WO2016002076A1

WO2016002076A1 - Synchronization control setting method for positioning control device

Info

Publication number: WO2016002076A1
Application number: PCT/JP2014/067943
Authority: WO
Inventors: 真充服部; 恭平鈴木
Original assignee: 三菱電機株式会社
Priority date: 2014-07-04
Filing date: 2014-07-04
Publication date: 2016-01-07
Also published as: KR101748547B1; TWI578129B; CN106662855B; JP6075908B2; JPWO2016002898A1; TW201606468A; CN106662855A; WO2016002898A1; KR20170007488A

Abstract

In order to provide a synchronization control setting method for a positioning control device whereby high functionality and high operability can be achieved, a synchronization control setting method for controlling a positioning control device that controls an object to be controlled while the object is being displayed on a display screen includes displaying on the display screen: a virtual drive module (1, 4) graphically displayed by a drive software module that synchronizes motors for driving the object to be controlled and that generates and outputs position information as a drive control reference; a virtual transmission module (2, 3) graphically displayed by a transmission software module that arithmetically operates input information and outputs transmission information as the result of the arithmetic operation; and an output module (5) graphically displayed by an output software module that arithmetically operates input information and outputs a motor drive control command as the result of the arithmetic operation, wherein the operation of the virtual drive module (1, 4), the virtual transmission module (2, 3), and the output module (5) is defined with a language, and the modules are controlled by a character user interface (CUI).

Description

Synchronous control setting method for positioning control device

The present invention relates to a synchronous control setting method for a positioning control device.

Conventionally, a positioning control device in which a user controls operations (functions) of a plurality of mechanical parts by using a GUI (Graphical User Interface) is known.

For example, Patent Document 1 aims to “obtain a positioning device that can be programmed by simulating a mechanical mechanism as it is”, and “a motor that drives a control target and the motor that positions the control target in synchronization with each other”. A controller for driving control is provided. The controller generates and outputs position information as a reference for driving control in synchronization with the motor, calculates input information, and outputs the result as transmission information. Disclosed is a positioning device having a transmission software module, an output software module that calculates input information and outputs the result as a drive control command for the motor, and arbitrarily combines the software modules. ing. According to the technique disclosed in Patent Document 1, a synchronization control mechanism between axes is provided by arranging each module of a positioning device configured by combining modules of mechanical parts displayed in a graphic and setting each parameter. Can be realized with a simple configuration.

JP-A-5-73147

However, according to the above-described conventional technique, in order to realize a complicated function or to perform a complicated operation, a huge number of parameters are required, and the same number of module graphics of machine parts as the function to be realized is required. . Further, depending on the user's request, it may be necessary to customize and ship the module of the machine part. Therefore, there is a problem that it is difficult to perform a complicated operation.

The present invention has been made in view of the above, and obtains a highly functional and highly functional positioning control device capable of realizing a complicated function with a simple configuration or performing a complicated operation. For the purpose.

In order to solve the above-described problems and achieve the object, the present invention provides a synchronous control setting method for a positioning control device that performs control while displaying a control target on a display screen, and the display screen includes the control target. A virtual drive module that is graphically displayed by a drive software module that generates and outputs position information serving as a reference for drive control by synchronizing the motor that drives the drive, and transmission information that is a result of the calculation by calculating input information A virtual transmission module that is graphically displayed by the transmission software module that outputs the output, and an output module that is graphically displayed by the output software module that calculates the input information and outputs the drive control command of the motor that is the calculation result The virtual drive module, the virtual transmission module, and the output. Module operation is defined in the language, the virtual drive module, the virtual transmission module and the output module characterized in that it is controlled by a command-line interface.

The positioning control device according to the present invention has an effect of realizing a high function and a high operability capable of realizing a complicated function with a simple configuration or performing a complicated operation.

FIG. 1 is a diagram for explaining a synchronous control setting method of the positioning control device according to the embodiment. FIG. 2 is a diagram illustrating a definition example corresponding to a module and an example of customization in the synchronous control setting method of the positioning control device according to the embodiment.

Hereinafter, embodiments of a positioning control device according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment.
FIG. 1 is a diagram for explaining an embodiment of a synchronous control setting method for a positioning control device according to the present invention. The positioning control apparatus according to the present embodiment is connected to a drive mechanism in which a plurality of mechanical component modules are combined, and controls the operation of the plurality of mechanical component modules of the drive mechanism.

Further, as shown in FIG. 1, in the present embodiment, a module of a plurality of mechanical parts included in the drive mechanism with respect to a display unit provided in the positioning control device or a display device wired or wirelessly connected to the positioning control device. Is displayed graphically. FIG. 1 shows

virtual drive modules

1 and 4 corresponding to drive machine parts, virtual transmission modules 2 and 3 corresponding to transmission machine parts, an output module 5 corresponding to output machine parts, and a virtual connection module corresponding to connection machine parts. 6 is shown.

FIG. 2 is a diagram illustrating a definition example and a customization example in the synchronous control setting method of the positioning control device according to the present embodiment. FIG. 2A is a diagram showing a definition example in a programming language corresponding to a module of a machine part in the configuration of the embodiment of the positioning control device according to the present invention. FIG. 2B is a diagram illustrating a customization example corresponding to the definition example of FIG.

In the virtual drive module 1 shown in FIG. 1, the output is typically defined by a variable “VirtualServoMotor [1]” indicating the current value of the axis (FIG. 2A). Here, “[1]” represents an axis number and indicates that the virtual drive module axis 1 which is one of a plurality of virtual drive modules is selected. As shown in FIG. 2B, when the smoothing function Smoothing is applied, the output can be smoothly changed with respect to the fluctuation of the input “VirtualServerMotor [1]”. The smoothing function Smoothing is a predefined function such as time average. In the conventional method using only the GUI, when a function is applied to an input and output, a graphic corresponding to the function to be applied is required. However, if a module of each machine part is defined in a programming language, the function is applied. Can be easily performed.

The virtual transmission module 2 shown in FIG. 1 corresponds to a gear. In the virtual transmission module 2, the output is defined by multiplying the pulse Input from the input shaft side by a variable “GearNumerator [1]” indicating a gear ratio numerator and dividing the variable “GearDenominator [1]” indicating a gear ratio denominator. (FIG. 2A). Here, the gear ratio numerator and the gear ratio denominator are assigned to each gear, and “[1]” is a number specifying the gear. As shown in FIG. 2 (B), if the result of the gear ratio is temporarily substituted into the variable “gear” and the smoothing function Smoothing is applied to the variable “gear”, the output is output in response to the change in the gear ratio. Can be changed smoothly.

The virtual transmission module 3 shown in FIG. 1 corresponds to a differential gear. The virtual transmission module 3 subtracts the pulse input Input [2] on the auxiliary input side on the left in the figure from the pulse input Input [1] on the upper main input side in the figure, and takes the difference to define the output. (FIG. 2A). Here, as shown in FIG. 2B, the pulse input Input [1] input from the main input side is multiplied by the variable ratio [1] to the pulse input Input [2] from the auxiliary input side. Customize to add.

The virtual drive module 4 shown in FIG. 1 generates an input pulse corresponding to the input from the synchronous encoder. The output of the virtual drive module 4 is defined by a variable “Synchronous Encoder [1]” indicating a synchronous encoder (FIG. 2A). Here, “[1]” represents the number of the synchronous encoder connected to the virtual drive module 4, and indicates that the first synchronous encoder is selected from among a plurality of synchronous encoders. As shown in FIG. 2B, the synchronous encoder used by the program syntax “IF” “ELSE” indicating the selection branch and the variable “selectsignal” is customized so that “SynchronousEncoder [1]” or “SynchronousEncoder [2]” can be selected. Then, the synchronous encoder to be used can be selected by the variable “selectsignal”.

The output module 5 shown in FIG. 1 corresponds to a cam. In the output module 5, an output is defined by “Cam” defining a cam, a variable “CamSelect [1]” representing the cam, and an input “Input” (FIG. 2A). Here, “[1]” represents a cam number, indicating that the first cam is selected from a plurality of cams. As shown in FIG. 2B, an input value that is an average value (a value obtained by dividing the sum by 2) of the input value “Input” in the current cycle and the input value “PrevInput” in the previous cycle is adopted. If the output is calculated, output fluctuations due to input value fluctuations can be suppressed.

The virtual connection module 6 shown in FIG. 1 corresponds to a clutch. The virtual connection module 6 defines an output based on “DirectClutch” that defines clutch engagement, a variable “signal [1]”, and an input “Input” (FIG. 2A), and the variable “signal [1]”. To determine whether to connect. Although the operation of the virtual connection module 6 is not customized here, the operation of the virtual connection module 6 may be customized.

As described above, in the positioning control device of the present embodiment, each machine part is defined in a program language represented by ST language, and each defined machine part can be changed (customized) as appropriate by the user. By doing so, it is possible to achieve high operability while adding high functionality to the positioning control device. That is, the definition of the operations of the

virtual drive modules

1 and 4, the virtual transmission modules 2 and 3, and the output module 5 by language may be changed by the user. By enabling the user to change the setting, convenience on the user side can be improved.

In addition, the control target is conventionally controlled only by the GUI, but a CUI (Character User Interface) can be used as described in the present embodiment. That is, the

virtual drive modules

1 and 4, the virtual transmission modules 2 and 3, the output module 5, and the virtual connection module 6 may be controlled by a GUI on the display screen, or a GUI and a CUI may be used in combination. By using the GUI and CUI together, positioning control can be performed with high operability taking advantage of both.

Further, when the GUI and the CUI are used together, it is possible to select the control by the CUI or the control by the GUI, and the

virtual drive modules

1 and 4, the virtual transmission modules 2 and 3, the output module 5 and the virtual connection module 6 can be selected by language. When the setting of the operation definition is not changed, only the GUI control screen may be displayed without displaying the CUI on the display screen. In this way, when the CUI is not used, it is possible to prevent the display screen to be operated from becoming complicated by preventing the display from being operated, and it is possible to prevent a decrease in operability due to the combined use of the GUI and the CUI. .

Also, if the connection part of each machine part can be defined in a program language, it is possible to achieve high operability while adding a high function to the synchronous control setting of the entire mechanism constituted by a combination of a plurality of machine parts. In other words, the program definition can be distributed and used for the entire drive mechanism shown in FIG.

In the present embodiment, the function of each machine part is defined and provided in a program language for the machine part graphic. Here, the current values and parameters of the axes controlled by other positioning programs are defined in advance. Further, by providing a dedicated function in addition to a general general function in the program language, the positioning control device can be further enhanced.

Note that the customization described in the present embodiment is an example, and the present invention is not limited to this, and other functions, program syntax, or the like may be used.

The present invention is not limited to the synchronous control setting method of the positioning control device described in the present embodiment, and a program for executing the synchronous control setting method of the positioning control device described in the present embodiment is also provided. It is included in the present invention.

As described above, the positioning control device according to the present invention is useful for a drive mechanism that requires a complicated operation.

1, 4 virtual drive modules, 2, 3 virtual transmission modules, 5 output modules, 6 virtual connection modules.

Claims

A synchronous control setting method for a positioning control device for controlling while displaying a control target on a display screen,
The display screen includes
A virtual drive module that is graphically displayed by a drive software module that synchronizes a motor that drives the controlled object and generates and outputs position information serving as a reference for drive control; and
A virtual transmission module that calculates the input information and is graphically displayed by a transmission software module that outputs the transmission information that is the calculation result;
An output module that displays the graphic by the output software module that calculates the input information and outputs the drive control command of the motor that is the calculation result is displayed.
The operations of the virtual drive module, the virtual transmission module and the output module are defined in language,
The method for synchronous control setting of a positioning control device, wherein the virtual drive module, the virtual transmission module, and the output module are controlled by a character user interface.
The synchronous control setting method for a positioning control device according to claim 1, wherein the virtual drive module, the virtual transmission module, and the output module are also controlled by a graphical user interface on the display screen.
Control by the character user interface and control by the graphical user interface are possible,
When the setting of the operation definitions of the virtual drive module, the virtual transmission module, and the output module in the language is not changed, control by the graphical user interface is performed without displaying the character user interface. The synchronous control setting method of the positioning control apparatus according to claim 2.
The synchronization of the positioning control device according to claim 1 or 2, wherein the definition of the operations of the virtual drive module, the virtual transmission module, and the output module in the language can be changed by a user. Control setting method.
The positioning control according to any one of claims 1 to 4, wherein the language that defines the operations of the virtual drive module, the virtual transmission module, and the output module can be distributed and diverted. Device synchronization control setting method.
The display screen includes
A virtual connection module that is graphically displayed by a connection software module that calculates input information and outputs the connection information that is the calculation result is displayed,
The operation of the virtual connection module is defined in language,
The synchronous control setting method of the positioning control device according to claim 1, wherein the virtual connection module is controlled by a character user interface.