201104032 六、發明說明： 【發明所屬之技術領域】 本發明涉及一面將針織物的捲繞張力保持一定，一面 進行捲繞筒狀的針織物的控制的圓編織機捲繞控制方法和 捲繞控制裝置。 【先前技術】 一般，圓編織機具有：針織部，其藉由電動機的驅動， 使將織針收納於針槽中的圓筒（cylinder)旋轉，供應紗給織 針，對筒狀針織物進行針織；捲繞機構部，其捲繞藉該針 織部針織的筒狀針織物。近年來，隨著紗、針織物的多樣 化和品質高級化，爲了驅動捲繞機構部的捲繞輥，在許多 場合下，採用可精密進行高速控制的伺服電動機。在此情 況下，人們知道，捲繞控制部進行將與針織機的運轉速度 同步的指令脈衝提供給伺服電動機，捲繞針織物的控制， 採用伺服電動機的速度控制、位置控制和轉矩控制模式。 在圓編織機的針織物捲繞中，必須以一定的捲繞張力 捲繞，比如，在具有伸縮性的紗、針織組織的場合下，捲 繞張力不一定時，針織物在伸長的狀態或鬆弛的狀態捲 繞，會產生製品不良。另外，於布卷的卷徑大，布匹重量 也增加的大（large)捲繞的場合下，在針織物的捲始和捲末 中，輥的卷徑大大不同，由此，施加於針織物上的捲繞張 力變化。由此，以對應於紗、針織組織、卷的卷徑的變化， 改變捲繞電動機的轉矩，捲繞張力一定的方式進行控制。 另外，人們還知道，在上述大捲繞的場合下，藉電位 201104032 儀的電壓，測量布卷的卷徑，比如，相對於DC電動機， 進行對來自布匹的重量加法運算的負荷變化造成的DC電 動機這樣的捲繞電動機的旋轉不足進行補償所需的電流加 法運算’藉一定的捲繞張力捲繞針織物，但是，由於電位 儀等部件數量增多的問題，另外，近年對長纖維進行針織， 品質等級提高，故採用該電位儀的控制方法在目前幾乎不 採用。 人們知道，在過去的捲繞控制中，針織機的布捲繞採 用轉矩（伺服）電動機的轉矩控制，以在捲繞時，對應於卷 的重量的變化，逐漸增加轉矩的方式控制轉矩電動機，進 行自動轉矩調整（比如，日本第27 3 3 7 60號專利文獻）。 人們還知道，，在其中一者中，捲繞採用伺服電動機的 位置控制，針對每種紗、針織組織，預先將作爲針織機每 圈的伺服電動機的旋轉角度的針織物生產量，即，伺服電 動機的指令脈衝數量的每次脈衝的移動量資料（位置控制 資料）提供給伺服電動機驅動器，由此，以一定的捲繞張力 捲繞針織物。 但是，伺服電動機的轉矩控制對應於卷重量的變化， 或對應於紗、針織組織的變更改變轉矩，由此，獲得一定 範圍內的捲繞張力，但是，由於該轉矩本來根據電動機軸 的轉矩獲得，因此，無法避免捲繞機構部的齒輪' 輥等機 械的負荷變化的影響，特別是在反復開始/停止時對針織物 的捲繞造成的影響大’未必能夠進行穩定的捲繞張力的捲 .201104032 繞控制。 另一方面’於過去伺服電動機的位置控制中，在改變 紗、針織組織時，對應於此，每次必須以形成適合的捲繞 @力的方式設定上述伺服電動機的指令脈衝數量的每次脈 衝時的移動量資料，而且很複雜，捲繞控制的自動化困難。 另外’在新的紗、針織組織的場合下，爲了適當地設定上 述移動量資料，必須根據比如，假定的設定，在卷始對針 織物進行針織，確認該針織物的狀態，自動化更加困難。 【發明內容】 本發明的目的在於提供一種圓編織機的捲繞控制方法 和捲繞控制裝置，其解決上述問題，即使變更紗、針織組 織’仍可適當地以穩定的捲繞張力自動地捲繞針織物。 爲了實現上述目的，作爲本發明一方案的圓編織機捲 繞控制方法涉及下述的方法，其藉包括捲繞輥和輥驅動用 的捲繞伺服電動機的捲繞機構部，捲繞在針織部針織的筒 狀針織物，藉捲繞控制部，控制上述捲繞機構部，上述捲 繞控制部可將上述捲繞伺服電動機的控制模式設定爲包括 下述模式的模式，以上述針織物的捲繞張力一定的方式使 捲繞伺服電動機旋轉的轉矩控制模式；以及相對於針織機 的旋轉，以一定的旋轉角度使捲繞伺服電動機旋轉的位置 控制模式，以上述轉矩控制模式開始上述針織物的捲繞， 在判定上述轉矩控制模式的捲繞狀態穩定之後，轉移到上 述位置控制模式，自動地進行上述針織物的捲繞。 201104032 在這裏，捲繞狀態的穩定係指編織機的運轉速度穩 定，針織機每圈的捲繞伺服電動機的旋轉角度基本一定。 本發明另一方案的圓編織機捲繞控制裝置具有：包括 捲繞在針織部針織的筒狀針織物的捲繞輥和輥驅動用的捲 繞伺服電動機的捲繞機構部；控制該捲繞機構部的捲繞控 制部，上述捲繞控制部包括控制模式設定機構，該機構可 將上述捲繞伺服電動機的控制模式設定在包括下述模式的 模式，以上述針織物的捲繞張力—定的方式使捲繞伺服電 動機旋轉的轉矩控制模式；相對於針織機的旋轉’以一定 的旋轉角度使捲繞伺服電動機旋轉的位置控制模式，以上 述轉矩控制模式開始上述針織物的捲繞，在判定上述轉矩 控制模式的捲繞狀態穩定之後，轉移到上述位置控制模 式，自動地進行上述針織物的捲繞。 根據上述方案，以轉矩控制模式開始針織物的捲繞， 由此，即使變更紗、針織組織，仍可對應於此，以適合的 捲繞張力對針織物進行捲繞。另外，在判定該捲繞狀態穩 定之後，自動地轉到位置控制模式，進行上述針織物的捲 繞，由此，可進行適合而穩定的捲繞。於是，即使變更紗、 針織組織，仍可以適合而穩定的捲繞張力自動地捲繞。 較佳爲在上述轉矩控制模式的捲繞狀態下，獲得作爲 上述針織物的針織機旋轉1圈時的捲繞伺服電動機的旋轉 角度的既定數量生產量資料，並且在上述針織物的既定數 量生產量資料收斂在既定範圍內時，判定上述捲繞狀態穩 201104032 定’相對於上述捲繞控制部，自動設定上述捲繞狀態穩定 時的針織物生產量資料，轉移到上述位置控制模式。於是， 在轉矩控制模式的捲繞狀態下，獲得針織物的既定數量生 產量資料’據此，判定捲繞狀態穩定，自動地設定對應於 紗、針織組織的捲繞伺服電動機的生產量資料（位置控制資 料），從轉矩控制模式轉移到位置控制模式，由此，即使變 更紗、針織組織，仍可藉更適合而穩定的捲繞張力自動地 捲繞， 【實施方式】 根據參照圖式下面較佳的實施方式說明，會更清楚地 理解本發明。但是，實施方式和圖式用於單純的圖示和說 明，不應當用於確定本發明的範圍。本發明的範圍藉後附 的申請專利範圍確定。在圖式中，多個圖式中的同一部件 標號表示同一部分。 下面根據圖式，對本發明的實施方式進行說明。第1 圖爲圓編織機整體的正視圖。如第1圖所示，圓編織機1 包括：對筒狀針織物進行針織的針織部2;由捲繞經針織 的筒狀針織物捲繞機構部3和控制捲繞機構部3的捲繞控 制部6形成的捲繞部。在包括針織部2的針織機主體側設 置進行針織機的資料登錄、各種顯示等用的針織機控制板 20 ° 在第1圖中，在藉多根腳21支承的機床22上方設置 針織部2。多根立柱24從機床22上立起，其頂部的水平構 201104032 件25藉連接部件固定。供紗部9支承於水平構件25上。 針織部2藉由主電動機7的驅動，使滑動自如地地收納有 圖中未示出的多根織針的圓筒旋轉，從供紗部9向織針供 應紗，呈螺旋狀將針織網眼重疊，對筒狀的針織物進行針 織。 在機床22的下方設置包括將經針織的針織物捲繞的捲 繞輥4和輥驅動用的捲繞伺服電動機5的捲繞機構部6。在 機床22的下方左側設置上述針織機控制板20和控制圓編 織機整體的整體控制部8。在機床22的下方前面設置未圖 示之阻止進入到圓編織機內部的安全用門，在針織機操作 過程中，爲了確保安全而鎖閉，而在爲了將針織物取出、 維護等而停止針織機時開啓。 使針織機（cylinder)旋轉的主電動機7藉圓編織機1的 整體控制部8，藉由比如利用逆變器的頻率控制，以既定 轉數而驅動的方式控制。 第2圖表示捲繞控制部6的方塊圖。上述捲繞控制部6 包括設置於第1圖的捲繞機構部3上的捲繞伺服驅動器 10;設置於整體控制部8中的資料處理設定部13中包括的 控制模式設定機構11;設置於第1圖的捲繞機構3中（圓筒 和捲繞機構部3連接），檢測主電動機7的圓筒的轉數的針 織機旋轉檢測部（旋轉編碼器）1 2。 · 捲繞伺服驅動器1 0對捲繞伺服電動機5進行比如p w Μ 控制輸出處理（圖中的c)，進行PWM控制，將與從針織機 201104032 旋轉檢測部12輸入的主電動機7的圓筒的旋轉角度（圖中 的g的針織機旋轉檢測信號）同步的指令脈衝的輸出脈衝數 提供給捲繞伺服電動機5，由此，對捲繞伺服電動機5的 旋轉角度進行控制。雖在圖中均未顯示，惟除了此等電動 機控制_PWM控制輸出部及針織機旋轉檢測信號輸入部之 外，捲繞伺服驅動器10還具有資料處理設定部13的串列 通信部與後述的捲繞伺服驅動器5之間的回饋電流檢測 部，電動機旋轉角度輸入部。 第2圖的控制模式設定手段1 1將捲繞伺服電動機5的 控制模式設定爲轉矩控制模式和位置控制模式（圖中的 e)。轉矩控制模式進行以針織物的捲繞張力一定的方式控 制捲繞伺服電動機5的旋轉。在該轉矩控制中，無論紗、 針織組織的變更、卷重量的變化，均獲得一定範圍內的捲 繞張力。 位置控制模式進行相對於針織機旋轉，以一定旋轉角 度（圖中的b的電動機旋轉信號）使捲繞伺服電動機5旋轉 的控制。在該位置控制的場合下，由於在保持一定的捲繞 張力的同時’進行捲繞伺服電動機5的高精度的旋轉角度 控制，故不同於上述轉矩控制，不受到捲繞機構部3的齒 輪、輥等機械的負荷變化的影響，這樣可以穩定的捲繞張 力捲繞。 第2圖的資料處理設定部π處理針織機主體和捲繞部 整體的資料’進行資料設定，其除了具備上述控制模式設 -10- 201104032 定手段11外，還具備生產量資料獲得手段14和穩定判斷 手段15。 生產量資料獲得手段1 4進行在轉矩控制模式的捲繞狀 態下’從捲繞伺服驅動器10獲得捲繞伺服電動機5的針織 機的每圈的旋轉角度（圖中的d的電動機旋轉角度），獲得 作爲針織物的針織機每轉1圈時的捲繞伺服電動機5的旋 轉角度的既定數量生產量資料的處理。該生產量資料爲與 上述主電動機7的圓筒的旋轉角度同步的捲繞伺服電動機 5的指令脈衝的輸出脈衝數量的每次脈衝的移動量資料（位 置控制資料）。 於普通捲繞的場合下，在轉矩控制模式時，對應於紗、 針織組織的變更，獲得適合針織物的捲繞張力的上述生產 量資料。接著，在位置控制模式時，以轉矩控制模式獲得 的生產量資料而進行位置控制，形成適合該針織物捲繞的 一定捲繞張力（轉矩）。 於卷直徑大的大捲繞場合下，在轉矩控制模式時，於 卷重量變化之前，獲得適合於針織物的捲繞張力的上述生 產量資料。接著，在位置控制模式時，以轉矩控制模式獲 得的生產量資料而進行位置控制，由此，即使卷重量變化， 仍形成適合於該針織物捲繞的一定捲繞張力（轉矩）。 穩定判斷手段1 5進行在轉矩控制模式的捲繞狀態下， 針織物的既定數量生產量資料，即，捲繞伺服電動機5的 指令脈衝數量的每次脈衝的移動量資料收斂在既定範圍內 -11- 201104032 時，判定上述捲繞狀態穩定的處理。在比如，10個針織機 旋轉1圈時的上述移動量資料的最大和最小的差收斂在其 平均値的±1 %以內時，判斷捲繞狀態穩定。也可在上述移動 量資料收斂在預定値時，判定捲繞狀態穩定。 然後，資料處理設定部13自動設定作爲針織物的生產 量資料的移動量資料（位置控制資料）（圖中的f)，將其提供 給捲繞伺服驅動器1 0,從轉矩控制模式轉到位置控制模式。 如此，資料處理設定部13對捲繞伺服驅動器10進行 轉矩控制模式和位置控制模式的模式設定（圖中的e)，進行 生產量資料的自動設定（圖中的f)。捲繞伺服驅動器10對 捲繞伺服電動機5進行上述PWM控制輸出處理，藉此，進 行在轉矩控制模式中形成適合捲繞張力的捲繞伺服電動機 5利用電流的，以及在位置控制模式中自動設定的捲繞伺 服電動機5利用上述移動量資料（位置控制資料）的電動機 控制（圖中的c)。 如此，在轉矩控制模式的捲繞狀態下，獲得針織物既 定數量生產量資料，據此而判定捲繞狀態穩定’自動地設 定對應於紗、針織組織的捲繞伺服電動機5的上述移動量 資料（位置控制資料），從轉矩控制模式轉到位置控制模 式，由此，每當如過去那樣，在位置控制模式的場合下’ 紗、針織組織變更時，不必以捲繞張力適當的方式設定捲 繞伺服電動機5的上述移動量資料’即使在改變紗、針織 組織的情況下，仍可藉適合而穩定的捲繞張力’自動地進 -12- 201104032 行捲繞。 另外’在控制捲繞手段部3用的針織機主體側和捲繞 部側的連接中’採用圖中未示出的比如4極的集電環，以 AC24V供電用2根、串列通信用2根的佈線而進行。比如， 針織物在中途掛在其他設備上等的異常藉捲繞伺服驅動器 1 0檢測到，進行串列通信，在針織機主體側的針織機控制 板20中進行錯誤輸出顯示。在採用過去的電位儀的控制方 法中，必須要求比如8極的集電環，但是與此場合相比較， 可大幅減少極數，另外，還可減少電位儀等的部件數量。 採用第3圖的流程圖，對上述結構的圓編織機1的捲 繞控制裝置的動作進行說明。首先，確認是否鎖閉了圓編 織機1的安全用門（步驟S1)。在圓編織機1的運轉中，將 門鎖閉，圓編織機1停止時，爲了取出針織物進行維護等， 將門打開。在打開門的場合下，停止捲繞伺服電動機5(步 驟2)，返回到步驟S1 » 在步驟S1中鎖閉門的場合下，確認是否進行生產量資 料的測量（步驟S 3)。在不測量的場合下，使捲繞伺服電動 機5處於位置控制模式（步驟S 8)。 於步驟S3，在進行測量的場合下，使捲繞伺服電動機 5爲轉矩控制模式（步驟S4)，以既定數量測量轉矩控制模 式的捲繞中的針織機每旋轉1圈的生產量，即，捲繞伺服 電動機5的指令脈衝數量的每次脈衝時的移動量資料（位置 控制資料）（步驟S5)。 201104032 接著，判斷針織機每旋轉1圏的生產量是否穩定，即 判斷是否對以既定數量測量上述移動量資料，其最大値和 最小値收斂在規定範圍內的情況下進行判斷（步驟6)。在判 定生產量不穩定時，返回到步驟S5»在判斷生產量穩定時， 自動設定作爲位置控制模式的生產量資料的移動量資料 (位置控制資料）（步驟S7)，從轉矩控制模式轉到位置控制 模式（步驟S8)。 在打開門之前，捲繞伺服電動機5連續運轉，直至步 驟S 8的位置控制模式。另外，在運轉中捲繞控制部6檢測 到異常的場合下，停止捲繞伺服電動機5，返回到開始狀 態。 如此，在本發明的場合下，藉轉矩控制模式，開始針 織物的捲繞，由此，即使改變紗、針織組織，仍可對應此 而形成適合的捲繞張力。接著，在判定該捲繞狀態穩定之 後，自動地轉到位置控制模式，進行上述針織物的捲繞， 由此，可進行適合而穩定的捲繞。於是，即使改變紗、針 織組織，仍可以適合而穩定的捲繞張力自動地捲繞，可實 現自動控制張力 ACT(Automatic Control Tension)。 另外，在本實施方式中，針織機旋轉檢測部12採用編 碼器，但是也可代替它而採用旋轉編碼器、接近感測器等。 此外，在本實施方式中，針織機主體側和捲繞部側的 連接採用集電環，但是，也可代替它，而採用作爲獲取無 接點器件等的旋轉體的電源供給、旋轉體等的信號的手段 -14- 201104032 的旋轉連接用連接器。 如上所述，參照圖式’說明較佳實施形態’但是’本 技藝人士觀看本說明書，會容易在不言自明的範圍內想到 各種變更和修正方式。於是，這樣的變更和修正方式解釋 爲根據後附的申請專利範圍確定的本發明的範圍內的方 案。 【圖式簡單說明】 第1圖爲圓編織機的正視圖； 第2圖爲表示本發明的一個實施方式的圓編織機的捲 繞控制裝置的方塊圖； 第3圖爲表示第2圖的圓編織機的捲繞控制裝置的動 作的流程圖。 【主要元件符號說明】 1 圓編織機 2 針織部 3 捲繞機構部 5 捲繞伺服電動機 6 捲繞控制部 7 主電動機 8 整體控制部 9 供紗部 10 捲繞伺服驅動器 11 控制模式設定手段 12 針織機旋轉檢測部 -15- 201104032 13 資 料 處 理 設 定 部 14 生 產 量 資 料 獲 得手段 15 穩 定 判 斷 手 段 20 針 織 機 控 制 板 21 腳 22 機 床 24 —1^. 柱 25 水 平 構 件 a 回 饋電流 b 電 動 機 旋 轉 信 號 c 電 動 機 控 制 • PWM控制輸出 d 電 動 機 旋 轉 角 度 e 控 制 模 式 設 定 f 生 產 量 白 動 設 定 g 針 織 機 旋 轉 檢 測信號 -16-BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a circular knitting machine winding control method and winding control for controlling a knitted fabric in a tubular shape while maintaining a constant winding tension of a knitted fabric. Device. [Prior Art] Generally, a circular knitting machine has a knitting portion that rotates a cylinder that accommodates a knitting needle in a needle groove by driving a motor, supplies a yarn to a knitting needle, and performs a tubular knitted fabric. Knitting; a winding mechanism portion that winds a tubular knitted fabric knitted by the knitting portion. In recent years, in order to drive the winding roller of the winding mechanism portion, a servo motor capable of precise high-speed control has been used in order to drive the winding of the winding mechanism portion. In this case, it is known that the winding control unit supplies a command pulse for synchronizing the operation speed of the knitting machine to the servo motor, and controls the winding of the knitted fabric, and adopts the speed control, the position control, and the torque control mode of the servo motor. . In the winding of the knitted fabric of the circular knitting machine, it is necessary to wind with a certain winding tension. For example, in the case of a stretchable yarn or a knitted structure, when the winding tension is not constant, the knitted fabric is in an elongated state or Winding in a relaxed state can result in defective products. Further, in the case where the winding diameter of the cloth roll is large and the weight of the cloth is also increased, the winding diameter of the roll is greatly different in the winding start and the end of the knitted fabric, thereby being applied to the knitted fabric. The winding tension on the top changes. Thereby, the torque of the winding motor is changed in accordance with the change in the winding diameter of the yarn, the knitted structure, and the roll, and the winding tension is controlled to be constant. In addition, it is also known that, in the case of the above-mentioned large winding, the winding diameter of the cloth roll is measured by the voltage of the potential 201104032, for example, DC is generated for the load change from the weight of the cloth with respect to the DC motor. In the case of a motor such as a motor, the rotation of the winding motor is insufficient, and the current is added to compensate for the winding. The knitted fabric is wound by a certain winding tension. However, the number of components such as a potentiometer increases, and in recent years, long fibers are knitted. The quality level is improved, so the control method using this potentiometer is hardly used at present. It is known that in the past winding control, the cloth winding of the knitting machine is controlled by the torque of a torque (servo) motor to control the method of gradually increasing the torque corresponding to the change in the weight of the roll during winding. Torque motor for automatic torque adjustment (for example, Japanese Patent No. 27 3 3 7 60). It is also known that, in one of them, the winding is controlled by the position of the servo motor, and for each yarn and knitted structure, the amount of knitted fabric produced as the rotation angle of the servo motor per revolution of the knitting machine, that is, the servo The movement amount data (position control data) of each pulse of the number of command pulses of the motor is supplied to the servo motor driver, whereby the knitted fabric is wound with a certain winding tension. However, the torque control of the servo motor corresponds to a change in the weight of the roll, or a change in torque corresponding to the change of the yarn or the knitted structure, thereby obtaining a winding tension within a certain range, but since the torque is originally based on the motor shaft Since the torque is obtained, it is impossible to avoid the influence of the mechanical load change such as the gear 'roller of the winding mechanism portion, and particularly the effect on the winding of the knitted fabric at the time of repeated start/stop is not necessarily stable. Roll around the tension. 201104032 Winding control. On the other hand, in the position control of the servo motor in the past, when changing the yarn and the knitting structure, it is necessary to set each pulse of the number of command pulses of the servo motor each time to form a suitable winding@force. The amount of movement data is complicated and the automation of winding control is difficult. Further, in the case of a new yarn or a knitted structure, in order to appropriately set the above-described movement amount data, it is necessary to knit the needle fabric at the beginning of the winding according to, for example, a predetermined setting, and it is more difficult to automate the state of the knitted fabric. SUMMARY OF THE INVENTION An object of the present invention is to provide a winding control method and a winding control device for a circular knitting machine which solve the above problems, and can automatically roll up with a stable winding tension even if the yarn or knitted structure is changed. Wrap around the fabric. In order to achieve the above object, a circular knitting machine winding control method according to an aspect of the present invention relates to a method of winding a knitting portion of a winding servo motor including a winding roller and a roller driving in a knitting portion. The knitted tubular knitted fabric is controlled by the winding control unit to control the winding mechanism unit, and the winding control unit can set the control mode of the winding servo motor to a mode including the following mode, and the roll of the knitted fabric a torque control mode for rotating the servo motor in a manner of constant tension; and a position control mode for rotating the servo motor at a certain rotation angle with respect to the rotation of the knitting machine, starting the knitting in the torque control mode described above After determining that the winding state of the torque control mode is stabilized, the winding of the object is shifted to the position control mode, and the winding of the knitted fabric is automatically performed. 201104032 Here, the stability of the winding state means that the running speed of the knitting machine is stable, and the rotation angle of the winding servo motor per revolution of the knitting machine is substantially constant. A circular knitting machine winding control device according to another aspect of the present invention includes: a winding roller including a winding fabric wound around a knitted portion and a winding servo motor for driving a roller; and controlling the winding In the winding control unit of the mechanism unit, the winding control unit includes a control mode setting unit that sets the control mode of the winding servo motor to a mode including the following mode, and sets the winding tension of the knitted fabric The torque control mode for rotating the servo motor; the position control mode for rotating the servo motor at a constant rotation angle with respect to the rotation of the knitting machine, and starting the winding of the knitted fabric in the torque control mode After determining that the winding state of the torque control mode is stabilized, the process proceeds to the position control mode, and the winding of the knitted fabric is automatically performed. According to the above aspect, the winding of the knitted fabric is started in the torque control mode, whereby even if the yarn or the knitted structure is changed, the knitted fabric can be wound with a suitable winding tension. Further, after it is determined that the winding state is stabilized, it is automatically switched to the position control mode to wind the knitted fabric, whereby appropriate and stable winding can be performed. Therefore, even if the yarn or the knitted structure is changed, the winding tension can be automatically wound with a suitable and stable winding tension. Preferably, in the winding state of the torque control mode, a predetermined amount of production amount of the rotation angle of the winding servo motor when the knitting machine of the knitted fabric is rotated one turn is obtained, and the predetermined number of the knitted fabric is When the production amount data is converged within the predetermined range, it is determined that the winding state is stable, and the knitted fabric production amount data when the winding state is stable is automatically set with respect to the winding control unit, and the shift to the position control mode is performed. Then, in the winding state of the torque control mode, the predetermined amount of production data of the knitted fabric is obtained. Accordingly, it is determined that the winding state is stable, and the production data of the winding servo motor corresponding to the yarn and the knitted structure is automatically set. (Position control data), by shifting from the torque control mode to the position control mode, even if the yarn or the knitted structure is changed, the winding tension can be automatically wound by a more suitable and stable winding tension. [Embodiment] The invention will be more clearly understood from the following description of the preferred embodiments. However, the embodiments and the drawings are intended to be illustrative and not to be construed as limiting the scope of the invention. The scope of the invention is determined by the scope of the appended claims. In the drawings, the same reference numerals in the various drawings represent the same parts. Embodiments of the present invention will now be described with reference to the drawings. Figure 1 is a front view of the entire circular knitting machine. As shown in Fig. 1, the circular knitting machine 1 includes a knitting portion 2 for knitting a tubular knitted fabric, and a winding for winding the knitted tubular knitted fabric winding mechanism portion 3 and controlling the winding mechanism portion 3. The winding portion formed by the control unit 6. A knitting machine control panel 20° for registering the knitting machine, various displays, and the like is provided on the knitting machine main body side including the knitting unit 2. In the first drawing, the knitting unit 2 is provided above the machine tool 22 supported by the plurality of legs 21. . A plurality of uprights 24 are erected from the machine tool 22, and the horizontal structure of the top of the structure, 0404032, 25 is fixed by the connecting member. The yarn supplying portion 9 is supported by the horizontal member 25. The knitting unit 2 rotates the cylinder in which a plurality of knitting needles (not shown) are slidably accommodated by the driving of the main motor 7, and supplies the yarn from the yarn supplying unit 9 to the knitting needle, and spirals the knitting net. The eyes are overlapped and the tubular knitted fabric is knitted. Below the machine tool 22, a winding mechanism portion 6 including a winding roller 4 for winding a knitted fabric and a winding servomotor 5 for driving a roller is disposed. The knitting machine control panel 20 and the overall control unit 8 for controlling the entire circular knitting machine are provided on the lower left side of the machine tool 22. A safety door (not shown) that prevents entry into the inside of the circular knitting machine is provided on the lower surface of the machine tool 22, and is locked in order to secure the knitting during the operation of the knitting machine, and the knitting is stopped in order to take out the knitting, maintenance, and the like. The machine is turned on. The main motor 7 for rotating the knitting machine is controlled by the overall control unit 8 of the circular knitting machine 1 by means of frequency control of the inverter, for example, by driving at a predetermined number of revolutions. Fig. 2 is a block diagram showing the winding control unit 6. The winding control unit 6 includes a winding servo driver 10 provided in the winding mechanism unit 3 of Fig. 1; a control mode setting unit 11 included in the material processing setting unit 13 provided in the overall control unit 8; In the winding mechanism 3 of Fig. 1 (the cylinder is connected to the winding mechanism unit 3), a knitting machine rotation detecting unit (rotary encoder) 12 that detects the number of revolutions of the cylinder of the main motor 7 is used. The winding servo driver 10 performs, for example, pw Μ control output processing (c in the figure) on the winding servo motor 10, performs PWM control, and the cylinder of the main motor 7 input from the knitting machine 201104032 rotation detecting unit 12. The number of output pulses of the command pulse synchronized with the rotation angle (the knitting machine rotation detection signal of g in the figure) is supplied to the winding servo motor 5, whereby the rotation angle of the winding servo motor 5 is controlled. In addition to the motor control_PWM control output unit and the knitting machine rotation detection signal input unit, the winding servo driver 10 further includes a serial communication unit of the data processing setting unit 13 and a later-described operation. A feedback current detecting unit that is wound between the servo drivers 5 and a motor rotation angle input unit. The control mode setting means 1 1 of Fig. 2 sets the control mode of the winding servo motor 5 to the torque control mode and the position control mode (e in the figure). The torque control mode controls the rotation of the winding servo motor 5 in such a manner that the winding tension of the knitted fabric is constant. In this torque control, the winding tension in a certain range is obtained regardless of the change of the yarn, the knitting structure, and the change in the weight of the roll. The position control mode performs control for rotating the winding servo motor 5 at a constant rotation angle (motor rotation signal of b in the figure) with respect to the rotation of the knitting machine. In the case of the position control, since the high-precision rotation angle control of the winding servo motor 5 is performed while maintaining a constant winding tension, the gear of the winding mechanism portion 3 is not different from the torque control described above. The influence of the load change of the machine such as a roller, so that the winding tension can be stably wound. The data processing setting unit π of Fig. 2 processes the data of the entire knitting machine main body and the winding unit to perform data setting, and further includes the production amount data obtaining means 14 and the control means setting -10 201104032 determining means 11 and Stabilization determination means 15. The production amount data obtaining means 14 performs the rotation angle of each turn of the knitting machine that winds the servo motor 5 from the winding servo driver 10 in the winding state of the torque control mode (the motor rotation angle of d in the figure) A process of obtaining a predetermined amount of production amount data of the rotation angle of the winding servo motor 5 per one rotation of the knitting machine as a knitted fabric. The production amount data is a movement amount data (position control data) per pulse of the number of output pulses of the command pulse of the winding servo motor 5 in synchronization with the rotation angle of the cylinder of the main motor 7. In the case of the normal winding, in the torque control mode, the above-described production amount data suitable for the winding tension of the knitted fabric is obtained in accordance with the change of the yarn and the knitted structure. Next, in the position control mode, the positional control is performed in the production amount data obtained in the torque control mode to form a certain winding tension (torque) suitable for winding the knitted fabric. In the case of a large winding having a large roll diameter, in the torque control mode, the above-described production data suitable for the winding tension of the knitted fabric is obtained before the change in the weight of the roll. Next, in the position control mode, the position control is performed in the production amount data obtained in the torque control mode, whereby even if the roll weight changes, a certain winding tension (torque) suitable for the winding of the knitted fabric is formed. The stability determination means 15 performs a predetermined amount of production amount of the knitted fabric in the winding state of the torque control mode, that is, the movement amount data of each pulse of the number of command pulses wound around the servo motor 5 converges within a predetermined range -11-201104032, the process of determining that the winding state is stable is determined. For example, when the difference between the maximum and minimum of the above-described movement amount data when one of the ten knitting machines rotates is within ±1% of the average 値, it is judged that the winding state is stable. It is also possible to determine that the winding state is stable when the above-described movement amount data converges at a predetermined enthalpy. Then, the material processing setting unit 13 automatically sets the movement amount data (position control data) (f in the figure) as the production amount data of the knitted fabric, supplies it to the winding servo driver 10, and shifts from the torque control mode. Position control mode. In this way, the data processing setting unit 13 sets the mode of the torque control mode and the position control mode to the winding servo drive 10 (e in the figure), and automatically sets the production amount data (f in the figure). The winding servo driver 10 performs the above-described PWM control output processing on the winding servo motor 5, thereby performing current consumption by forming the winding servo motor 5 suitable for winding tension in the torque control mode, and automatically in the position control mode. The set winding servo motor 5 is controlled by the motor of the above-described movement amount data (position control data) (c in the figure). In this way, in the winding state of the torque control mode, the predetermined amount of production data of the knitted fabric is obtained, and it is determined that the winding state is stable 'automatically setting the above-described movement amount of the winding servo motor 5 corresponding to the yarn and the knitted structure. The data (position control data) is transferred from the torque control mode to the position control mode. Therefore, whenever the yarn and the knitting structure are changed in the position control mode as in the past, it is not necessary to use the winding tension in an appropriate manner. The above-described movement amount data of the winding servo motor 5 is set to be automatically wound by the appropriate and stable winding tension even when the yarn or the knitted structure is changed. In addition, in the connection of the knitting machine main body side and the winding part side for controlling the winding means portion 3, for example, a four-pole collecting ring, not shown, is used, and two AC 24V power supplies are used for serial communication. Two wirings are performed. For example, the abnormality in which the knitted fabric is hung on another device or the like is detected by the winding servo driver 10, and serial communication is performed, and an error output display is performed on the knitting machine control panel 20 on the knitting machine main body side. In the control method using the conventional potentiometer, it is necessary to require a collector ring such as an 8-pole, but in comparison with this case, the number of poles can be greatly reduced, and the number of components such as a potentiometer can be reduced. The operation of the winding control device of the circular knitting machine 1 having the above configuration will be described with reference to the flowchart of Fig. 3. First, it is confirmed whether or not the safety door of the circular knitting machine 1 is locked (step S1). In the operation of the circular knitting machine 1, the door is locked, and when the circular knitting machine 1 is stopped, the door is opened in order to take out the knitted fabric for maintenance or the like. When the door is opened, the winding of the servo motor 5 is stopped (step 2), and the process returns to step S1. » When the door is locked in step S1, it is checked whether or not the measurement of the production amount is performed (step S3). When the measurement is not performed, the winding servo motor 5 is placed in the position control mode (step S8). In step S3, when the measurement is performed, the winding servomotor 5 is set to the torque control mode (step S4), and the production amount per one rotation of the knitting machine in the winding of the torque control mode is measured in a predetermined number. That is, the movement amount data (position control data) at the time of each pulse of the number of command pulses of the servo motor 5 is wound (step S5). 201104032 Next, it is judged whether or not the production amount per one rotation of the knitting machine is stable, that is, it is judged whether or not the above-described movement amount data is measured with a predetermined number, and the maximum 値 and minimum 値 converge within a predetermined range (step 6). When it is determined that the production amount is unstable, the process returns to step S5 » when it is judged that the production amount is stable, the movement amount data (position control data) of the production amount data as the position control mode is automatically set (step S7), and the torque control mode is switched. Go to the position control mode (step S8). Before the door is opened, the winding servo motor 5 is continuously operated until the position control mode of step S8. Further, when the winding control unit 6 detects an abnormality during operation, the winding of the servo motor 5 is stopped, and the flow returns to the start state. As described above, in the case of the present invention, the winding of the woven fabric is started by the torque control mode, whereby even if the yarn or the knitted structure is changed, a suitable winding tension can be formed accordingly. Then, after it is judged that the winding state is stabilized, it is automatically switched to the position control mode to wind the knitted fabric, whereby appropriate and stable winding can be performed. Therefore, even if the yarn or the knitting structure is changed, the winding tension can be automatically wound with a suitable and stable winding tension, and the automatic control tension ACT (Automatic Control Tension) can be realized. Further, in the present embodiment, the knitting machine rotation detecting unit 12 employs an encoder, but a rotary encoder, a proximity sensor, or the like may be employed instead. Further, in the present embodiment, the power collecting ring is used for the connection between the main body side and the winding portion side of the knitting machine. However, instead of this, a power supply, a rotating body, or the like as a rotating body for acquiring a contactless device or the like may be employed. The means of signal -1404032 for the rotary connection with the connector. As described above, the preferred embodiments are described with reference to the drawings, but the present invention will be apparent to those skilled in the art. Accordingly, the manner of such changes and modifications is to be construed as being within the scope of the invention as defined by the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a front view of a circular knitting machine; Fig. 2 is a block diagram showing a winding control device for a circular knitting machine according to an embodiment of the present invention; and Fig. 3 is a view showing a second drawing of Fig. 2; A flow chart of the operation of the winding control device of the circular knitting machine. [Description of main component symbols] 1 Circular knitting machine 2 Knitting part 3 Winding mechanism part 5 Winding servo motor 6 Winding control part 7 Main motor 8 Overall control part 9 Yarn supply part 10 Winding servo drive 11 Control mode setting means 12 Knitting Machine Rotation Detection Unit -15- 201104032 13 Data Processing Setting Unit 14 Production Quantity Data Acquisition Means 15 Stability Judging Method 20 Knitting Machine Control Board 21 Foot 22 Machine Tool 24 — 1^. Column 25 Horizontal member a Feedback current b Motor rotation signal c Motor Control • PWM Control Output d Motor Rotation Angle e Control Mode Setting f Production Quantity White Setting g Knitting Machine Rotation Detection Signal-16-