WO2001022184A1 - Procede d'optimisation dynamique pour donnees relatives a la vitesse et dispositif de positionnement fonctionnant selon ce procede - Google Patents
Procede d'optimisation dynamique pour donnees relatives a la vitesse et dispositif de positionnement fonctionnant selon ce procede Download PDFInfo
- Publication number
- WO2001022184A1 WO2001022184A1 PCT/JP2000/006004 JP0006004W WO0122184A1 WO 2001022184 A1 WO2001022184 A1 WO 2001022184A1 JP 0006004 W JP0006004 W JP 0006004W WO 0122184 A1 WO0122184 A1 WO 0122184A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- speed
- pattern
- speed data
- data
- command
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34182—Variable resolution
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43001—Speed, feed, infeed, acceleration, stopping problems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43012—Profile is defined by series of bits, for each actuator, sensor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43093—Speed pattern, table together with timing data in ram
Definitions
- the present invention relates to a method for creating a speed command pattern for a servomotor in a positioning device.
- the velocity data is based on 32 bi, and the decimal point position is fixed as 16 bits for the integer part and 16 bits for the decimal part by the fixed point method.
- the speed pattern generation cycle that is the output cycle of the speed data is 8 ms in the case of Fig. 3 (a), and 64 ms in the case of Fig. 3 (b).
- the present invention does not fix the resolution of the speed data used inside the positioning device, but dynamically determines the optimal resolution, and creates various speed pattern generation periods, user-specified speed units, and speed data maximum. It is an object of the present invention to provide a method for dynamically optimizing speed data, which can provide an environment in which the accuracy of a speed pattern determined by a user is kept constant, corresponding to a value and a minimum resolution. It is another object of the present invention to provide a positioning device using this method. Disclosure of the invention
- the present invention provides a method for dynamically optimizing speed data when creating a speed command pattern for a servomotor in a positioning device, which solves the above-mentioned problem, comprising a moving amount, a speed, an acceleration time, and a deceleration.
- a speed pattern generator that calculates the desired speed pattern when the time is input is provided. The user can specify the speed pattern generation cycle, and the maximum and minimum resolutions of the speed data are not changed at that time. This is the feature.
- the maximum value and the minimum resolution of the speed data are changed by shifting the decimal part of the speed data right and left.
- a movement command input unit a speed pattern creation unit that inputs a movement command from the movement command input unit, and the speed pattern creation unit according to a speed command cycle specified by a user.
- a speed command unit that outputs a speed command based on a speed command pattern from the controller, and a servo control unit that drives the servo motor based on a speed command from the speed command unit.
- FIG. 1 is a conceptual diagram of a program execution process of the positioning device according to the embodiment of the present invention.
- FIG. 2 is a diagram showing speed data created by the speed pattern creating section shown in FIG.
- FIG. 3 is a diagram showing conventional speed data. BEST MODE FOR CARRYING OUT THE INVENTION.
- reference numeral 1 denotes a speed pattern creation unit, which is a controller unit including a CPU module, a motion module, and the like of a positioning device.
- Reference numeral 2 denotes a movement command input to the speed pattern creation unit 1, including a speed, a movement amount, and an acceleration / deceleration constant (such as an S-shaped pattern).
- 3 is the speed pattern creation cycle, which represents the cycle of the speed command output by the positioning device (scan cycle 8 ms to 64 ms, etc.), and is specified by the user.
- Reference numeral 4 denotes a calculation result (speed command section) by the speed pattern creation section 1, which outputs a speed command at each cycle based on the created speed pattern.
- Reference numeral 5 denotes a servo control unit which drives the servo motor 6 based on a speed command to control the position and speed of the motor.
- the speed pattern creation unit 1 calculates and outputs the speed pattern from the input speed pattern creation cycle 3 and the movement command (movement amount, acceleration / deceleration time) 2.
- the size of the calculation area in this case is determined by Has a fixed length. As shown in Fig. 2, when the speed data is held in a fixed-point format in this fixed-length operation area, the size of the speed data is fixed to 16 bits, 32 bits, 64 bits, etc. I will.
- Figure 2 shows an example in which the speed data is 32 bits.
- the characteristic of the fixed-point method is that the sum of the significant digits of the integer part and the significant digits of the decimal part is always constant from the fixed decimal point position. In this case, the number of decimals is reduced and the resolution is reduced. Conversely, when the decimal part is increased, the integer part is reduced and the integer output range is reduced.
- the speed pattern generation cycle 3 is fixed, for example, as shown in Fig. 2 (a) and Fig. 3 (a), if the speed pattern generation cycle 3 is the same at 8 ms, that is, if the speed is constant, the integer part It is possible to fix it at the optimal ratio as 16 bits, decimal part 16 bits, but when the speed pattern creation cycle changes dynamically, the ratio of this integer part to the decimal part If is fixed, the resolution of the speed pattern and the maximum value of the speed data will be affected by the speed pattern creation cycle. Therefore, it is necessary to modify the user program every time the speed pattern creation cycle is changed. In other words, in the example of Fig. 3, when the speed pattern generation period changes from 8 ms to 64 ms as shown in Fig. 3 (b), the correspondence ratio between the maximum value and the minimum resolution in Fig. 3 (a) This means that the program must be modified.
- the positioning device can make the maximum value and the minimum resolution of the speed data specified and inputted. Since the decimal part of the speed data is shifted according to the speed pattern creation cycle so that it does not change, the optimal data holding method can be selected for the user, and the controller resources can be selected for program creation, prefetching, analysis, etc. Can be used effectively.
- the moving amount, the speed, the acceleration time, and the deceleration time are determined according to the present invention. It has a speed pattern generator that calculates the desired speed pattern when it is input, and allows the user to specify the speed pattern generation period. At that time, the maximum value and minimum resolution of the speed data are not changed. The maximum value and the minimum resolution of the speed data are compensated so that they do not change even if the speed pattern creation cycle changes, and the combination of the maximum value and the minimum resolution of the speed data can be selected by the user.
- the decimal portion of the speed data is shifted left and right to thereby obtain the speed.
- the maximum value and minimum resolution of the degree data can be kept unchanged, so that the user does not need to change the user program even if the speed pattern generation cycle is changed.
- a positioning control device that is easy for a user to use can be provided. It is also very useful for controlling linear motors that require high feed rates and high-precision positioning.
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP00956919A EP1215554A4 (en) | 1999-09-21 | 2000-09-04 | DYNAMIC OPTIMIZATION METHOD FOR SPEED DATA AND POSITIONING DEVICE OPERATING ACCORDING TO THIS METHOD |
US10/088,094 US6765360B1 (en) | 1999-09-21 | 2000-09-04 | Dynamic optimizing method for speed data and positioning device using this method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26754799A JP2001092533A (ja) | 1999-09-21 | 1999-09-21 | 速度データの動的最適化方法 |
JP11/267547 | 1999-09-21 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001022184A1 true WO2001022184A1 (fr) | 2001-03-29 |
Family
ID=17446340
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2000/006004 WO2001022184A1 (fr) | 1999-09-21 | 2000-09-04 | Procede d'optimisation dynamique pour donnees relatives a la vitesse et dispositif de positionnement fonctionnant selon ce procede |
Country Status (5)
Country | Link |
---|---|
US (1) | US6765360B1 (ja) |
EP (1) | EP1215554A4 (ja) |
JP (1) | JP2001092533A (ja) |
TW (1) | TW439021B (ja) |
WO (1) | WO2001022184A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017157172A (ja) * | 2016-03-04 | 2017-09-07 | ファナック株式会社 | プログラム指令の解析桁数を増やすことを可能とする数値制御装置 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102236338B (zh) * | 2010-04-22 | 2013-11-13 | 上海微电子装备有限公司 | 四阶定值发生器的实现方法 |
CN103064425B (zh) * | 2012-12-31 | 2016-02-24 | 中联重科股份有限公司 | 提高臂架运动稳定性的方法、系统及工程机械 |
CN105867313B (zh) * | 2016-05-25 | 2017-03-29 | 湖北工业大学 | 一种数控冲压送料智能实时速度预测方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02126307A (ja) * | 1988-11-04 | 1990-05-15 | Sanyo Electric Co Ltd | モータ速度制御方式 |
JPH03231317A (ja) * | 1990-02-06 | 1991-10-15 | Yaskawa Electric Mfg Co Ltd | モータ制御装置 |
JPH05250039A (ja) * | 1992-03-04 | 1993-09-28 | Fujitsu Ltd | ディジタルサーボ制御装置 |
JPH07306708A (ja) * | 1994-05-13 | 1995-11-21 | Toshiba Mach Co Ltd | 数値制御装置の数値制御指令データの前処理方法 |
JP2000047719A (ja) * | 1998-07-31 | 2000-02-18 | Toshiba Mach Co Ltd | 数値制御装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3941988A (en) * | 1973-09-04 | 1976-03-02 | Danly Machine Corporation | Method and apparatus for numerical control |
US4469993A (en) * | 1981-03-03 | 1984-09-04 | Swanson Systems, Inc. | Programmable multiple position machine |
US4751441A (en) * | 1985-05-31 | 1988-06-14 | Cambrian Consultants, Inc. | Transducer position control system for disk storage equipment |
GB2188720B (en) * | 1986-04-04 | 1990-12-19 | Data Recording Instr Co | Improved position control system |
US4782449A (en) * | 1986-04-17 | 1988-11-01 | Glasstech, Inc. | Position controller for glass sheet processing system |
JPH02178811A (ja) * | 1988-12-29 | 1990-07-11 | Hitachi Seiko Ltd | サーボ制御装置 |
US6571138B1 (en) * | 1998-02-23 | 2003-05-27 | Mitsubishi Denki Kabushiki Kaisha | Location programming apparatus and location programming method |
-
1999
- 1999-09-21 JP JP26754799A patent/JP2001092533A/ja active Pending
-
2000
- 2000-09-04 WO PCT/JP2000/006004 patent/WO2001022184A1/ja not_active Application Discontinuation
- 2000-09-04 US US10/088,094 patent/US6765360B1/en not_active Expired - Fee Related
- 2000-09-04 EP EP00956919A patent/EP1215554A4/en not_active Withdrawn
- 2000-09-15 TW TW089118997A patent/TW439021B/zh not_active IP Right Cessation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02126307A (ja) * | 1988-11-04 | 1990-05-15 | Sanyo Electric Co Ltd | モータ速度制御方式 |
JPH03231317A (ja) * | 1990-02-06 | 1991-10-15 | Yaskawa Electric Mfg Co Ltd | モータ制御装置 |
JPH05250039A (ja) * | 1992-03-04 | 1993-09-28 | Fujitsu Ltd | ディジタルサーボ制御装置 |
JPH07306708A (ja) * | 1994-05-13 | 1995-11-21 | Toshiba Mach Co Ltd | 数値制御装置の数値制御指令データの前処理方法 |
JP2000047719A (ja) * | 1998-07-31 | 2000-02-18 | Toshiba Mach Co Ltd | 数値制御装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1215554A4 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017157172A (ja) * | 2016-03-04 | 2017-09-07 | ファナック株式会社 | プログラム指令の解析桁数を増やすことを可能とする数値制御装置 |
US10416645B2 (en) | 2016-03-04 | 2019-09-17 | Fanuc Corporation | Numerical controller enabling increase in number of analysis digits of program instruction |
Also Published As
Publication number | Publication date |
---|---|
EP1215554A4 (en) | 2002-11-06 |
JP2001092533A (ja) | 2001-04-06 |
TW439021B (en) | 2001-06-07 |
US6765360B1 (en) | 2004-07-20 |
EP1215554A1 (en) | 2002-06-19 |
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