a low cost, and The purpose is to provide a method.

The method of the present invention for achieving the above object comprises a first step of rotating a plurality of moving objects in the direction of the origin of the plurality of motors when the home return request signal is input; A second step of performing a home return operation by controlling each of the plurality of motors until a plurality of home return signals are input; and when each home return signal is input during the home return operation in the second step, And a third step of controlling the rotation in a predetermined direction by synchronizing the plurality of motors with the same pulse by terminating the motor.

1 is a block diagram of a device for controlling by using two conventional single-axis motor controller.

2 is a block diagram of a device for controlling using a conventional two-axis motor controller.

3 is a block diagram of an apparatus for controlling two conventional motors as one single-axis controller.

4 is an operation flowchart for explaining the control method of FIG.

5 is a block diagram of a plurality of motor origin return control apparatus according to the present invention.

6 is a partial detailed block diagram of FIG. 5 and a partial detailed operation flowchart.

7 is a flowchart illustrating a plurality of motor origin control methods according to the present invention.

* Explanation of symbols for main parts of the drawings

10: first motor 20: first CCW limit sensor

30: first home sensor 40: first CW limit sensor

50: 2nd motor 60: 2nd CCW limit sensor

70: second home sensor 80: second CW limit sensor

90 controller 100 motor controller

110: first switching unit 120: second switching unit

130: first motor driving unit 140: second motor driving unit

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

5 is a block diagram of a plurality of motor home return control devices according to the present invention, the first CCW limit sensor 20 and the first CW limit sensor 40 for limit control of the first motor 10, A second CCW limit sensor 60 and a second CW limit sensor 80 for limiting control of the second motor 50 and a first origin for controlling the origin of the first and second motors 10 and 20. A sensor 30 and a second origin sensor 70, a controller 90 for controlling the system as a whole, a motor for generating a pulse signal and a switching control signal for driving the motor according to the control of the controller 90; The controller unit 100, the first and second switching unit 110, 120 for selectively supplying / blocking the pulse signal output from the motor controller 100 in accordance with the switching control signal, and the first, second The first motor 10 and the second motor 50 are driven in accordance with the pulse signal selectively supplied from the second switching unit 110 and 120. First, second, it has been a motor driving unit 130 (140).

The operation and effect of the present invention configured as described above will be described with reference to FIGS. 2 to 7 as follows.

First, in order to control two motors using a motor controller, a plurality of switches capable of blocking or supplying a direction pulse signal (CW / CCW) transmitted from the motor controller to the motor driver in the motor control method of the related art. It is a method to configure the unit to control the signal transmitted from the motor controller to the motor drive so that only the necessary motor operates.

That is, when an origin return signal is input to the controller 90 at which position the moving object of the first motor 10 and the moving object of the second motor 50 are located, the controller 90 controls the motor controller 100. By controlling, the first and second switching units 110 and 120 are turned on to rotate the first and second motors 10 and 50 in the CCW direction. (ST100).

Then, when the moving object rotates in the CCW direction and the home sensor 30 (or home sensor 70 of the second motor) of the first motor (or the second motor) is turned on, the first motor (out of the motor controller 100) 10) to turn off the first switching unit 110 (or the second switching unit 120) in order to block the pulse signal of the second motor (50), wherein the second switching unit 120 (or the first switching unit 120) 1 motor) to continue the home return operation. (ST120, ST130)

At this time, when the second home sensor 70 (or the first home sensor 30) is turned on during the first and second home sensors 30 and 30 of the first motor 10 and the second motor 50, respectively, The on signal of 70, that is, the home return signal, is transmitted to the controller 90. (ST140-ST190)

Then, the controller 90 converts each of the transmitted on-signals into a single on-signal to turn on the home sensor signal to the motor controller 100, where the motor controller 100 continues to turn off to perform the home return operation. The first switching unit 110 (or the second switching unit 120) is turned on.

Then, the first motor 10 and the second motor 50 continue to rotate in the CCW direction in synchronization with the pulse signal of the motor controller 100.

At this time, since the rotation continues at the same position (a state in which the first origin sensor 30 and the second origin sensor 70 are turned on), the two-axis motors (first and second motors 10 and 50) are precisely correct. In synchronism, rotation is performed until the first home sensor 30 of the first motor 10 and the home sensor 70 of the second motor 50 are turned off. (ST200)

On the other hand, when the first and second home sensors 30 and 70 are turned off, the motor controller 100 transmits a rotation signal in the CW direction to the first motor 10 and the second motor 50 so that the first home sensors ( 30 and the second home sensor 70 are turned on, and when the first home sensor 30 and the second home sensor 70 are turned off (CW direction), the first motor 10 and the second motor 50 are turned on. ) Is rotated in the CCW direction.

In this state, when the first home sensor 30 and the second home sensor 70 are turned on, the home return operation is finished. (ST210 to ST240)

From this time, the first motor 10 and the second motor 50 can be accurately synchronized at each origin position to perform a constant positioning.

Further, as another embodiment according to the present invention, it can be used when synchronous control to a position having a plurality of drive sources separated by a method of controlling a plurality of motors by a single-axis controller (for example, between an inlet and an outlet). Conveyor control separated from each other due to working section

As described above, in the present invention, the motor started at a different position at the time of origin return generated when a plurality of motors are controlled by a single-axis motor controller is operated only by a sensor that is turned on first regardless of each sensor. In order to solve the problems of the prior art of controlling the motor at a high price when using two 1-axis motor controllers and one 2-axis controller, the motor of this axis does not perform accurate homing and the two motors are not synchronized. By controlling a plurality of motors with a single motor controller and installing a simple switching unit, there is an effect of precisely synchronously controlling a plurality of motors at a low cost.

Claims (1)

The first CCW limit sensor 20 and the first CW limit sensor 40 for limit control of the first motor 10, and the second CCW limit sensor 60 and the second CW limit for limit control of the second motor 50. A sensor (80), a first origin sensor (30) and a second origin sensor (70) for controlling the origin of the first and second motors (10) and (20), and a controller for overall control of the system ( 90, a motor controller unit 100 generating a pulse signal and a switching control signal for driving the motor according to the control of the controller 90, and a pulse signal output from the motor controller 100. First and second switching units 110 and 120 selectively supplying / blocking the first and second switching units 110 and 120 and the first motor according to a pulse signal selectively supplied from the first and second switching units 110 and 120. 10) and a plurality of motor home return control devices comprising first and second motor driving units (130, 140) for driving the second motor (50).

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