KR100598323B1 - Motor driving method with automatic control function of weave length and dwell operation - Google Patents

Abstract

The present invention relates to a method for driving a motor in which amplitude and stop motion are automatically controlled. The object of the present invention is to control amplitude and automatic time for weaving and stopping time of oscillates in 5-axis carriage control in connection with the development of an automatic seabed pipeline welding system. The present invention provides a method of driving a motor in which a stop operation is automatically controlled.

According to the present invention, when the number of pulses fed back from the encoder coincides with the number of pulses corresponding to the weaving width value set in the timer, the present invention converts the low level to the high level, and interrupts the motor by using interrupt A. The preparation step for the change of direction and mode B, the interrupt generated in the mode A is determined at the beginning of the timer operation of the mode B, and again when the number of pulses built in the mode B has passed the stop time. Generating an interrupt B and preparing a mode A, and generating a interrupt A when a certain weaving time has elapsed since the motor is operated, thereby stopping the motor until the mode B is executed. The present invention provides a motor driving method in which a stop operation is automatically controlled.

Weaving, Encoder, Pulse Control, Motion, Timer

Description

Motor driving method with automatic control of amplitude and stop motion {Motor driving method with automatic control function of weave length and dwell operation}             

1 is a motor drive circuit diagram

2 is the definition of weaving and stopping time

3 is a schematic overall view of the motion board

4 is a circuit conceptual diagram for the weaving and stopping function;

5 is a time chart for implementing the weaving and stopping function

6 is a circuit with pulse and analog command functions.

<Description of Symbols for Main Parts of Drawings>

10: encoder 20: mode A

30: Interrupt A 40: Mode B

50: Interrupt B 60: Clock

70: timer 80: counter

90: D / A Converter

The present invention relates to a motor driving method in which the amplitude and stop motion are automatically controlled. More specifically, the amplitude and stop motion are automatically controlled to realize the stop function at the weaving and weaving ends required for robot motion and general welding equipment. It relates to a motor driving method.

Generally, to drive a motor, a motor, a motor drive, an encoder, and a controller for motion control are required, and the rotation speed of the motor is controlled by applying a pulse or an analog voltage to the motor drive.

There are two main types of control for driving the motor: pulse input and analog voltage. In the case of pulse input, the number of pulses applied and the number of encoders generated by motor rotation are compared. The motor is configured to stop at the desired position, and the higher the pulse frequency, the higher the motor speed. In other words, the pulse input method converts an encoder value according to the rotational speed of the motor into a position value to stop the motor at a desired position, and the analog voltage input method is for commanding the speed of the motor. Figure 1 schematically shows the above contents.

Currently, various motor driving boards are sold on the market for motor driving, and are divided into position control and speed control. The speed control board is generally simple to configure and manufactured by the user rather than commercially available products. I'm using it. In the case of the position control board, if the user sets the desired position and speed, the motor is configured to drive at the speed set at the desired position by modulating the number of pulses and the frequency. In addition, boards with functions such as linear interpolation and circular interpolation are being developed or under development. The user simply configures the desired function in software to implement the function.

However, since the commercialized motion boards configured as described above have only general functions for various users, there are many problems in implementing the weaving and the stop function at the end of the weaving required for the robot motion and general welding equipment.

Figure 2 schematically shows the contents of the weaving and stopping function,

In other words, in order to implement tasks to move the desired weaving width at a set speed and stop the motor operation at the weaving end so that it can stay for a while, it is necessary to write the desired software and always check the point of arrival at the weaving end. In addition, because of software for implementing the weaving and stop function, there is a problem that the addition of software for additional functions also has a limit.

The present invention has been made to solve the above-mentioned drawbacks, the amplitude and stop motion to move the desired weaving width required for robot motion and general welding equipment at a set speed and to stop the motor operation at the end of the weaving to stay for a while It is an object of the present invention to provide a motor control method that is automatically controlled.

According to the present invention, when the number of pulses fed back from the encoder coincides with the number of pulses corresponding to the weaving width value set in the timer, the present invention converts the low level to the high level, and interrupts the motor by using interrupt A. The preparation step for the change of direction and mode B, the interrupt generated in the mode A is determined at the beginning of the timer operation of the mode B, and again when the number of pulses built in the mode B has passed the stop time. Generating an interrupt B and preparing a mode A, and generating a interrupt A when a certain weaving time has elapsed since the motor is operated, thereby stopping the motor until the mode B is executed. An object of the present invention is to provide a motor driving method in which a stop operation is automatically controlled.

When described in detail with reference to the accompanying drawings, the configuration and the operation of the embodiment of the present invention to achieve the object as described above and to perform the task for eliminating the conventional drawbacks.

1 is a schematic diagram of a motor drive circuit, FIG. 2 is a definition of weaving and stopping time, FIG. 3 is a schematic view of a motion board, FIG. 4 is a circuit diagram for weaving and stopping function, and FIG. 5 is a weaving and stopping function. Figure 6 is a time chart for implementing the function, Figure 6 is a circuit with a pulse and an analog command function,

The most important factor in designing a motion board should be easy to use by the user and should not affect the program that the user wants to write. In addition, the motion board must be capable of controlling the motion through its own work or through the interface with the main controller (for example, IBM PC). In this design, CPU with digital input / output function and analog input function is used for motion board's own motion control work.Timer is used to implement weaving and stop function, and ROM and RAM can be used for users to develop their own programs. We developed a motion board with a built-in back. In addition, weaving and stopping function are implemented using interrupter to prevent user convenience and motion function from affecting user program.

The overall schematic diagram of the motion board developed in FIG. 3, the circuit conceptual diagram for the weaving and stopping function in FIG. 4, and the time chart for implementing the weaving and stopping function in FIG. 5 are shown. As shown in FIGS. 4 and 5, the present invention uses an 8254 timer for motion control. The 8254 timer provides a variety of functions. The 8254 function used in the present invention is a sine wave generation for the pulse function. ) Mode that is converted to level and is maintained at high level initially, but is kept at low level when the clock value set inside the timer is smaller than the externally applied clock value, and is converted to high level when the internal value and the number of external clocks are the same. Three modes were used (mode B).

In the case of the mode A 20, when the number of pulses fed back from the encoder 10 coincides with the number of pulses corresponding to the weaving width value set in the timer, the interrupter A 30 is converted from the low level to the high level. Preliminary work for changing the motor direction and mode B (40) in advance. The interrupt generated in the mode A determines the initial time of operation of the timer 70 of the mode B. The internal value of the timer set in the mode B has a pulse count for the stop time. When the built-in pulse count passes the stop time, an interrupter is generated again to prepare for mode A. Therefore, if a certain weaving time has elapsed after the motor is running, interrupt A is generated, which causes the motor to stop until the mode B is executed. The function is repeatedly operated by the interrupter, and the user automatically sets the weaving time and the stop time to automatically implement the weaving and stop motion functions.

In addition, the present invention has developed a circuit that can control the motor using a pulse as well as the analog input method provided in the general motion board, it can be selected and used one of the two functions according to the user selection. 6 shows a circuit equipped with a pulse and analog command function, a pulse output is input through an up terminal of an up / down counter, and an encoder 10 signal generated by motor rotation is connected to a down terminal. do. The actual analog output is commanded via a 12bits D / A converter on three consecutive up / down counters according to the difference in value between the up and down terminals, and the UP terminal value applied by the initial pulse is still due to the inertia of the motor. The analog command value keeps increasing because it is bigger than the unencoded encoder signal. However, if the motor moves at a constant speed (very short time), the number of pulses applied to the UP and DOWN terminals is the same, so that a constant voltage is maintained. In general, this is called a constant speed section, and the time required before the constant speed section and the motor stops after the constant speed section is called a deceleration section.

Therefore, the present invention acting as described above can automatically control the amplitude and stop motion to stop the motor operation at the end of the weaving end after moving the desired weaving width required for the robot motion and general welding equipment at a set speed. have.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

The present invention constructed and acting as described above can implement the stop function at the weaving and weaving end required for robot motion and general welding equipment, and weaving and oscillating at the 5-axis carriage control in connection with the automatic seabed pipeline welding system development. It is a useful invention that enables automatic stop time control.

Claims (1)

In the motor drive circuit in which the amplitude and the stop motion are automatically controlled, If the number of pulses fed back from the encoder coincides with the number of pulses corresponding to the weaving width value set in the timer, converting from the low level to the high level, and changing the motor direction using interrupt A at this point. The preparatory step for mode B, the interrupt generated in the mode A is to determine the start time of the timer operation of the mode B, and when the number of pulses embedded in the mode B has elapsed the stop time again interrupt B When a predetermined weaving time elapses after the motor operates, the interrupt A is generated and the motor stops until the mode B is executed. Automatically controlled motor drive method.

Images