WO1997015873A1

WO1997015873A1 - Method of timing plural systems

Info

Publication number: WO1997015873A1
Application number: PCT/JP1996/003085
Authority: WO
Inventors: Kentaro Fujibayashi; Keisuke Tsujikawa
Original assignee: Fanuc Ltd
Priority date: 1995-10-23
Filing date: 1996-10-23
Publication date: 1997-05-01
Also published as: JPH09114508A

Abstract

A motion timing method using a motion controller capable of easily changing the timings of motions of a plurality of systems in an industrial machine. A motion program (1a) including a timing instruction (1b) in which the amount of movement for timing is designated, prepared and stored in a program storage means (1) of a CNC (10). A means (3) for detecting the amount of movement of a second system is adapted to detect the amount of movement of a belt conveyor (31) constituting the second system. After the timing instruction (1b) is read out from the motion program (1a), a first system motion control means (4) starts measuring the amount of movement of a work (32) when a touch sensor (34) detects the arrival of the work (32) at a predetermined position. When the measured amount of movement reaches the amount of movement for timing, a PC (18) actuates a stick attaching machine (33).

Description

Harm

Timing adjustment method for multiple systems

Technical field

The present invention relates to a method for adjusting the operation timing of a plurality of systems by using a motion controller that controls the operation of a movable part driven by a motor, and particularly to a transfer means such as a belt conveyor. The present invention relates to a method of adjusting operation timings of a plurality of systems in an industrial machine having the above. The motion controller includes a computer control numerical controller (CNC), a programmable controller (PC), and a computer controller. Evening is included.

Background technology

In an industrial machine that transports a workpiece by a conveyor such as a belt conveyor and performs various tasks on the workpiece, one motion controller uses multiple systems. Control. In order to control multiple systems and perform desired work on a work, it is necessary to match the operation timing of each system.

Conventionally, two evening methods are known to match the operation timing of multiple systems. One type is to match the operation timing between the servo motors provided in each system, and the other type is based on signals from sensors provided in the machine. This is the type to match the mining.

In the former type, the command block number of one system is specified, and the other system waits until the execution of the specified command block is completed. In the latter type, for example, A detector, such as a touch sensor or an optical sensor, detects that the work conveyed by the root conveyor has reached a predetermined position, and synchronizes with the signal from the detector to synchronize the other with the other. An operation of the system, for example, a sticking operation is performed.

In the evening where the detector is used, it is necessary to change the operation timing according to the size and shape of the work. However, in this case, the position of the detector such as the touch sensor must also be changed. High-precision positioning is required for detectors such as sunset sensors and optical sensors, and positioning the detector every time the type of work is changed is a task. This leads to lower efficiency.

Disclosure of the invention

An object of the present invention is to provide a timing adjustment method capable of easily changing the operation timing of a plurality of systems using a motion controller. With the goal.

The timing adjustment method according to the present invention includes a step of creating an operation program including a timing command in which a predetermined movement amount for timing is specified; A step of reading a program one block at a time, and a step of detecting that an object on the second system has reached a predetermined position and outputting a reference timing signal. If the read block contains a timing command and the reference timing signal is output, start the measurement of the travel distance of the second system. When the measured movement amount of the second system reaches the specified movement amount specified in the operation program, the operation of the first system is And a step to start.

According to the method of the present invention, when a timing command is written in the block of the operation program, it is detected that the object on the second system has reached the predetermined position. From this point, the operation of the first system starts when it has moved by a predetermined amount. Therefore, when the shape or size of the work is changed, it is only necessary to change the amount of timing movement in the operation program according to the size or shape of the work. The operation timing can be easily changed.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a conceptual diagram showing an industrial machine and a function of CNC according to the embodiment of the present invention.

FIG. 2 is a block diagram showing the hardware configuration of the CNC shown in FIG. 1,

FIG. 3 is a flowchart showing the procedure of the timing adjustment control.

BEST MODE FOR CARRYING OUT THE INVENTION As shown in FIG. 1, an industrial machine 30 according to this embodiment is transported by a velvet conveyor 31 and a velvet conveyor 31. A seal sticking machine 33 for sticking a seal on the work 32 to be fed is provided. The evening sensor 34 is provided near the convergence conveyor 31, and the work 3 2 is transferred when the peak 3 2 carried on the belt conveyor 31 reaches a predetermined position. , And outputs a reference timing signal to the programmable controller (PC) 18. In this embodiment, the seal The pasting machine 33 is used as the first system, and the belt conveyor 31 is used as the second system. The CNC 10 controls the operation of the belt conveyor 31 and the sealer 33.

The PC 18 controls the operation of the sticking machine 33 based on the command from the CNC 10. The PC 18 receives the reference timing signal from the evening sensor 34 and sends it to the CNC 10. The servo motor 5 drives the belt conveyor 31 according to the command of the CNC 10 force.

The program storage means 1 of the CNC 10 stores an operation program 1 a for controlling the sticking machine 33 and the belt conveyor 31. In the operation program 1a, the timing command 1b including the designation of the amount of movement for evening is written. The program decoding means 2 reads and decodes the operation program 1a one block at a time. The second-system movement amount detecting means 3 is connected to a servomotor 5 for driving the belt conveyor 31 and receives a signal output from a rotary encoder provided in the servomotor 5. Based on the movement amount of the belt conveyor 31, that is, the movement amount of the work 32 conveyed by the belt conveyor 31, a detection signal indicating the movement amount is sent to the first-system movement control means. Output. The operation of the belt conveyor 31 may be controlled by the CNC 10 based on an operation program different from the operation program 1a. good _c first system movement control means 4 be controlled by the control device, read or the operation pro gram-1 a of the block 〖this Timing of command 1 b is written and When the reference timing signal is output from the evening sensor 34, the second system, that is, the power is output based on the signal output from the second system movement amount detection means 3. Start measuring the amount of movement in step 32. When the measured movement amount of the second system reaches the movement amount for timing specified in the operation program 1a, the first system movement control means 4 operates the sticking machine. 3 Operate 3.

FIG. 2 is a block diagram showing a schematic configuration of the hardware of CNC 10 of this embodiment. CNC is configured around processor 11. The processor 11 controls the entire CNC according to a system program stored in R0M12. For the ROM 12, EP ROM or EP ROM is used.

The RAM 3 uses a DRAM or the like, and temporarily stores calculation data, display data, input / output signals, and the like. CM0S backed up by a battery (not shown) is used for the non-volatile memory 14. Memorize programs etc. As an operation program, a program for controlling the operation of the sealing machine 33 shown in FIG. 1 and a program for controlling the operation of the belt comparator 31 are provided. ing. As will be described later, a timing command code and a movement amount code for timing are written in these operation programs.

CRT / MDI unit 20 is located on the front of the CNC Is located at the same position as the machine operation panel, and is used for displaying numerical and graphical data, inputting data, and operating CNC. The graphic control circuit 21 converts a digital signal such as numerical data and graphic data into a raster signal for display and sends it to the display device 22, and the display device 22 Display these figures and figures. A CRT or a liquid crystal display device is used as the display device 22.

The keyboard 23 has numeric keys, symbolic keys, character keys, and function keys, and is used to create and edit operation programs and to operate CNC. The software key 24 is provided below the display device 22, and its function is displayed on the display device. If the screen of the display device changes, the function of the software will also change according to the displayed function.

The axis control circuit 15 receives an axis movement command from the processor 11 and outputs an axis movement command to the servo amplifier 16. The servo amplifier 16 amplifies this movement command, drives the sub-bomber 5 in FIG. 1 coupled to the industrial machine 30, and controls the belt conveyor 31 of the industrial machine 30. The number of the axis control circuits 15 and the number of the servo amplifiers 16 are equal to the number of servomotors.

The PC 18 receives the M (auxiliary) function signal, the S (spindle speed control) function signal, the T (tool selection) function signal, and the like via the processor 11 and the input port 19. Then, these signals are processed by a sequence program, and the output signals are processed. The output is used to control pneumatic equipment, hydraulic equipment, electromagnetic actuators, seal stickers 33, etc. in the industrial machine 30. Further, in response to a button signal, a switch signal, and a signal from the evening sensor 34 of the machine operation panel in the industrial machine 30, the signal processing is performed, and the bus 19 is operated. Transfer the necessary input signal to processor 11 via the interface.

Using the CNC configured as described above, control is performed so that the operation timing of the sealer 3 3 is adjusted to the operation timing of the conveyor 3 1 that transports the work 3 2. In such a case, write the following timing command to the block of the operation program.

M 8 0 1 P 1 Q 1 0 0 0 Z-1 0. 0

Here, M801 is a code for instructing timing adjustment, and P1 means execution of timing adjustment control. In the absence of the P0 or P command, as in the past, when the work 32 is detected by the evening sensor 34, the sealer 33 is operated at the same time. Means control.

Q is a code indicating the amount of movement for timing adjustment. The sealer is used when the work 32 is detected by the evening sensor 34. The amount of movement of the work 32 before the operation of 33 is started is specified. The numerical value of Q is specified in units of m, and in this example, lOOOOm, that is, the movement amount of lmm is specified.

Z is a normal movement command code, and represents a movement amount of the head 33 a of the seal sticking machine 33. In this example, one ten. 0 mm is specified. This movement amount data is transferred from the CNC 10 to the PC 18, and as described later, the PC 18 receives a command signal from the CNC 10 and controls the operation of the sealer 33. .

Alternatively, the first-system movement control means 4 in the CNC 10 can directly control the operation of the seal sticking machine 33. In this case, regarding the control of the sticking machine 33, the PC 18 takes charge of only the operation of transferring the detection signal from the evening sensor 34 to the CNC 10.

The movement amount of code Z “10.0 mm” is specified by moving the head 33 a of the sheet pasting machine 33 to “10.0 mm” in the negative direction of the Z axis. Includes a command to move “10. O mm” in the Z-axis brushing direction after moving.

When a block including such a command is read, the CNC 10 waits for the operation of the sticking machine 33 and sends the signal to the seal sticking machine designated by the code Z. The data of the movement amount of the head 33a is sent to the PC 18 and the movement of the work 32 is awaited. When the sunset sensor 34 detects that the work 32 conveyed by the belt conveyor 31 has reached a predetermined position, the work 32 is started from that point. Wait for the movement amount (1 mm) specified in mode Q. When the work 32 moves by the specified movement amount, the CNC 10 outputs a signal for instructing the PC 18 to start the operation of the sealing machine 33. In response to the command, the PC 18 moves the head 33 a of the sticking machine 33 by the movement amount commanded by the code Z (—10. O mm). Alternatively, as described above, a command is sent directly from the first-system movement control means 4 of the CNC 10 to the sealer 33, and the head 33a is moved by the specified movement amount. You can also

During the operation of the sticking machine 33, the movement of the belt conveyor 31 carrying the work 32 may be continued, or may be stopped. When stopping the belt conveyor 31, as a method of measuring the timing of the stop, a reference timing signal is output from the CNC sensor 34 inside the CNC 10. When the grid signal is generated, the grid signal is generated, and the grid signal is stopped at the same time as the rise of the grid signal. 3 There is a method to stop when 2 has moved by a fixed amount.

Referring to the flowchart of FIG. 3, the procedure of the timing adjustment control executed by the processor 11 of the CNC 10 will be described.

First, in step S1, the processor 11 reads and decodes one block of the operation program stored in the nonvolatile memory 14. Next, in step S2, it is determined whether the timing command code M801 has been written to the read block, and if it has been written, the process proceeds to step S2. Proceed to step S3, and if not written, end the timing adjustment processing for the block.

In step S3, it is determined whether or not a reference timing signal has been input from the input of the sensor 34, and if input, the status is determined. Proceed to step S4 to start measuring the movement amount of work 32, and if not input, repeat step S3 until the reference timing signal is input.

In step S5, it is determined whether or not the measured movement amount of the work 32 has reached the timing movement amount, and if it has been reached, the process proceeds to step S6, where the sealer 3 3 Start operation. If not, repeat step S5 and execute.

As described above, in the present embodiment, when the work sensor 32 detects the work 32 conveyed by the second system, the work 3 is moved by a predetermined movement amount based on the force when the work sensor 34 detects the work 32. The operation of the sticker 3 3 starts when 2 moves. As a result, even if the shape or size of the work 32 is changed or the position where the seal is applied on the work is changed, the position of the touch sensor 34 must be changed. Instead, only the movement amount for timing on the timing command code needs to be changed. Therefore, the operation timing can be easily changed.

In this embodiment, the belt conveyor 31 and the sticking machine 33 are used as the industrial machine 30. However, other industrial machines that require the timing adjustment control are used. The present invention can be applied to machines.

Claims

The scope of the claims

1. A method of combining the operation of multiple systems using a motion controller.

(a) a step of creating an operation program including a timing command in which a predetermined moving amount for timing is specified; and (b) one block of the operation program. Steps to read and

(c) a step of detecting that the object on the second system has reached a predetermined position and outputting a reference timing symbol, and (d) the step (b). If the block read at step (b) includes the previous-language timing command, and the reference timing signal is output at step (c), A step to start measuring the travel of the two systems,

(e) starting the operation of the first system when the measured amount of movement of the second system reaches the predetermined amount of movement specified in the operation program. Evening adjustment of the system.

2. The first step according to claim 1, wherein the step (c) includes a step of detecting that the object on the second system has reached the predetermined position by using an evening sensor. The timing adjustment method for multiple systems described in the section.

3. When the amount of movement of the second system after the reference timing signal is output in step (c) reaches the predetermined amount of movement, The system of claim 1, further comprising a step of stopping movement. Timing adjustment method.

4. When the reference timing signal is output in step (c), a grid signal is generated, and the movement of the second system is performed based on the grid signal. 2. The method for adjusting a plurality of systems according to claim 1, further comprising a step of stopping the operation.