JPH01311896A - Drive controller for stepping motor - Google Patents

Abstract

PURPOSE:To convert the driving direction of a stepping motor without difficulty, and to enhance the durability of the motor by detecting a step out caused due to a load, converting the driving direction of the motor, and performing drive control. CONSTITUTION:When a stepping motor 1 is continues to be rotated at a predetermined value, a signal responsive to a signal oscillated from a pulse signal controller 3 to a driver 2 is input from the motor 1 to an encoder 4, and returned from the encoder 4 to the controller 3. If a step out occurs due to a load torque applied to the output 5 of the motor 1, a signal of the step up is returned to the controller 3 through the encoder 4. Thus, if the pulse of the CW circuit of the controller 3 is input to the driver 2, the pulse of the CCW circuit it input to the driver 2.

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a drive control device for a stepping motor.
In particular, the present invention relates to a device that controls the reciprocating drive of a stepping motor by utilizing the step-out phenomenon of the motor.

BACKGROUND OF THE INVENTION Techniques for extracting power using stepper motors are well known. - For example, a gear may be attached to the output shaft of each separate stepping motor, and this may be combined with a deceleration gear, and the power may be extracted from the intermediate deceleration gear. There are known devices that apply rotational holding force between meshing gears, eliminate backlash during operation, and thus improve accuracy when outputting output.

Problems to be Solved by the Invention However, the above-mentioned device has the disadvantage that mechanical accuracy cannot always be stably obtained when extracting power for reciprocating drive.

The present invention aims to eliminate the disadvantages of extracting power for reciprocating drive using the above-mentioned stepping motor, and to stably perform reciprocating drive by detecting a constant load torque. The present invention provides a stepping motor drive control device that can perform the following steps.

Means for solving the problem, that is, the present invention is a driving device that drives a stepping motor using a predetermined pulse signal, detects a step-out of the stepping motor caused by a load applied to the stepping motor, The driving direction of the stepping motor is changed by converting the predetermined pulse signal based on the detected signal.

Operation: A predetermined pulse signal is input to the pulse signal control device, and the pulse signal control device transmits a constant pulse signal to the driving means of the stepping motor. A pulse current according to a predetermined pulse signal is supplied from the driving means to the stepping motor, and the motor rotates in a fixed direction. A signal is sent back from the rotating motor to the pulse signal control device through the pulse signal conversion circuit, but if a load torque is applied to the output side of the motor and a step-out occurs, the signal due to the step-out is converted into a pulse signal through the conversion circuit. It is detected by a pulse signal conversion circuit of the signal control device, converts the predetermined pulse signal, and transmits the next pulse signal to the drive means.

Embodiment FIG. 1 is a schematic diagram showing an embodiment of the present invention. In the figure, 1 is a stepping motor, 2 is a driver for the stepping motor 1, 3 is a pulse signal control device for controlling a predetermined pulse signal, and 4 is a rotary encoder. For example, a pulse signal having a pulse speed (PPS) shown in FIG. 2 is input to the pulse signal control device 3. In the figure, the circuit configurations are such that the pulse signal I is transmitted from the circuit indicated by the symbol CW of the pulse signal control device 3 to the driver 2, and the signal ■ is transmitted from the circuit indicated by the symbol CCW to the driver 2. being done. The above pulse signal 1. II eliminates the top plateau shown,
A pulse signal that rapidly increases the number of pulse generation (PPS) and decreases downward from an appropriate height position may be used.Also, while the pulse signal I is similar to that shown in the figure,
The pulse signal (2) may be made into a descending range from the above-mentioned appropriate height position to form a substantially mountain-shaped waveform, and the pulse speed may be varied in various ways. Further, the driver 2 supplies the stepping motor 1 with a pulse current according to the predetermined pulse signal, and the motor 1 is driven by the pulse current. A rotation signal output from the rotor of the stepping motor 1 is input to the encoder 4, and is sent back from the encoder 4 to the pulse signal control device 3. In the signal control device 3, the returned pulse signal is input to a signal conversion circuit that converts the predetermined pulse signal. Further, a predetermined pulse signal is repeatedly transmitted from the CW circuit to the driver 2, or is converted, and the next pulse signal is transmitted from the CCW circuit to the driver 2.

That is, when the stepping motor 1 continues to rotate at a constant rate, the pulse signal control device 3 transmits the signal to the driver 2.
A signal corresponding to the signal sent to the stepping motor 1
The signal is input from the encoder 4 to the pulse signal controller 3, and is sent back from the encoder 4 to the pulse signal control device 3. Furthermore, when step-out occurs due to the load torque applied to the output side 5 of the stepping motor 1, the signal due to the step-out is sent back to the pulse signal control device 3 via the encoder 4, and as mentioned above, the predetermined pulse signal is converted and sent to the driver. The message is sent to 2. Note that the signal 6 is a power outlet. Next, the above operation flow will be explained using FIG. First, input the pulse I of the CW circuit of the pulse signal control device 3 to the driver 2 and -7
, the signal from the encoder 4 connected to the rotor of the motor 1 is fed back to the pulse signal control device 3 -8° In the above control device 3, if there is a signal from the encoder 4 -9, it returns to the above 7 and sends the pulse I to the driver Call 2 repeatedly. Also, if there is no signal from encoder 4 (i.e., when step-out is detected), -9, the next 10
Proceed to. Pulse of CCW circuit of pulse signal control device 3 ■
is input to the driver 2 -10, and the signal from the encoder 4 connected to the rotor of the motor 1 is fed back to the pulse signal control device 3 -11°.In the control device 3, if there is no signal from the encoder 4 (i.e. When step-out is detected) -12, it returns to the initial 7. Thereafter, in the same manner, a signal is sent to the driver 2 to drive the motor back and forth.

Next, FIGS. 4 to 10 show an example of sending a furnace plate of a filter using the present invention. FIG. 4 is a side view of the same furnace, in which a large number of furnace plates 13 are arranged on rails 14. 15 is a fixed plate, and a movable plate 16 arranged on the opposite side is connected to a tightening device 17. Further, the tightening device 17 is moved backward to separate the movable plate 16 from the oven plate 13, thereby creating a certain gap between the oven plate 13 and the movable plate 16. The furnace plate 13 is sequentially moved from the fixed plate 15 side to the movable plate 16 side using this constant gap as the moving distance of the furnace plate 13. 18 is the furnace plate 13
It is a moving pawl device connected to the chino 19 and moved back and forth. The pawl device 18 includes a pawl 20 that engages and disengages from the furnace plate 13 to send the furnace plate;
A pawl 21 for stopping the reciprocating movement is incorporated. The chino 19 is hooked between the sprocket 22 on the fixed plate 15 side and the sprocket 23 on the tightening device side. Reference numeral 24 denotes a support stand fixed to the fixed plate 15, and the stepping motor 1 is mounted on the support stand 24. Further, the encoder 4 is attached to the back surface of the end portion of the support base 24 so as to face downward. 25 is a chain that connects the motor 1 and the sprocket 22, and 26 is a chain that connects the encoder 4 and the sprocket 2.
This is the cheno that connects the two. Further, although the driver 2 of the motor 1 and the pulse signal control device 3 are shown separated upward from the support base 24, they may be placed on the support base 24 or incorporated into a separate operation panel (not shown). . In the above filter, after the filtration is completed, the movable plate 16 is separated from the oven plate 13 by the retraction of the tightening device 17, thereby creating a certain moving distance between the oven plate 13 and the movable plate 17. At the same time, the pawl device 18 is moved from the standby position on the side of the tightening device 17 to the position of the first furnace plate 13 to be moved, and its feed pawl 2° is engaged with the furnace plate 13, so that it is in the moving position. enter. FIG. 4 shows the claw 20 now in a moving position with respect to the first oven plate 13. A description of the reciprocating drive section including the stepping motor 1 will be given later for convenience.

The above-mentioned feed claw 20 maintains the posture shown in FIG. 4, moves from FIG. 5 showing the middle of the movement to FIG. The pawl device 18 that sent the first furnace plate 13 is reversed from the position shown in FIG.
The second furnace plate 13 is approached through the intermediate movement shown in the figure. FIG. 9 shows the pawl device 18 approaching the second furnace plate 13, causing its feed pawl 20 to fall down and the other stop pawl 21 to rise against the situation. Furthermore, when the pawl device 18 moves, the feed pawl 20 enters between the second furnace plate 13 and the third furnace plate 13, and the other stop pawl 21 stands up and comes into contact with the second furnace plate 13. . This both claws 20.2
1 is as shown in FIG. The pawl device 18, which has been stopped by bringing the stop pawl 21 into contact with the second furnace plate, returns to the furnace plate 1.
3 is moved in the feeding direction, its feed pawl 20 is engaged with the second oven plate 13, and the other stop pawl 21 is moved in the pawl device 18.
Rotate it inward to accommodate it. That is, the pawl device 18
The position shown in Figure 0 changes to the position shown in Figure 4, and the second furnace plate 13
is similarly moved toward the first furnace plate 13 that has already been moved. Thereafter, the furnace plate 13 is sequentially moved while maintaining the moving distance.

Now, the explanation of the reciprocating drive unit including the stepping motor 1 is as follows. The first furnace plate 1 that is about to be moved
4, in which the feed claw 20 of the claw device 18 is brought into contact with the feed claw 20 of the claw device 18, a pulse current is applied from the driver 2 to the stepping motor 1 in response to a pulse signal transmitted from the CW circuit of the pulse signal control device 3. is input. The pulse signal has a pulse speed shown in FIG. 2, and the speed of the pulse I gradually increases, and the moving speed of the pawl device 18 is accordingly accelerated. Then, the pulse changes from the increasing range to a constant speed, and the pawl device 18 continues to stably feed the furnace plate 13 (FIG. 5). After a predetermined period of time has elapsed, the speed of the pulse I decreases from a constant range, and the speed of the pawl device 18 also decreases to gradually move the furnace plate 13 more slowly (FIG. 6).

While the pawl device 18 is moving, a constant pulse signal is sent from the encoder 4 interlocked with the stepping motor 1, as described above. Therefore, it can be seen that the stepping motor 1 is rotating normally because the pawl device 18 feeds the furnace plate toward the movable plate. When the furnace plate 13 reaches the end of its travel distance and is sent to the movable plate 16, which has already been retracted, it is moved to the chino 19. Sprocket 22
It is transmitted to the output shaft of the stepping motor 1 via the Cheno 25, and the motor 1 becomes unable to rotate. On the other hand, the pulses supplied from the driver 2 are continuously applied to the stepping motor 1, but since the motor 1 does not rotate,
That is, a step-out phenomenon occurs and the feedback of the pulse signal from the encoder 4 is lost. Therefore, it can be seen that the furnace plate 13 has been completely fed by the stepping motor 1 (FIG. 7).

The fact that the feedback of the pulse signal has disappeared is immediately detected within the pulse signal control device 3, and
The pulse I is converted into a pulse ■, and a pulse signal is transmitted from the CCW circuit to the driver 21, and the rotation of the stepping motor 1 is reversed. The pawl device 13 moves away from the P plate 13 that has been completely fed and travels at an increased speed, passes through an intermediate constant speed range (FIG. 8), and then decreases its speed as it approaches the start of the travel distance. The pawl device 13 reaches the second P plate 13 to be fed, rotates its feed pawl 20 in contact with the P plate 13 (FIG. 9), and moves further to move between the second P plate 13 and the third P plate 13. The pawl 20 is advanced into and raised, and the other stop pawl 21 is raised and brought into contact with the second P plate 13 (
Figure 10).

When the pawl device 18 comes into contact with the second P plate 13 and stops, this causes the chino 19. Sprocket 22. It is transmitted to the output shaft of the stepping motor 1 via the chain 25, and the motor 1
becomes unable to rotate. On the other hand, the pulses supplied from the driver 2 continue to be input to the stepping motor 1, but the motor 1 does not rotate and steps out, so that the feedback of the pulse signal from the encoder 4 disappears. The step-out of the stepping motor 1 is immediately detected in the pulse signal control device 3, and the detected signal is converted from the predetermined pulse (2) to a pulse (1), and a pulse signal is transmitted from the CW circuit to the driver 2. , the rotation of the stepping motor 1 is reversed. The pawl device 18 returns from the state shown in FIG. 10 to the state shown in FIG. 4, and similarly moves the second P plate 13 toward the first P plate 13 that has already been moved. Thereafter, in the same way, the pawl device 18 transmits a predetermined pulse I on the forward path of moving the P plate 13, and also transmits a predetermined pulse ■ on the return path of the same pawl device 18, so that all the P plates are moved to the fixed plate 15 side. From there, the F plate moves to the movable plate 16 side to complete the movement of the F plate. In addition, in the movement operation of the P plate described above, the raising and lowering of each 0° 21 of the claw device 18 are operated in reverse to move the P plate arranged on the movable plate 16 side to the fixed plate 15 side. It is also easy.

As yet another usage example, tapping in a drilling machine will be described with reference to FIG. 11. A signal 27 indicates a tapped screw, and the stepping motor 1 is used as a driving source for drilling a tapped hole in the workpiece 28 using the screw 27. While positioning the tap screw 27 with respect to the workpiece 28 using the worm and rack mechanism 29 in advance, a pulse signal is transmitted from the CW circuit of the pulse signal control device 3 to the driver 2 to drive the stepping motor 1. 30
is a tuning belt applied to the drive shaft 5 of the motor 1 and the rotating shaft of the screw 27. By the rotational drive of the stepping motor 1,
When the screw 27 penetrates the workpiece 28 to a predetermined depth and makes a hole, the motor 1 rotates in the opposite direction due to the action of another switch mechanism, the screw 27 retreats from the workpiece 28, and tapping is completed. finish. However, depending on the size of the tap screw 27 or the material of the workpiece 28, the screw 2
7 may not properly penetrate into the workpiece 28 to a predetermined depth and may break on the way. In this case, conventional devices would cause sudden overload on the motor and damage the speed reduction mechanism. Furthermore, the broken screw must be replaced with another screw and the machining operation must be performed again. On the other hand, in a device using the present invention that uses the stepping motor 1 as its drive source, when a certain rotational force is applied to the screw 27, this acts on the output shaft of the motor 1, causing the motor 1 to step out. , a signal due to the step-out is input from the encoder 4 into the pulse signal control device 3 and detected. Based on this detected signal, the next pulse signal is transmitted from the CCW circuit to the driver 2 in place of the pulse signal transmitted from the CW circuit. The above converted signal is the screw 27
The screw 27 is driven backward in response to a signal that drives the screw forward. Therefore, before the screw 27 breaks during the tapping operation, the forward drive is reversed and switched to prevent the risk of the screw 27 breaking, and the drive of the motor is stopped to prevent the screw from breaking. Screws may be replaced or other necessary preparatory work may be performed.

As described in detail, according to the present invention, a predetermined pulse signal is manually driven to drive a stepping motor, step-out caused by a load on the motor is detected, and the detected signal is used to drive the stepping motor. Since drive control is performed by changing the driving direction, the driving direction of the stepping motor can be easily changed and the durability of the motor can be increased. Furthermore, by applying a predetermined pulse signal, the drive of the motor can be easily controlled.

[Brief explanation of the drawing]

FIG. 1 is a perspective view schematically showing a stepping motor drive control device according to the present invention, FIG. 2 shows an example of a pulse signal having a predetermined pulse speed, and FIG. 3 shows a reciprocating drive of the stepping motor. A schematic basic operation flow of an example of control is shown. Further, FIG. 4 is a side view of a device showing an example of use of the present invention, FIGS. 5 to 10 are side views explaining the operation of the device shown in FIG. 4, and FIG. FIG. 2 is a schematic side view of a device showing an example of its use. 1...Stepping motor 2...Driver 3...Pulse signal control device 4...Jin coder 5...Output shaft 6...Power outlet 7-12 Operation flow application Person Kurita Machinery Co., Ltd. Figure 2 PP ( )

Claims (1)

[Claims] a pulse signal control device that controls a predetermined pulse signal;
A drive means for the motor that supplies pulses to the stepping motor based on the pulse signal, and a pulse signal control device that connects the stepping motor and the pulse signal control device to send a signal responsive to the pulse signal from the motor back to the pulse signal control device. a pulse conversion circuit that detects step-out of the stepping motor caused by a load torque applied to the stepping motor through the pulse conversion circuit, and converts the predetermined pulse signal based on the detected signal to determine the driving direction of the motor. A stepping motor drive control device comprising a switching pulse signal conversion circuit.