KR100377332B1 - Position control method and position control system - Google Patents

Abstract

The present invention is not only suitable for high-precision position control for organically connecting machines and instruments, but also provides data for sensing / detecting and determining information held by objects and data for providing positioning paths and information according to external inputs. A method of storing a data, comprising: detecting a distance according to a position movement of a machine, converting the signal into a predetermined signal, and detecting a position selectively supplied to an address generation circuit and a second multiplexer of a CAM data generation unit under control of a microprocessor and peripheral hardware; And CAD means for detecting and confirming conversion means, and for confirming to operate at a predetermined position, and for correcting, storing and generating CAM data in a CAM data generating unit for processing a workpiece. Position detection and conversion means based on the And a CAM data generation unit for correcting and storing the CAM data corresponding to the distance data and outputting the CAM data generated through the CAM output terminal in parallel. According to the present invention, the relative motion and position of the measuring machine head are detected by the incremental and absolut shaft encoders, and then the CAM data corresponding to the difference between the target position and the current position is calculated and output, thereby relaying or relaying the valve motor. In addition, it is possible to improve the speed, high precision, expandability, and the like of a driving load such as an electromagnetic clutch and a display load such as a pilot lamp or a digital display.

Description

Position control method and position control system

The present invention is not only suitable for high-precision position control in order to organically connect machines and instruments, but also provides data for sensing / detecting and determining information held by objects and data for providing positioning paths and information according to external inputs. In more detail, the method relates to the method of storing the relative motion and position of the machine head to be measured by an incremental and absolute shaft encoder, and then operating at a predetermined position corresponding to the difference between the target position and the current position. By calculating and outputting the CAM data for detecting and confirming the purpose, industrial machinery that has improved the speed, high precision, and expandability of driving loads such as relays, solenoid valve motors, and electromagnetic clutches, and display loads such as pilot lamps and digital indicators; A position control method and a position control system in an automated machine and various devices.

As the position control in various control systems utilizing a conventional machine tool or a position control system, an electronic cam device or a relay method is widely used. It develops the circuit diagram according to the order of the machining process, joins the necessary controller there, and wires it with a lead wire to realize the required operation. This is commonly called hardwired logic and is a parallel output method.

In addition, soft wired logic is a method of operating the program by storing its contents in a memory so that a calculation method or an operation order can be determined by a user program such as a programmable logic controller (PLC) position controller. Hard-wired logic has a pair of hardware and software, and when the specification is changed, the hardware and software of the hard-wired logic are changed, which causes various problems.

In addition, soft-wired logic is a set of electronic components, and there is no contact or coil like a relay sequence, and the operation of connecting a contact or coil stores a program in memory unlike a relay sequence in which a contact is closed when the coil is excited to activate a circuit. It reads the contents sequentially and operates the internal timer or counter according to the contents.

Therefore, soft-wired logic is a serial output method because the performance of the microprocessor and the system configured using the microprocessor are determined by the performance of the microprocessor or the programmer's qualities and capabilities, and are sequentially operated by the microprocessor.

The present invention has been made to solve the above-mentioned drawbacks, the position corresponding to the difference between the target position and the current position after detecting the relative movement and position of the measurement target machine head with the incremental and pusher shaft encoder Speeds up by encoding and outputting data on decision paths and information and CAM data for detecting and confirming operation at a predetermined position by detecting and outputting operation at a predetermined position stored in a memory through an address generator without going through a microprocessor. The purpose of the present invention is to provide a position control method and a position control system to achieve high precision by amplifying a positioning path and information provided by a peripheral device to obtain high precision positioning information. .

In addition, the present invention can be multi-functionality by directly reading the memory contents through the input device for positioning and the address generation unit through a variety of input devices and the microprocessor arithmetically recognizes and decodes the user's input data. The present invention provides a position control method that improves high speed, high precision, and versatility of driving loads such as a solenoid valve motor, an electromagnetic clutch, and a display load such as a pilot lamp or a digital display, and a position control system for achieving the same. There is a purpose.

1 is a block diagram showing a position control system according to the present invention.

2 to 4 are flowcharts showing a position control method by the position control system according to the present invention.

※ Explanation of code about main part of drawing ※

1,2: Incremental Shaft Encoder 3: Absolute Shaft Encoder

4,8 multiplexer 5,6 Schmitt trigger

7: address generation circuit 9: EEPROM

10: Latch Schmitt Trigger 11: CAM Output

12 microprocessor 13: LED display

14: segment display 15: keyboard

16,17: octal bus transceiver 18: latch register

The position control method according to the present invention for achieving the above object is to enable or disable the multiplexer according to the input of the plurality of incremental shaft encoder and the absolute shaft encoder according to the position change of the machine. Step 1, after downloading the absolut address when the distance data is input from the incremental shaft encoder, outputting the CAM data, and outputting the CAM data when the distance data is input from the absolut shaft encoder, to drive the latch schmitt trigger. And a second step of detecting a position change of the machine by the distance data from the plurality of incremental shaft encoders and driving a Schmitt trigger to address the detected distance data by a microprocessor to the multiplexer. Step 3, Drive the Latch Schmitt Trigger A fourth step of checking whether there is a change in the distance data from the incremental shaft encoder after turning on, and if there is no change in the distance data or the distance data stored in the memory EEPROM (Electrically Erasable and Programmable ROM) is the same And repeating the third step and storing the current distance data in the memory EEPROM when the current distance data is detected differently from the distance data stored in the memory EEPROM.

Among the position control methods, a method of storing CAM data includes a first step of setting a stop and start address according to a key input in the CAM data input mode, and extracting the CAM data from the memory EEPROM by the octal bus transceiver 1,2. a second step of fetching and setting the bit state in the microprocessor and a third step of loading the CAM data by the octal bus transceivers 2 and 1 and storing it in the memory EEPROM until the start address is increased to be equal to the stop address. Characterized in that it comprises a step.

Among the position control methods, a method of storing CAM data includes a first step of setting a stop and start address according to a key input in the CAM data input mode, and extracting CAM data from the memory EEPROM by an octal bus transceiver 1,2. a second step of fetching and setting the bit state in the microprocessor and a third step of loading the CAM data by the octal bus transceivers 2 and 1 and storing it in the memory EEPROM until the start address is increased to be equal to the stop address. Characterized in that it comprises a step.

The control system for achieving the control method as described above detects the distance according to the positional movement of the machine, converts the signal into a predetermined signal, and then controls the microprocessor and the peripheral hardware to generate the address generation circuit and the second multiplexer of the CAM data generator. A position detecting and converting means for selectively supplying the data, and CAD data for detecting and confirming to operate at a predetermined position according to an external input, and correcting and storing the CAM data in a CAM data generating unit for processing a workpiece. CAM data for correcting and storing CAM data corresponding to the distance data of the position detecting and converting means based on the microprocessor controlling generation and CAD data of the microprocessor and outputting the CAM data generated through the CAM output in parallel. Characterized in that it comprises a generator.

Here, the position detecting and converting means includes a plurality of incremental shafts in which coordinate values from the current position to the target position in the linear position are incrementally detected and converted into a signal for transmission. A first multiplexer which selects distance data of the plurality of incremental shaft encoders by an encoder, an enable or unenable signal of the microprocessor, and converts the distance data through the first multiplexer into a predetermined signal The first Schmitt trigger supplied to the generation circuit and the pressure data of the absolute shaft encoder and the absolute data of the absolute encoder, which detects the distance from the common origin or baseline to the machine position in any one coordinate system and converts it into a signal for transmission. Is configured as a second Schmitt trigger that supplies the second multiplexer after Is recommended.

The CAM data generating unit includes an address generation circuit which gives an address to the distance data from the second Schmitt trigger under the control of the microprocessor and provides the address to the second multiplexer, and is enabled by the control of the microprocessor to enable the first Schmitt. A second multiplexer that selectively provides distance data from the trigger and address generation circuit to the microprocessor and memory EEPROM, and outputs the distance data from the second multiplexer to the CAM output via a latch schmitt trigger, while an octal bus transceiver1 The memory EEPROM and the microprocessor are controlled by the microprocessor. The distance data is extracted from the memory EEPROM, and is preferably configured as an octal bus transceiver 1, 2 which outputs to the CAM output through a latch register.

Hereinafter, a preferred embodiment of the present invention will be described in more detail with an exemplary drawing.

As shown in FIG. 1, the present invention is divided into a position detecting and converting means, a microprocessor 12, and a CAM data generating unit.

The above position detecting and converting means includes two incremental shaft encoders (1) and (2) (incremantal shaft encoder) for detecting the distance according to the positional movement of the machine, and one absolute shaft encoder (3). ) Is provided.

Here, the two incremental shaft encoders (1) and (2) detect the machine movement in increments from the current position to the target position in the linear position and convert it into a signal for transmission. In addition, the single absolute shaft encoder 3 has a function of detecting a distance from a common origin or base line to a machine position in any one coordinate system and converting it into a signal for transmission.

The above two incremental shaft encoders (1) and (2) are driven by an enable or unenable signal from a microprocessor (12) to drive two incremental shaft encoders. (1) A multiplexer (4) is provided for providing the distance data output from the (2) to the Schmitt trigger (5). The Schmitt trigger (5) is supplied from the multiplexer (4). The distance data is converted into a predetermined signal and supplied to the address generation circuit 7.

In addition, a Schmitt trigger 6 is connected to the absolut shaft encoder 3, which converts the distance data output from the absolut shaft encoder 3 into a predetermined signal and multiplexer 8 It is configured to supply).

In this way, the microprocessor 12 that outputs the enable or disable signal to the multiplexer 4 stores CAD data for machining the workpiece into a predetermined shape according to an external input such as a keyboard 15. (12) controls the correction, storage and generation of CAM data for processing the workpiece while driving the LED display 13 and the segment display 14 so that the current state is displayed.

Finally, the CAM data generation unit corrects and stores the CAM data corresponding to the distance data of the position detecting and converting means based on the CAD data of the microprocessor 12, and outputs the CAM data in parallel to the CAM output terminal 11. It uses an address generation circuit (7), a multiplexer (8), memory EEPROM (Electrically Erasable and Programmable ROM), and electronically erases the recorded contents and uses a PROM writer (PROM (Programmable Read-Only Memory) writer). (9), latch schmitt trigger (10), octal bus transceivers (16) (17) (octal bus transceivers), and latch registers (18) (latch resister). ) And the like. Here, the 'PROM writer' is a device used to record information in the PROM. A general PROM writer is composed of a hexadecimal keyboard, a liquid crystal panel, an RS-232C, a PROM socket, and the like. As it depends on the general purpose PROM writer, it is possible to replace the adapter to cope with various types of PROM.

More specifically, the address generation circuit 7 is connected to give the multiplexer 8 an address to the distance data supplied from the Schmitt trigger 5 under the control of the microprocessor 12, and the multiplexer ( 8) is enabled under the control of the microprocessor 12 so that the distance data supplied from the Schmitt trigger 6 and the address generation circuit 7 can be selectively provided to the microprocessor 12 and the memory EEPROM 9. It is connected.

The memory EEPROM 9 outputs the distance data supplied from the multiplexer 8 to the CAM output terminal 11 through the latch schmitt trigger 10 and provides the octal bus transceiver 16 with the octal bus transceiver 16. (16) and (17) are connected to extract the distance data from the memory EEPROM (9) under the control of the microprocessor (12), and then load the data to the CAM output terminal (11) through the latch register (8).

1 to 4, the operation of the position control system in the machine tool will be described first with reference to Figs.

The microprocessor 12 monitors the outputs of the two incremental shaft encoders 1 and 2 (S111) (S113) to enable the multiplexer 4 when the distance data is output from a particular incremental shaft encoder. Alternatively, by enabling the distance data of the corresponding incremental shaft encoder to be supplied to the Schmitt trigger (5) (S112) (S114).

However, when the distance data is not output from any of the incremental shaft encoders, the microprocessor 12 monitors the output of the absolut shaft encoder 3 (S115). Then, when distance data is output from the absolut shaft encoder 3 and supplied to the multiplexer 8 through the Schmitt trigger 6, the microprocessor 12 enables the multiplexer 8 (S116) to the absolut shaft. The distance data output from the encoder 3 is outputted as CAM data (S117) through the CAM output terminal 11 through the memory EEPROM 9 and the latch schmitt trigger 10, and then the latch schmitt trigger 10 is driven. .

In addition, the microprocessor enables or disables the multiplexer 4 from above so that the distance data output from the incremental shaft encoder 1 or 2 is supplied to the address generation circuit 7 through the Schmitt trigger 5. 12 outputs the CAM data to the CAM output terminal 11 after down loading (S119) the absolut address (S120).

Then, the microprocessor 12 detects whether the position of the machine is changed by the distance data of the incremental shaft encoder (1) (2) (S121), and the distance data through the Schmitt trigger (5) (S122) When supplied to the address generation circuit 7, an address is assigned to the address generating circuit 7 (S123), the memory EEPROM 9 is provided through the multiplexer 8, and the latch schmitt trigger 10 is driven (S124).

Then, the microprocessor 12 has a change in the distance data detected by the incremental shaft encoder 1, 2, and this changed distance data is the same as the distance data stored in the memory EEPROM 9 (S125). If not (S126), this is newly stored in the memory EEPROM (9) (S127), but if there is no change in the distance data or the distance data stored in the memory EEPROM (9) is the same, the above steps (S120 to S127) Repeat).

FIG. 3 is a flowchart for explaining an input (storage) mode for inputting CAM data for processing a workpiece. When the input mode for inputting CAM data is set (S311) by operation of the keyboard 15, the microprocessor 12 ) Sets a stop address and a start address (S312) (S313).

After the stop and start addresses are set, the octal bus transceivers 1, 2, 16 and 17 sequentially fetch the CAM data from the memory EEPROM 9 and then bit the microprocessor 12. (S314) (S315) (S316).

Then, the octal bus transversal 2, 1 (17) 16 again loads the CAM data sequentially (S317) (S318) and stores it in the memory EEPROM (9) (S320).

After storing the loaded CAM data in the memory EEPROM 9, the microprocessor 12 checks whether the start address set above is the same as the stop address (S320), and if the start address and the stop address are the same, the input mode is completed. However, if the start address and the stop address are not the same, the start address is increased by one (S321), and steps S315 to S320 are executed again to extract and load the CAM data until the start address and the stop address are the same. .

4 is a flowchart for explaining a correction mode for correcting CAM data for detecting and confirming operation for a predetermined position. When the correction mode for correcting CAM data is set by operation of the keyboard 15 (S411), The processor 12 extracts CAM data for the exact position of the machine for processing the workpiece (S412). The microprocessor 12 then recognizes the CAM data for the extracted exact position and the CAM data for the current position detected (S413) by the incremental and absolut shaft encoders (1) (2) (3). The error of each CAM data is then calculated.

Then, the microprocessor 12 checks whether the error is "0" (S414) and determines that there is no change in the CAM data with respect to the current position when the error is determined to be "0" (S415). However, when the error is determined to be positive (S416), the microprocessor 12 calculates the positive average value of the repetition error (S417), sets the error value (S420), and determines the error to be negative (( In operation S418, the microprocessor 12 calculates a negative average value of the repetition error (S419) and sets the error value (S420).

Then, the microprocessor 12 checks whether the error value in the above step (S415) (S420) is the allowable error range (S421), and repeats the above steps (S411 to S420) when it is out of the allowable error range. If it does not deviate from the allowable error range, the corrected CAM data is output (S422), and then steps S411 to S420 are repeatedly executed.

According to the present invention, the relative motion and position of the measuring machine head are detected by the incremental and absolut shaft encoder, and then the CAM data for detecting and confirming that the target position and the current position are operated at a predetermined position is calculated. By outputting, it is possible to improve the speed, high precision, and expandability of driving loads such as relays, solenoid valve motors, electromagnetic clutches, and display loads such as pilot lamps and digital displays.

Although the present invention has been described in detail only with respect to the described embodiments, it will be apparent to those skilled in the art that various modifications and variations are possible within the spirit of the present invention, and such modifications and modifications belong to the appended claims.

Claims (6)

A first step of enabling or disabling the multiplexer according to the input of the plurality of incremental shaft encoders and the absolut shaft encoder according to the change of the position of the machine; A second step of downloading the absolut address when the distance data is input from the incremental shaft encoder and then outputting the CAM data and then outputting the CAM data when the distance data is input from the absolut shaft encoder and driving a latch schmitt trigger ; Detecting a change in the position of the machine by the distance data from the plurality of incremental shaft encoders and driving a Schmitt trigger to address the detected distance data by a microprocessor to the multiplexer; A fourth step of driving a latch schmitt trigger to determine whether there is a change in distance data from the incremental shaft encoder; And If the distance data is not changed or the current distance data and the distance data stored in the memory EEPROM (Electrically Erasable and Programmable ROM) are the same, the third step is repeated and the current distance data is different from the distance data stored in the memory EEPROM. A fifth step of storing distance data in a memory EEPROM; Position control method comprising a. Setting a stop and start address according to a key input in the CAM data input mode; A second step of fetching CAM data from the memory EEPROM by the octal bus transceivers 1 and 2 and setting the bit state to the microprocessor; And A third step of loading CAM data by the octal bus transceivers 2 and 1 and storing them in a memory EEPROM until the start address is increased to be equal to a stop address; Position control method comprising a. A first step of obtaining an error value between the CAM data for the correct position and the CAM data for the current position detected by the incremental and absolut shaft encoder in the correction mode; A second step of checking whether the error value is a positive value or a negative value and obtaining an average value of the positive or negative repetition errors; And A third step of setting an error value based on the mean value of (+) or (-) and outputting CAM data correcting the CAM data for the exact position until the error value approaches an allowable error range; Position control method comprising a. A position detecting and converting means for detecting the distance according to the positional movement of the machine and converting the predetermined signal into a predetermined signal, and selectively supplying the address generation circuit and the second multiplexer to the CAM data generation unit under control of the microprocessor and peripheral hardware; A microprocessor for storing and confirming CAD data for detecting and confirming to operate at a predetermined position, and controlling correction, storage, and generation of CAM data in a CAM data generation unit for processing a workpiece; And A CAM data generation unit for correcting and storing CAM data corresponding to the distance data of the position detecting and converting means based on the CAD data of the microprocessor, and outputting the CAM data generated through the CAM output terminal in parallel; Position control system comprising a. The method of claim 4, wherein The position detecting and converting means includes a plurality of incremental shaft encoders in which the coordinate values from the current position to the target position in the linear position are detected in increments and converted into signals for transmission. ; A first multiplexer for selecting distance data of the plurality of incremental shaft encoders according to an enable or disable signal of the microprocessor; A first Schmitt trigger converting the distance data through the first multiplexer into a predetermined signal and supplying it to an address generation circuit; An absolut shaft encoder for detecting a distance from a common origin or base line to a machine position in one coordinate system and converting the signal into a signal for transmission; And A second Schmitt trigger for correcting the distance data of the absolut shaft encoder and supplying it to a second multiplexer; The position control system comprising a. The method of claim 4, wherein The CAM data generation unit may include: an address generation circuit configured to give an address to the distance data from the second Schmitt trigger under the control of the microprocessor and provide the address to the second multiplexer; A second multiplexer enabled under the control of the microprocessor to selectively provide distance data from the first Schmitt trigger and address generation event to the microprocessor and memory EEPROM; A memory EEPROM for outputting distance data from the second multiplexer to the CAM output terminal via a latch schmitt trigger and providing the octal bus transceiver 1; And An octal bus transceiver 1, 2 for extracting and loading distance data from a memory EEPROM under the control of the microprocessor and outputting the distance data to a CAM output terminal through a latch register; The position control system comprising a.