SU1327059A1 - Apparatus for programmed control - Google Patents

Abstract

The invention relates to automation and can be used in control systems of industrial machines. The purpose of the invention is higher -. speed and accuracy in the formation of control programs. This goal is achieved by the fact that a program pulse counter and a command block are entered into a device containing a memory block, a timer, a decoder, the first output of which is connected to a summing input of a frame counter, and the first is connected to the first output of a timer. The device provides control of the executive mechanism in manual and automatic modes and automatic preparation of the program during manual control. 3 ill., 1 tab. from 9

Description

.one

This invention relates to automation; ke and computer technology and can be used in systems management of production plants and machines - metalworking machines, welding machines, units, robots, etc.

The aim of the invention is to increase the speed and accuracy in the formation of control programs.

FIG. 1 shows a block diagram of the proposed device; in fig. 2 timing diagram of the signals generated during operation of the device; in fig. 3 - schemes of execution of the command block, timer and decoder.

The device (Fig. 1) contains a command block 1, a timer 2, a decoder 3, a counter of 4 frames, a counter of 5 program pulses, and a block 6 of memory.

The outputs of block 1 are connected to the inputs of timer 2, the control and information inputs of the decoder 3, and the corresponding inputs of counters 4 and 5 and memory block 6.

The output of the device is the output of the decoder, which is connected to the actuator (not shown).

FIG. 2 shows a timing diagram of the signals and, „generated at the outputs of the blocks, where m is the block number in accordance with FIG. 1, and p is the number of the output of the corresponding block when counting the outputs from top to bottom on the image of each block according to the scheme in FIG. one.

The command block 1 contains (Fig. 2) key 7 Training, key 8 Playback, unit 9 of pulses, elements AND 10 and 11, and elements OR 12 and 13.

Timer 2 (Fig. 3) contains a counter 14, a decoder 15, an element 2I 16, 45 a pulse generator 17, an inverter 18, elements AND 19 and a pulse shaper 20,

The main feature of the proposed device in comparison with the known ones is the possibility of preparing programs by training along with the subsequent reproduction of these programs recorded in block 6 of memory.

The advantage of the proposed device in relation to copiers is the absence of any copiers in it for reproducing 3270592

i program management, which improves reliability and simplifies the design, while the device provides automatic partitioning of the generated program into frames.

The table shows the input-output characteristics of the decoder 3.

Note x is an arbitrary state.

The device works as follows.

In the initial state in the command block 1, keys 7 and 8 Training and Playback are not pressed and regardless of the state of the setpoint generator 9 and 55 pulses from the outputs of block 1 and 2, the signals O are transmitted to the mixture of inputs of the decoder 3, which signals 1 from the second, third and n In addition, the outputs resets counters 4 and 5 in O, note, x is an arbitrary state.

The device works as follows.

In the initial state in the command block 1, keys 7 and 8 Training and Playback are not pressed, and regardless of the setting state of the 9 pulses from the outputs of block 1 and 2, the signals O are transmitted to the mixture of inputs of the decoder 3, which signals 1 from the second, third and fifth of the outputs resets counters 4 and 5 to O, prohibits writing to counter 5 and transmitting signals O from the sixth and seventh outputs to an actuator (not shown). To perform the initial installation of memory block 6, the Training key is pressed with a fixed setting of 9 command pulses 1, from to by detecting signal 1 at the fourth input of the decoder 3 at its second and third outputs (U ,, j, and „, FIG. 2) is set O, allowing recording of pulse information on the addition inputs of counters 4 and 5, C due to the absence of signals at the first and the fourth outputs of the decoder 3, the counters 4 and 5 continue to remain in O. From the fifth output of the decoder 3 (U, Fig. 2), the Learning mode receives a signal 1 to the write input of the counter 5 program pulses, prohibiting the reading of information from the information inputs Timer 2 with a period of time On the second output of timer 2, the code of the generated frame is transferred from the counter 5 program pulses to the memory block 6. The sign of the fourth output (signal U of Fig. 2) of the command block 1 is also entered along the auxiliary input. When a pulse is received at the third output (signal and,) of timer 2, the first and three

house, defined by the ratio of the split-outputs of the decoder 3 transition t

The NIN timer, an impulse appears, the resolution is 1Y and the transfer of the zero code of the counter 5 program pulses to the address of the memory block 6 specified by the counter of 4 frames. In the original state, this is the zero address. Through the delay period, the indicated pulse appears at the third output of timer 2, converting the first and third outputs of the decoder 3 to 1. This clears the counter 5 of program pulses and increases by one the counter code of 4 frames. The next pulse from the second output of timer 2 clears the cell of the first program frame, then the second, and so on. The initial installation of memory block 6 is completed in time, where N is the memory capacity. (number of frames) unit 6; , T is the period of occurrence of pulses at the second output of timer 2.

To prepare the program in the Training mode, after the initial installation of the memory block 6, the shaft of the setpoint adjuster 9 of the pulses of the command block 1 is turned. 2) the sixth input of the decoder 3, and when the shaft rotates clockwise. The fourth output of block 1 is present

7059

It turns out O, and when turning counterclockwise ha the fourth output of block 1 is 1 (signal U, Fig. 2). Each impulse setpoint 9 passes from the sixth output of the decoder 3 (signal and, Fig. 2) to the actuator, together with the sign of the sign at the seventh output of the decoder5

3 (signal U, fig. 2), and from the fourth output of depp-1frator 3 - to the addition input of the program pulses counter 5, in which the code of the frame being generated accumulates.

At the moment of the occurrence of the next pulse at the second output of timer 2, the code of the generated frame is transferred from the counter of 5 program pulses to the memory block 6. The sign of the fourth output (signal U ,,,, Fig. 2) of the command block 1 is also entered at the auxiliary input. When a pulse is received at the third output (signal and) of timer 2, the first and third outputs of the decoder 3 transition t

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in 1 (signals and, and, clearing counter 5 software pulses for the next frame (signal 15, Fig. 2) and incrementing by one the counter code of 4 frames. If the moments of the recording or zeroing of the counters coincide with the arrival of the pulse from the setpoint 9, the passage the latter in block 5 is delayed until the transients are completed in the counters.

Thus, by manipulating the speed and direction of rotation of the shaft of the pre-pulse 9 of pulses of block 1, the actuator's working unit is moved along the learning trajectory, while the program is automatically compiled in block 6 of the memory, divided into frames by timer 2 commands.

When the Training in Commander Block 1 key is depressed, the process is stopped and the device elements are reset: counters 4 and 5 are set to O, and timer 2 and the actuator are stopped.

To play the received program, press the Play button in the command block 1, causing signal 1 to appear on the fifth input of the decoder 3. When counter 5 is in zero, signal 1 on the ninth input of the decoder 3 corresponds to O on its fifth output, the reading is out counter 5 of the zero frame information block; Since the increment code in the frame is not zero, the ninth input of the decoder 3 from counter 5 is O. At that, reading 1 by the input of the record of counter 5 stops and the counter code 4 increases by one. Timer 2 starts. At the first input of the decoder 3, clock pulses begin to arrive, the frequency of which significantly exceeds the frequency generated by timer 2 in the mode

Formula of the invention. Device for software control

The training corresponds to the frequency of f-5 of laziness, its contents (its memory block, actuator tai- ning (sigmer, decoder, the first output of which, fig. 2). Each pulse C of timer 2 is subtracted from the code of program 5 counter pulses and through the decoder 3. It passes from its sixth output to an additional mechanism (signal Uj, Fig. 2). The code of the seventh Output of the decoder 3 corresponds to

20

It is connected to the summing input of the frame counter, and the first input is connected to the first output of the timer, characterized in that, in order to improve speed and accuracy when generating control programs, it contains a program pulse counter and a command block,

sign code read on eighth

It is connected to the summing input of the frame counter, and the first input is connected to the first output of the timer, characterized in that, in order to improve speed and accuracy when generating control programs, it contains a program pulse counter and a command block,

the input of the decoder 3 from the memory block b 25, the first and second outputs of which are under- (signal and, Fig. 2). After generation to the timer inputs of the same name,

the second and third outputs of which are connected to the inputs of the descrambler of the same name, the fourth, the fifth, the sixth and

k of all pulses of the next frame, the counter 5 of program pulses is set to zero (signal | D 1,

FIG. 2) and there is a change of frame. At 30, the seventh inputs of which are connected to the completion of the processing of the last nonzero program frame in block 6, zero information remains. The established signal 1 at the signal output of the counter, 5 program pulses, arriving at the ninth input of the decoder 3, prohibits the transmission of driving pulses to the actuator, preventing its movement (signals Ujg, Ujo, Fig. 2).

The third, fourth, and fifth outputs of the decoder are connected respectively to 40 inputs of reset, summation and recording of the program pulse counter, the input of which is connected to the first output of the timer, information inputs from information outputs. All units of the device are implemented on the basis of standard microcircuits.

In block 1 (Fig. 3), thanks to elements 10, 11, MI 12, 13, 45 memory blocks are excluded, the address inputs of which can be simultaneously connected to the outputs of the Dani counter of the Training and Playback modes, and information inputs - to conduct. As a setting device for 9 pulses, it is advisable to use a standard unit with a pulse sensor .fO information input of the memory unit by the junction and pulse generator. Dinen with the fourth exit command

In block 2, the generator 17 pulses of the block, and the recording input, with the second one in the Playback mode via the timer timer output.

information outputs of the program pulse counter, additional

The mentor 19 and shaper 20 forms a pulse sequence on the first output, and in the Learning mode via counter 14, the decoder 15 and the elements AND 16 form pulses first on the second and then on the third outputs.

Block 3, depending on the signals at the inputs, exposes one or another code combination at the outputs.

Formula of the invention The device for software control, contains (its memory block, timer, decoder, the first output of which

f5 is lazy, contains (its memory block, timer, decoder, the first output of which

20

It is connected to the summing input of the frame counter, and the first input is connected to the first output of the timer, characterized in that, in order to improve speed and accuracy when generating control programs, it contains a program pulse counter and a command block,

25 whose first and second outputs are connected to the timer inputs of the same name.

responsibly with the first, second, third, and fourth outputs of the command block, and the eighth and ninth inputs — with pulse outputs of a 35 gram pulse counter and a memory block; the second output of the decoder is connected to the reset input of the greed counter, the third, fourth, and fifth the decoder outputs are connected respectively with 40 inputs for resetting, summing and recording the program pulse counter, the input of which is connected to the first timer output, information inputs to information outputs 45 of the memory unit, whose address inputs connected to the outputs of the frame counter, and the data inputs - .fO informatsionnm input to the memory block of the connections soe- fourth output command

units of the memory block, whose address inputs are connected to the outputs of the frame counter, and information inputs are connected to the information input of the memory block with the fourth output of the command

information outputs of the program pulse counter, additional

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Claims (2)

SUMMARY OF THE INVENTION Device for program control, comprising a memory unit, a timer "decoder, the first output of which is connected to the summing input of the frame counter, and the first input is to the left output of the timer, characterized in that, in order to increase speed and accuracy when generating control programs , it contains a software pulse counter and a command unit, the first and second outputs of which are connected to the inputs of the timer of the same name, the second and third outputs of which are connected to the inputs of the decoder of the same name, four the fifth, fifth, sixth, and seventh inputs of which are connected respectively to the first, second, third, and fourth outputs of the command unit, and the eighth and ninth inputs with pulse outputs of the program pulse counter and memory block, the second output of the decoder is connected to the reset input of the Frame counter, the third , the fourth and fifth outputs of the decoder are connected respectively to the inputs of the reset, totalization and recording of the counter of program pulses, the subtraction input of which is connected to the first output of the timer, information inputs - with information by the moves of the memory block, the address inputs allow the simultaneous setting of the Learning and Playback modes. It is advisable to use a standard unit with a pulse sensor and a pulse shaper as a setpoint of 9 pulses. In block 2, the pulse generator 17 in the Playback via electronic mode is connected to the outputs of the frame counter, and the information inputs are connected to the information outputs of the program pulse counter, an additional 50 information input of the memory block is connected to the fourth output of the command unit, and the recording input is connected to the second output a timer. Memory FIG. 1 Training Playback t 1 1 1 1 t pppppppppppppppplpl t G --------- 1 t SPPPPPPPP PPPPPPPPPPPP- t 1 III 1 1 1 1 1 1 1 1 1 1 1 tnr 7 1 1 1 1 ΙΓΊ £ t 1 1 1 1 1 II 1 i 1 1 1 1 1 1 1 1 1 1 t 1; ZJEZZL and li AND 1 g SPPPLPPPPPPPPPPPP YPPPPPPPPPPPP OH I di _____ t 1-------------------------- -----------------! 1----------------------- □ t ~ L π P □ - Π ΓΊ 1—1— 1 L £ 2 t FIG. 2 (rig.Z