KR102053184B1 - Control apparatus and control method for injection molding machine - Google Patents

Abstract

Disclosed are a control apparatus and a control method of an injection molding machine.
The control device of the injection molding machine controls the mold opening and closing by driving the mold motor provided in the toggle molding device of the injection molding machine. The position profile and the speed are based on the setting parameters including the setting values for each section constituting the driving cycle. Creates a profile, but divides the entire section of the drive cycle into scan units when generating the position profile, calculates the target position per scan using a predefined polynomial, and operates every scan based on the generated position profile and velocity profile. Generate the command to drive the mold motor.
Accordingly, it is possible to implement accurate and accurate high-speed position control by reducing the amount of vibration and impact during the high speed mold opening and closing operation, and consequently shortening the cycle time.

Description

CONTROL APPARATUS AND CONTROL METHOD FOR INJECTION MOLDING MACHINE}

The present invention relates to a control apparatus and a control method of an injection molding machine, and more particularly, to a control apparatus and a control method of an injection molding machine having a toggle mold clamping device.

In general, an injection molding machine is mainly composed of an injection apparatus for dissolving a resin, which is a molding material, and injecting a molten resin into a mold, and a mold clamping apparatus for opening and closing a mold.

In the case of a clamping device, two methods are used: a toggle type for fastening a mold by using a kinematic principle of a toggle and a direct pressure type for fastening a mold by directly applying hydraulic force to the mold to generate a clamping force.

The toggle type clamping device includes a fixed fixed plate, a movable plate which is movable while corresponding thereto, a toggle mechanism for moving the crosshead forward and backward, and a thick plate that supports the movable plate when the toggle mechanism is in operation. In addition, the toggle mechanism having a link structure is operated by the forward and backward movement of the crosshead, and is configured to open and close the mold by transferring the movable die.

Since the movement characteristic of the toggle mechanism is nonlinear, the acceleration for each section (feeding distance) is changed so that from the beginning of mold opening or closing, the mold is completely opened or closed to the end point where mold opening or closing is completed. Accurate position control is difficult.

Conventionally, a control device for controlling a toggle type clamping device performs position control with a servomotor for driving a crosshead, but operates based on a feed distance and a speed setting value from a point at which the crosshead starts to move to an end point for completing the movement. Generate and output the command. At this time, acceleration and deceleration control is proposed to control using a moving average filter provided by the control device.

However, in such a scheme, when the mold opening / closing operation is performed at high speed, excessive vibration and impact amount is generated on the plate when the mold closing and mold opening are completed, and thus it is difficult to realize precise and accurate high speed position control. There is a problem that cannot be shortened.

KR 10-1261711 B1, Publication date: 05. 07, 2013, designation: Mold adjusting method of toggle injection molding machine

The present invention has been proposed in order to solve the problems of the prior art as described above, the object of which is to reduce the amount of vibration and impact during high-speed mold opening and closing operation to implement precise and accurate high-speed position control and consequently shorten the cycle time It is to provide a control device and a control method of an injection molding machine.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned above may be clearly understood by those skilled in the art from the following description. There will be.

The control device of the injection molding machine according to the present invention for achieving the above object is a control device for controlling the mold opening and closing by driving the mold motor provided in the toggle-type molding device of the injection molding machine, the setting for each section forming a drive cycle A position profile and a velocity profile are generated based on a setting parameter including a value, and when generating the position profile, all sections of the driving cycle are divided into scan units and a target position per scan is calculated using a predefined polynomial. Control unit; And a driving unit generating an operation command for each scan based on the position profile and the speed profile provided by the controller to drive the mold motor.

The setting parameter may include a position setting value for each section, a speed setting value for each section, and an acceleration / deceleration time for each section constituting the driving cycle.

The control unit calculates a unit feed amount per scan by applying the entire section feeding distance obtained from the position setting value of each section and a phase increasing every scan to the polynomial, and sequentially adds the unit feed amount per scan to change the target position per scan. It may include a position adjusting unit for generating the position profile indicating.

The position adjusting unit may calculate a unit feed amount per scan using a cycloid polynomial defined by the following equation.

Here, L is the full distance travel distance (mm), x is the phase (radian or degree) of the current scan, y is the unit feed amount (mm / scan) of the current scan.

The control unit generates the speed profile based on the speed setting value for each section and the acceleration and deceleration time, and calculates the speed limit for each section based on the transport distance of each section obtained from the position setting value for each section and for each section. It may include a speed adjusting unit for limiting the speed profile according to the speed limit.

On the other hand, the control method of the injection molding machine according to the present invention is a control method for controlling the mold opening and closing by driving the mold motor provided in the toggle-type mold clamping apparatus of the injection molding machine, the setting value for each section of the control device forming a drive cycle Receiving a setting parameter including a setting parameter; Generating, by the control apparatus, a position profile based on the setting parameter, dividing an entire section of a driving cycle by a scan unit and calculating a target position per scan using a predefined polynomial; Generating, by the controller, a speed profile based on the setting parameter; And driving the mold motor by generating an operation command for each scan based on the position profile and the speed profile.

The setting parameter may include a position setting value for each section, a speed setting value for each section, and an acceleration / deceleration time.

The generating of the position profile may include calculating an entire section conveying distance from the position setting value for each section; Increasing the phase every scan; Repeatedly calculating the unit feed amount per scan by applying a phase that increases every scan to the polynomial until the scan for the feeding distance is completed; And sequentially adding the unit feed amount per scan to generate the position profile representing a change in target position per scan.

In the location profile generation step, the control device may calculate the unit feed amount per scan using a cycloid polynomial defined by the following equation.

Here, L is the full distance travel distance (mm), x is the phase (radian or degree) of the current scan, y is the unit feed amount (mm / scan) of the current scan.

In the speed profile generation step, the control device generates the speed profile based on the speed setting value for each section and the acceleration and deceleration time, but sets the speed limit based on the transport distance of each section obtained from the position setting value for each section. The speed profile may be limited and calculated according to the speed limit for each section.

According to the control apparatus and control method of the injection molding machine according to the present invention, it is possible to implement a precise and accurate high-speed position control by reducing the amount of vibration and impact during high-speed mold opening and closing operation, and consequently shorten the cycle time.

1 is a schematic diagram showing an injection molding machine according to an embodiment of the present invention.
2 is a view for explaining the operation of the mold clamping apparatus shown in FIG.
Figure 3 is a schematic diagram showing a control device of the injection molding machine according to an embodiment of the present invention.
4 is a diagram illustrating a position profile generated by the control device according to an embodiment of the present invention.
Figure 5 is a flow chart showing a control method of the injection molding machine according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the control device and control method of the injection molding machine according to an embodiment of the present invention.

1 is a schematic block diagram showing an injection molding machine according to an embodiment of the present invention.

Referring to Figure 1, the injection molding machine 1 according to the present invention is composed of an injection device (2) and a mold clamping device (3).

The injection apparatus 2 is provided with the barrel 16, and the barrel 16 is provided with the hopper 12 which is an inflow path of solid resin. The screw 13 is installed in the barrel 16 so as to be moved forward or backward or rotatable. The rear end of the screw 13 is rotatably supported by the power transfer of the belt pulley through the metering motor 15 mounted to the support member 14.

The injection apparatus 2 also has a screw shaft 17 arranged in parallel with the screw 13. The rear end of the screw shaft 17 is connected to the output shaft of the injection motor 19 by a timing belt. Therefore, the screw shaft 17 may be rotated by the injection motor 19. The front end of the screw shaft 17 is engaged with the nut fixed to the support 14. Accordingly, when the screw shaft 17 is rotated through the timing belt, the support member 14 moves forward or backward, and as a result, the screw 13 can move forward and backward.

The clamping device 3 is a toggle clamping device which controls the opening and closing operation of the mold 9 by operating the toggle mechanism 28 having a link structure.

Specifically, the mold clamping device 3 has a stationary mold plate 24 and a movable mold plate 22 that is movable by the thickness of the mold. The fixed mold 11 and the movable mold 10 are mounted on the stationary mold 24 and the movable mold 22, respectively. The stationary mold 11 and the moving mold 10 may be referred to as a mold (9). In addition, the movable mold 10 and the stationary mold 11 are fastened / combined with each other to form a molding space corresponding to the molded article in the mold apparatus 9.

The movable plate 22 and the stationary plate 24 are connected by tie bars 29. The movable plate 22 is capable of sliding or translation along the tie bar 29.

The clamping device 3 also has a toggle mechanism 28 connected to the movable die 22. The rear end of the toggle mechanism 28 is formed with a rear plate 26 to hold the position of the toggle mechanism 28. The toggle mechanism 28 has a plurality of links, and mold closing or mold opening of the mold 9 can be performed according to mutual movement between the plurality of links.

In the clamping apparatus 3, when the clamping motor 25 which is a drive part is driven, rotation of the clamping motor 25 is transmitted to a ball screw shaft through a timing belt. And, by the ball screw shaft and the nut, the rotary motion is converted into a linear motion to operate the toggle mechanism 28. In addition, by the operation of the toggle mechanism 28, the movable die 22 moves along the tie bar 29, and the mold closing and mold opening operation with the stationary die 24 is performed.

Between the injection apparatus 2 and the mold clamping apparatus 3, the nozzle 32 which provides the movement path of resin is provided.

The solid resin moved into the barrel 16 through the hopper 12 is melted by the forward movement of the screw 13 and the heating in the barrel 16. The molten resin accumulates at the front end of the screw 13 and is injected into the mold 9 of the mold clamping device 3 through the nozzle 32.

The injection process is performed while the mold closing operation of the mold clamping device 3 is completed. Thereafter, the cooling process proceeds, and the resin filled in the mold 9 solidifies into a molded article, and the mold clamping device 3 opens the mold 9 to switch to the mold opening state to take out the molded article.

In the mold opening / closing operation, the mold clamping device 3 drives the movable mold plate 22 in the horizontal direction to open or close the mold 9. When the movable die 22 is driven from the mold closing position to the left side, that is, in the mold opening direction toward the mold thickening plate 26 and reaches the mold opening position, the mold 9 is opened in the mold opening state. In addition, when the movable die 22 is driven from the mold opening position to the right side, that is, in the mold closing direction toward the stationary mold plate 24 and reaches the mold closing position, the mold 9 is brought into close contact with the mold 9 in a closed mold closing state.

2 is a view for explaining the operation of the mold clamping apparatus shown in FIG.

As shown, the clamping apparatus 3 includes a fixed mold 24, a movable mold 22 for mounting and moving the movable mold 10, a tie bar 29 for generating a required clamping force, and a tie bar 29. And a thick plate 26 for supporting the movable die 22 during operation of the toggle mechanism 28 while fixing the.

The stationary die 24 and the movable die 22 are disposed to face each other, and the stationary die 11 and the movable die 10 are installed on the facing surfaces of the stationary die 24 and the movable die 22, respectively.

The stationary plate 24 and the movable plate 22 are connected via a tie bar 29.

One end of the movable plate 22 is connected to the toggle mechanism 28.

An extrusion pin 36 is provided at the center of the movable die 22 to take out the molded article formed by the movable mold 10, and an extrusion motor 34 for driving the extrusion pin 36 is provided at one side thereof. .

When the crosshead 27 moves forward / backward in the toggle type clamping device 3, the movable die 22 moves linearly in the horizontal direction by the bending / extension action of the toggle mechanism 28 connected to the crosshead 27. (Advancing / retracting) to form a mold closed state (closed by close contact with the mold) or open state (opened state).

The control device 100 is provided in such a clamping device 3 to drive the clamping motor 25 for forwarding / reversing the crosshead 27 to change the bending / extension state of the toggle mechanism 28 and The moving mold 22 connected to 28 is transferred to control the progress of the mold opening or closing process.

Specifically, the above-described control apparatus 100 subdivides the entire section constituting the driving cycle of the mold adjusting process, that is, the mold opening or closing process into predetermined scan units, and repeatedly calculates the target position for each scan, thereby repeatedly processing the target position per scan. The mold opening and closing is controlled by generating a position profile indicating a change and generating an operation command based on this for each scan.

According to this, it is possible to reduce the amount of vibration and impact during high-speed mold opening and closing operation by realizing more precise and accurate position control and softening the rapid position change, and consequently shortening the cycle time.

Figure 3 is a schematic configuration diagram showing a control device of an injection molding machine according to an embodiment of the present invention.

The control device 100 for controlling the mold opening and closing by driving the mold motor 25 in the toggle-type mold clamping apparatus of the injection molding machine as described above is configured to include a control unit 110 and a drive unit 120 as shown in FIG. can do.

The mold opening / closing process may be performed in one or several stages of a multi-stage process depending on the desired molding conditions, and the driving cycle may be composed of one or a plurality of sections depending on the process stage (single stage).

In the case of a multi-stage process, the driving cycle is divided into sections of multiple stages, and characteristics such as position, velocity, and acceleration continuity vary at the boundary of each section.

For example, the multi-stage (three-stage) speed control on the movable die 22 may be performed by dividing the driving cycle of the mold opening and closing process into acceleration / constant speed / deceleration sections. In this case, speed switching takes place at the boundary of each section.

The controller 110 receives a setting parameter including a setting value for each section constituting a driving cycle of the mold opening or closing process and generates a position profile and a speed profile for all sections of the driving cycle based on the setting parameter.

The setting parameter may include a position setting value for each section, a speed setting value for each section, acceleration / deceleration time, etc. defined according to a user input.

In order to implement precise and accurate position control in scan units, the controller 110 divides all sections of a driving cycle into scan units when generating a position profile and calculates a target position per scan using a predefined polynomial to scan. Create a location profile for the unit.

The controller 110 for this may include a preprocessor 111, a position adjuster 112, and a speed adjuster 113.

The preprocessor 111 receives a setting parameter and calculates an operating parameter required to generate a position profile in scan units.

For example, the preprocessing unit 111 may set the position setting value for each section (initial position / target position for each section), the speed setting value for each section (initial speed / target speed for each section), acceleration and deceleration time, and the like. It is possible to calculate the operating parameters such as the acceleration and deceleration slope according to the transfer distance and the transfer time, the transfer distance and the transfer time, the maximum speed of all the sections, and the acceleration and deceleration time of each section.

Here, the total distance traveled distance is the sum of the distances transported for each section, and means the total traveled distance (position change) of the movable die 22 during one driving cycle during the mold opening or closing process.

For example, when the movable die 22 moves from the first position (eg, the mold opening position) to the second position (eg, the mold closing position) during one drive cycle, the total distance from the first position to the second position is transferred. It is the section travel distance.

Since the position setting value for each section (initial position / target position) is given according to the user's setting, the preprocessing unit 111 can obtain the transport distance (position change) of each section therefrom, The total distance can be calculated by adding them all together.

In one embodiment, the pre-processing unit 111 calculates the entire section conveying distance from the positional setting value for each section and increases the phase every scan (for example, 2ms) as the operating parameter for the whole section conveying distance and the phase increasing every scan. The position adjusting unit 112 is provided.

The position adjusting unit 112 calculates a target position for each scan by applying a feed distance and a phase input from the preprocessor 111 to a predefined polynomial position profile function.

In one embodiment, the position adjusting unit 112 includes a calculating unit 112_1 and an adding unit 112_2.

The calculating unit 112_1 of the position adjusting unit 112 is provided with an increasing distance for the entire section from the preprocessing unit 111 and a phase increasing every scan, and applies them to a predefined polynomial to calculate a unit feed amount per scan.

In this case, the calculator 112_1 may calculate a unit feed amount per scan using a cycloid polynomial suitable for high speed position control. The cycloid polynomial is defined as in Equation 1.

Here, L is the full distance travel distance (mm), x is the phase (radian or degree) of the current scan, y is the unit feed amount (mm / scan) of the current scan.

During one drive cycle in which the mold opening / closing process is executed, the phase of the drive cycle varies in a range from 0 to 180 and increases in sequential units every scan.

Thereafter, the adder 112_2 of the position adjusting unit 112 sequentially adds the unit feed amount per scan calculated for each scan to generate a position profile indicating a target position change per scan. The adder 112_2 calculates the unit feed amount of the scan for each scan, and adds the calculated unit feed amount to the current position to update the target position.

At this time, the position adjusting unit 112 repeats the operation of generating the target position for each scan while increasing / updating the phase for each scan until the target position reaches the entire section conveying distance and the scan for the entire section conveying distance is completed. do.

Furthermore, the preprocessor 111 may limit the upper limit / lower limit of the section-specific speed setting value set by the user by calculating the section-specific speed limit.

For example, the preprocessing unit 111 calculates the settable speed limit (upper limit / lower limit) based on the transport distance of each section obtained from the position setting value for each section in consideration of the transport distance and the transport time of the entire section. By providing to the speed adjusting unit 113 as a limit process for the speed setting value for each section set by the user can be performed.

The speed adjusting unit 113 generates a speed profile based on the speed setting value and the acceleration / deceleration time for each section set by the user. At this time, when the acceleration and deceleration time is set to the same, a symmetrical speed profile is generated, and when the acceleration time and the deceleration time are set differently, an asymmetric speed profile is generated.

In addition, the speed adjusting unit 113 restricts the speed profile according to the speed limit for each section calculated by the preprocessing unit 111 to provide the limited speed profile to the driver 120.

The driver 120 generates an operation command for each scan based on the position profile and the velocity profile provided by the controller 110 to drive the mold motor 25 to execute the opening or closing process.

4 is a diagram illustrating a position profile generated by the control device according to an embodiment of the present invention.

4 illustrates a comparison between the original position profile G1 and the scan unit position profile G2 having been corrected.

The original position profile G1 is generated according to the position setting value for each section, and the scan unit position profile G2 calculates the target position subdivided by the scan unit and applies the calculation result to correct the original position profile G1. It was created.

As illustrated in FIG. 4, the original position profile G1 is represented by a rough graph including only the position change (start position / target position of each section) of each section T1, T2, and T3. In contrast, the corrected position profile G2 is a more precise form of graph that includes a change in scan unit (divided by dotted lines) position, from the start of a predetermined drive cycle in which a mold opening or closing process is performed, to the end of the cycle. The target position change per scan for the whole section (T) of.

In one embodiment, the control device 100 first transfers the distance L1 of each section T1, T2, T3 constituting a driving cycle from the position setting value for each section (initial position / target position of each section) among the given setting parameters. , L2, L3) are obtained and summed / summed to generate the original position profile G1 for the entire section T of the drive cycle and calculate the full section feeding distance L.

Subsequently, the control apparatus 100 subdivides the entire section of the driving cycle in units of scans and updates the phase for each scan, and repeatedly calculates the target position using the polynomial position profile function.

In addition, the control apparatus 100 generates the scan unit position profile G2 indicating the target position change for each scan as illustrated in FIG. 4 by correcting the original position profile G1 by applying the target position calculation result per scan. Accordingly, mold opening and closing is controlled by generating an operation command for each scan.

In this way, if a polynomial suitable for high-speed position control, for example, a cycloid polynomial, is applied to the control of the mold clamping motor 25, it is more accurate and accurate than the case of performing the high-speed mold opening / closing operation using all sections or each section of the driving cycle as a control unit. The position control can be made to soften abrupt position changes, and the vibration and impact amount of the thick plate 26 can be reduced (impact mitigation) to induce shortening of the cycle time.

5 is a flowchart illustrating a control method of an injection molding machine according to an embodiment of the present invention.

First, the control device 100 receives a setting parameter including a setting value for each section forming a drive cycle of the mold opening / closing process by the user (S110). The setting parameter according to an embodiment includes a position setting value for each section, a speed setting value for each section, an acceleration and deceleration time, and the like.

Subsequently, the control device 100 generates a position profile based on the position setting value for each section among the setting parameters set by the user in S110, and divides the entire section of the driving cycle into scan units and uses a predefined polynomial per scan. The location profile is generated by calculating the target location (S120).

The step S120 of generating the location profile may be subdivided into steps S121 to S126.

When the scan is started (S121), the control device 100 calculates the entire travel distance from the section setting value set by the user (S122) and increases the phase for each scan to calculate the target position per scan. (S123).

Until the scan for the entire section travel distance is completed (S126), the control apparatus 100 applies the entire section travel distance calculated in S122 and the phase that increases every scan to the predefined polynomial position profile function. The unit transfer amount is repeatedly calculated (S124). In this case, the unit feed amount per scan may be calculated using the cycloid polynomial of Equation 1 described above.

Subsequently, the control apparatus 100 sequentially adds the unit feed amount per scan calculated in S124 to generate a position profile indicating a target position change for each scan (S125).

In addition, the control apparatus 100 generates a speed profile based on the speed setting value and the acceleration / deceleration time for each section among the setting parameters set by the user in S110 (S130).

The step S130 of generating the velocity profile may be subdivided into steps S131 to S133.

Here, the control device 100 basically generates a speed profile for all sections according to the speed setting value and the acceleration / deceleration time for each section set by the user (S131), but the transfer distance of each section obtained from the position setting values for each section. The speed limit is calculated based on (S132), and the speed profile previously generated by the speed limit for each section is calculated (S133).

Thereafter, the control device 100 generates an operation command for each scan based on the position profile generated in S125 and the speed profile generated in S130 to drive the mold motor 25 (S140).

The control apparatus and control method of the injection molding machine according to the present invention can be carried out by various modifications within the range allowed by the technical idea of the present invention without being limited to the above-described embodiment.

1: injection molding machine, 2: injection device,
3: clamping device, 24: fixed plate,
22: moving plate, 29: tie bar,
25: shaped motor, 26: thick plate,
27: crosshead, 28: toggle mechanism,
100: control unit, 110: control unit,
111: preprocessing unit, 112: position adjusting unit,
112_1: arithmetic unit, 112_2: adding unit,
113: speed adjusting unit, 120: driving unit

Claims (10)

delete delete As a control device for controlling the mold opening and closing by driving the mold motor provided in the toggle type clamping device of the injection molding machine,
A position profile and a velocity profile are generated based on a setting parameter including a setting value for each section constituting a driving cycle, and when generating the position profile, all sections of the driving cycle are divided by scan units and a predefined polynomial A control unit for calculating a target position per scan; And
It includes a drive unit for driving the mold motor by generating an operation command for each scan based on the position profile and the speed profile provided by the control unit,
The setting parameter includes a position setting value for each section, a speed setting value for each section, and an acceleration / deceleration time for each section constituting the driving cycle,
The control unit,
The unit feed amount per scan is calculated by applying the entire section feeding distance obtained from the position setting value of each section and the phase increasing every scan to the polynomial, and the unit feed amount per scan is sequentially added to indicate the target position change per scan. Control device of the injection molding machine comprising a position adjusting unit for generating a profile. The method of claim 3, wherein the position adjusting unit,
An apparatus for controlling an injection molding machine that calculates a unit feed amount per scan using a cycloid polynomial defined by the following equation.

Here, L is the full distance travel distance (mm), x is the phase (radian or degree) of the current scan, y is the unit feed amount (mm / scan) of the current scan. As a control device for controlling the mold opening and closing by driving the mold motor provided in the toggle type clamping device of the injection molding machine,
A position profile and a velocity profile are generated based on a setting parameter including a setting value for each section constituting a driving cycle, and when generating the position profile, all sections of the driving cycle are divided by scan units and a predefined polynomial A control unit for calculating a target position per scan; And
It includes a drive unit for driving the mold motor by generating an operation command for each scan based on the position profile and the speed profile provided by the control unit,
The setting parameter includes a position setting value for each section, a speed setting value for each section, and an acceleration / deceleration time for each section constituting the driving cycle,
The control unit,
The speed profile is generated based on the speed setting value for each section and the acceleration and deceleration time, and the speed limit for each section is calculated based on the transport distance of each section obtained from the position setting value for each section, and the speed limit for each section is calculated. And a speed adjusting unit configured to limit the speed profile accordingly. delete delete A control method for controlling mold opening and closing by driving a mold motor provided in a toggle type mold clamping apparatus of an injection molding machine,
Receiving, by the controller, a setting parameter including a setting value for each section forming a driving cycle;
Generating, by the control apparatus, a position profile based on the setting parameter, dividing an entire section of a driving cycle by a scan unit and calculating a target position per scan using a predefined polynomial;
Generating, by the controller, a speed profile based on the setting parameter; And
Generating, by the controller, an operation command for each scan based on the position profile and the speed profile to drive the mold motor;
The setting parameter includes a position setting value for each section, a speed setting value for each section, and an acceleration / deceleration time,
The location profile generation step,
Calculating an entire section conveying distance from the sectioned positioning value;
Increasing the phase every scan;
Repeatedly calculating the unit feed amount per scan by applying a phase that increases every scan to the polynomial until the scan for the feeding distance is completed; And
And generating the position profile indicative of a target position change per scan by sequentially adding the unit feed amount per scan. The method of claim 8,
A control method of an injection molding machine for calculating the unit feed amount per scan using a cycloid polynomial defined by the following equation.

Here, L is the full distance travel distance (mm), x is the phase (radian or degree) of the current scan, y is the unit feed amount (mm / scan) of the current scan. A control method for controlling mold opening and closing by driving a mold motor provided in a toggle type mold clamping apparatus of an injection molding machine,
Receiving, by the controller, a setting parameter including a setting value for each section forming a driving cycle;
Generating, by the control apparatus, a position profile based on the setting parameter, dividing an entire section of a driving cycle by a scan unit and calculating a target position per scan using a predefined polynomial;
Generating, by the controller, a speed profile based on the setting parameter; And
Generating, by the controller, an operation command for each scan based on the position profile and the speed profile to drive the mold motor;
The setting parameter includes a position setting value for each section, a speed setting value for each section, and an acceleration / deceleration time,
In generating the speed profile,
The control device generates the speed profile based on the speed setting value for each section and the acceleration / deceleration time, but calculates the speed limit based on the transport distance of each section obtained from the position setting value for each section, and the speed limit for each section. The control method of the injection molding machine to limit the speed profile according to.

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