JPH02231602A - General-purpose learning control device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a learning control device that controls a servo motor that drives a machine tool or a robot so that a driving trajectory according to a set command value is obtained. [Prior Art] A learning control device is a device that, when repetitively controlling a controlled object (servo motor), first drives the controlled object according to a command value, detects the deviation of the operating trajectory from the command value, and detects the deviation of the operating trajectory from the command value. The command value is corrected to reduce the deviation, regeneration operation is performed, the deviation of the regeneration operation trajectory from the corrected command value is detected, and the learning cycle of further correcting the command value is repeated to maintain the operation trajectory according to the command value. This is a device that obtains As an example of this type of prior art, for example, Japanese Patent Application Laid-Open No. 60-5740
9, JP-A-61-253505, JP-A-6
There are learning control devices and learning control methods described in Japanese Patent Laid-Open No. 3-15303 and Japanese Patent Application Laid-open No. 118406/1983. The learning control method described in Japanese Unexamined Patent Publication No. 60-57409 uses the time (dynamic delay time) from when a command value is input to a controlled object until the same value is actually measured as a playback trajectory.
This method controls the next regeneration operation according to the corrected command value. JP-A-61-253505 and JP-A-63-1
In the learning control device and the learning control method respectively described in Publication No. 5303, the gain of the deviation is calculated in accordance with the magnitude of the deviation, and the command value is corrected by the product of the deviation and the gain. This speeds up convergence. Furthermore, in the learning control method described in Japanese Patent Application Laid-Open No. 118406/1983, the predicted value of the control amount at each future sampling time is calculated by adding the current control amount and each sampling time past the present time. Based on the assumption that the manipulated variable can be approximated by a linear combination with the current response, the optimal linear prediction of the future controlled variable corresponding to the command value at each future sampling time is calculated, and the current command value is calculated based on this. This is a method of correction. [Problems to be Solved by the Invention] The conventional learning control device described in the above-mentioned literature has three basic processes: an editing process for inputting a machining program, a learning process for correcting the machining program, and a process for performing machining according to the machining program. By simply continuing the driving process in this order, the learning process and driving process can be started independently.
The problem is that it does not have the ability to arbitrarily specify the machining program to be executed in each process. This function is especially important when machining programs must be selected in conjunction with other systems, such as multi-axis lathes, and must be executed in synchronization with other systems. An object of the present invention is to provide a general-purpose learning control device that has the above-mentioned functions necessary for practical use. [Means for Solving the Problems] A first general-purpose learning control device of the present invention achieves an editing mode in which a machining program and various parameters are input from an external information processing device, stored in a memory, and edited. Correct the machining program using means and learning control,
a learning means for achieving a learning mode in which the correction machining program is stored in a memory; an operating means for achieving an operation mode including controlling the operation of a controlled object according to the correction machining program; and a manual operation mode for manually operating the controlled object. A learning control device comprising a manual operation means for achieving the following: a mode selection means for specifying any one of the editing mode, the learning mode, the driving mode, and the manual operation mode; and a plurality of processing operations. program selection means for specifying any one of the program and the correction machining program, and a starting means for starting the learning mode or the operation mode, and starting when the mode selection means specifies the learning mode. When the means starts the learning mode, the learning means executes learning control based on the machining program or correction machining program designated by the program selection means until the deviation falls within a predetermined range, and the mode selection means selects the operation mode. is specified, and when the starting means starts the operation mode, the operating means executes the machining program or correction machining program specified by the program selection means. The second general-purpose learning control device of the present invention is an independent operation that selects either system operation in which the controlled object is operated in conjunction with other devices, or independent operation in which the controlled object is operated without interlocking with other devices. It further includes operation/system operation selection means. In the third general-purpose learning control device of the present invention, when the mode selection means selects the operation mode and the individual operation/system operation selection means selects the system operation, the program selection means selects a program from the outside. It includes a means for specifying a machining program or a correction machining program using a signal. In the fourth general-purpose learning control device of the present invention, when the mode selection means selects the operation mode and the individual operation/system operation selection means selects the system operation, the starting means starts or stops externally. It includes means for activating the operating mode by a selection signal. The fifth general-purpose learning control device of the present invention is 1
It further includes l-cycle operation/continuous operation selection means for selecting one of cycle operation and continuous operation. A sixth general-purpose learning control device of the present invention includes an activation display means for displaying that the learning means is activated;
The system further includes a learning completion display means for displaying that learning has been completed. [Function J] The first general-purpose learning control device of the present invention is capable of selecting any one of editing mode, learning mode, driving mode, or manual operation mode (hereinafter referred to as operation mode), and selecting a plurality of machining programs and corrections. By combining it with any one machining program (hereinafter referred to as machining program), it can be used with a variety of specifications. In other words, when the learning mode is specified, the processing is performed not only based on the machining program processed in the previous edit mode, but also based on any machining program specified from among the machining programs currently stored in memory. Learning control is possible.
When the operating mode is specified, the operating means executes the arbitrarily specified machining program, regardless of whether it has been corrected or not. Furthermore, learning mode and driving mode can be activated at any timing, regardless of each other. The second general-purpose learning control device of the present invention selects systematic operation when executing one of a plurality of machining programs executed in parallel on a multi-spindle lathe, and selects the learning operation,
Alternatively, if you want to operate the controlled object in standalone mode, you can select standalone mode. The third general-purpose learning control device of the present invention is capable of externally controlling a machining program to be used in parallel with machining programs used in other systems when a plurality of machining programs are executed in parallel. It can be specified automatically by the program selection signal from . The fourth general-purpose learning control device of the present invention is capable of starting an operation mode in synchronization with the operation of other systems using a start/stop selection signal when a plurality of processing programs are executed in parallel. Can be done. The fifth general-purpose learning control device of the present invention is capable of selecting learning operation in units of l cycles. The sixth general-purpose learning control device of the present invention can start the next cycle of learning operation or the next operation mode while monitoring the learning state using the starting display means and the learning completion display means. [Example] Next, an example of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of an embodiment of the general-purpose learning control device of the present invention, and FIG. 2 (A). (B) is a diagram showing the connector and operation panel of the device shown in FIG. 1, and FIG. 3 (A).
(B). (C) is a conceptual diagram illustrating the operations of the editing means, learning means, and driving means of the apparatus shown in FIG. 1, and the storage structure of the memory 3, and FIG. 4 is a flowchart showing the learning operation of the apparatus shown in FIG. 1. ．． The general-purpose learning control device of this embodiment includes an editing means, a learning means, a driving means, a manual operation means (hereinafter collectively referred to as mode control means), a mode selection means, a program selection means, and an operation for selecting the operation of a controlled object. It includes a selection means (hereinafter collectively referred to as the selection means), means for starting and stopping a controlled object, a memory for storing a command program and a correction command program, and a display means, and each of the mode control means executes control. It is equipped with the necessary auxiliary means. The editing means, learning means, driving means, and manual operation means each include an editing subroutine, a learning subroutine, a driving subroutine, a manual operation subroutine, and a common CPUI for executing these subroutines. Each mode control means functions when the CPU 1 executes each subroutine, and each mode control means operates in the editing mode,
Executes control in learning mode, driving mode, and manual operation mode. Memory 2 is a ROM, and all of the above subroutines are stored in it. Memory 3 is non-volatile RAM
The CPU 5 stores machining programs, correction machining programs, and parameters related to these. The CPU 5 is for input/output control. The ROM 16 stores operating procedures of the CPU 5. The memory 17 is a working memory of the CPU 5. The dedicated IC 6 is an IC manufactured exclusively for the general-purpose learning control device of this embodiment, and has a dual port memory that mediates the transmission of information between the CPU 1 and the CPUS, and counts up/down pulses corresponding to the amount of movement of the controlled object. It contains a reversible counter that The converter 8 receives the two-phase signal output by the encoder 7 in response to the movement of the controlled object via the connector 6CN, and converts it into up/down pulses. The converters 9 and 11 are input/output interfaces that convert an external signal input as a serial signal into a parallel signal, or output a parallel signal generated within the device as a serial signal, and convert the level of the signal. The converter 10 is for isolation of input and output signals. Connector 4CN connects personal computer 4 and converter 9, and transmits machining programs and parameters in editing mode. Connector 3CN connects NC device 14 and converter 1
0 to transmit external start/stop signals and external program selection signals from the NG device to the general-purpose learning control device during operation mode, or to transmit signals from the general-purpose learning control device to the NG device. Connector 3CN also connects converter 11 and display 15. The display 15 receives the number of output pulses from the encoder 7 corresponding to the amount of movement of the controlled object via the dedicated IC 6 and the CPU 5, and displays it numerically (the display is installed separately from the general-purpose learning control device). The connector ICN connects the synchronization signal output from the spindle pulse generator 12 to the general-purpose learning control device. This synchronization signal is input to the CPU 1 to control the output timing of commands, and is also output via the connector 2CN in order to transmit the same synchronization signal to an external device. Further, this synchronization signal is counted by a counter l3, and the CPU 1 makes the time when the counted value reaches a predetermined value correspond to the start time of one cycle in the learning mode and the driving mode. Connector 5CN connects commands to the controlled object during learning mode and operation mode. Further, in this embodiment, a D/A converter l6 is provided to apply a command to an analog input speed control device (not shown). Finally, connector 7CN is for supplying DC power +5 volts. Next, the mode selection means includes a mode selection switch 21 (FIG. 2), which allows one of editing mode, learning mode, driving mode, and manual operation mode to be specified by switching from the operation panel. The manual operation mode of this embodiment further includes a low speed feed mode L (1 to 2 pulses/sec) and an intermediate speed feed mode M (10 pulses/sec), in which the servo mechanism is manually operated by the forward button 12 and the backward button 13. do. The operation selection means is an individual operation/system operation selection switch 22
and l-cycle operation/continuous operation selection switch (hereinafter referred to as 1)
(referred to as cycle operation switch) 23. The independent/system operation selection switch 22 (hereinafter referred to as the "independent/system switch") selects between operation based on instructions from the operation panel (isolated operation) and operation synchronized with external signals (signals from other systems). (system operation). System operation is possible only in operation mode. The 1-cycle operation switch 23 selects either 1-cycle operation or continuous operation. The starting means includes a start/stop switch 24 and an external start/stop signal input terminal (not shown).
, the latter of which is connected to the terminal of connector 3CN. In the learning mode and the driving mode, when starting according to an instruction from the operation panel, set the independent/system switch 22 to the independent operating side and turn on the start/stop switch 24 (set to the starting side). The learning means or operating means constantly monitors the start/stop switch 24, and when the start/stop switch 24 is turned on, it transmits a machining program (command) to the controlled object 40. In addition, when stopping the operation, turn off the start/stop switch 24 (set it to the stop side). When starting from the outside in the operation mode, set the individual/system switch 22 to the system operation side,
Activates the external start/stop signal input via connector 3CN. Also, when stopping operation, deactivate the external start/stop signal. The memory 3 is shown in FIG. 3(A). (B). As shown in (C), it includes a command memory 3° and a correction command memory 3'. The command memory 3° stores the machining program and various parameters input by the editing means. The command memory 3° of this embodiment includes memory areas 3+, 3t, and 3s' for storing three machining programs and parameters related to each machining program. The correction command memory 31 has a memory area: 31.3
z°, 3,. Memory area 3 for storing machining programs read from and corrected by the learning means ＠'+
Contains 3 2'+ 3 3'. Below, each memory area 3jl+3k' (k = 1.2.3)
The machining program and the corrected machining program stored in are respectively referred to as machining program 3k and corrected machining program 3-1, and these are collectively referred to as machining program 3 (that is, the machining program and the corrected machining program are Specify by the memory area number where the program is stored). The program selection means 50 (FIG. 3(C)) includes a program selection switch 25, a non-correction/correction selection switch 26,
including an external program selection signal input terminal (not shown);
Specify any one of machining programs 3. The program selection switch 25 specifies the memory area number in which the combination of the machining program before correction and the corrected machining program is stored, and the no correction/correction selection switch 26 specifies the memory area number 3I1 with the same number. 3m of uncorrected or corrected machining programs stored in
Select ', 31'. The no correction/correction selection switch 26 is used only in the driving mode.
The external program selection signal input terminal is connected to the terminal of connector 3CN. When specifying a machining program by instructions from the operation panel, set the individual/system switch 22 to the individual operation side and select the memory area number 3 in which the machining program is stored using the program selection switch 25.
k, and when operating in the operation mode, use the no correction/correction selection switch 26 to specify machining program 3, o or correction machining program 3kl of the memory area number. When specifying a machining program externally,
Set the individual/system switch 22 to the system operation side, and connect the connector 3.
The relevant program 3ko or 3kl is designated by an external program selection signal input via CN. The display means are a ready lamp 27 and a learning complete lamp 28.
, a starting lamp 29, a home return completion lamp 30, and an alarm lamp 31. The ready lamp 27 lights up when the internal state is normal after the power is turned on and a servo ready signal is being input from the servo drive. The learning completion lamp 28 lights up when the deviation falls within a preset range while driving in the learning mode. The starting lamp 29 is activated when the system enters the operating state during learning mode or operation mode, that is, when the individual/system switch 2
2 is on the individual operation side and the start/stop switch 24 is on the start side, or when the individual/system switch 22 is on the system operation side and the external start/stop input is active. The return-to-origin completion lamp 30 lights up when the return-to-origin operation of the controlled object to be operated is completed. When this lamp is lit, the activation means will function effectively.
The alarm lamp 31 is activated when there is a failure inside the learning control device (for example, when the hardware is defective or there is a bug in the software) or when there is a malfunction in the learning control system (for example, when the servo drive Lights up (when a servo alarm signal is output from the servo alarm signal or when the deviation exceeds the set value in learning mode or operation mode). In addition, the reset button 34 and emergency stop button 35 are well-known. Next, the operation of this embodiment will be explained. FIG. 4 is a flowchart showing the learning operation of this embodiment. When the mode selection switch l specifies the editing mode (the third
(A)), the operator uses the personal computer 4 to read out a predetermined machining program and various parameters from the external information processing device, monitor the moving shape on the personal computer 4, make necessary changes, and then ,. Specify and transfer it to the general-purpose learning control device. The general-purpose learning control device stores the machining program and parameters transferred from the personal computer 4 in the dedicated IC 6 through input/output control of the CPU 5, and then
The data is read from the dedicated memory C6 under the control of the PU1 and stored in the designated memory area 3Ilo. Furthermore, if the operator wishes to change the parameters of the machining program that is being corrected through learning (see Figure 4), the operator specifies the editing mode using the mode selection means (step S14) and specifies the correction machining program number using the personal computer 4. to request transfer of the machining program. The general-purpose learning control device executes processing in the opposite direction to the above processing, reads out the machining program and parameters (step S15), and transfers them to the personal computer 4. The operator monitors the moving shape on the personal computer, makes necessary changes (step S16), and then writes the machining program and parameters into the original area of the memory 3 (step S17). The status of input/output signals between the personal computer 4 and the general-purpose learning control device can be monitored on the personal computer 4. In edit mode, it is not possible to start the controlled object (servo motor). Next, in learning mode, the learning means only accepts switches on the operation panel. Therefore, individual/system switch 2
Connect 2 to the single side. Furthermore, when the l-cycle operation switch 23 is on the 1-cycle side, learning is executed one cycle at a time. First, we will describe the operation when learning is performed in continuous operation. When operating the apparatus of this embodiment in the learning mode (see FIG. 3(B)), the operator first specifies a machining program using the program selection switch 25 (step S1). Next, the learning mode is designated by the mode selection switch 21 (step S2), and the start/stop switch 24 is turned to the start side (on) to start the learning mode (step S3). When the start/stop switch 24 is turned on, the learning means turns on the starting lamp 29 (step S4), and the machining program 3k selected by the program selection switch 25 is selected. is transmitted to the controlled object (servo motor) 40 and a learning operation is executed. In other words, the learning means are 1
For each cycle, first, the machining program is corrected so that the deviation is small, the operation is performed using the corrected program, and the deviation is calculated by comparing the moving shape detected by the encoder 7 with the commanded shape ( Step S5)
．． Next, it is determined whether the deviation is within a predetermined range (step S6). If the deviation is not within the predetermined range, the learning means further performs the next learning operation. The corrected machining program is held in the command memory 3kl. When the above operation is repeated and the deviation falls within a predetermined range, the learning means turns on the learning completion lamp 28 (step S11), turns off the starting lamp 29 (step S12), and automatically stops the learning operation. (Step S13) The learning operation ends. When the operator wants to monitor or change parameters during learning operation, start
The stop switch 24 is turned off to stop the learning operation, the mode selection switch 21 is switched from the learning mode to the editing mode (step S14), and the personal computer 4
After executing steps S15 to S17, the learning mode is designated again (step S2), and the learning mode is activated (step S3). As described above, when the 1-cycle operation switch is set to the 1-cycle side, the learning operation is performed for only 1 cycle, and it is determined whether the deviation is within a predetermined range (step S6).
．． At this time, the starting lamp 29 remains lit.
When executing the next cycle, turn off the start/stop switch and then turn it on again. If the deviation is within the predetermined range, the learning completion lamp 28 is lit (step S
11) The learning operation is stopped (step S13). If the start/stop switch 24 is turned off during learning operation, the function will be suspended. At this time, lamp 29 remains lit during startup. When the start/stop switch 24 is turned on again, operation continues. When the start/stop switch 24 is turned off and then turned on while the learning completion lamp 28 is lit, the learning means releases the learning completion state and then starts operation. As a result, if the deviation is within the set range, the operation is ended in the same way as above. When the mode selection switch 2l specifies the operation mode (FIG. 3(C)), the operation means is set to the program selection means 50.
(In this mode, the machining program is arbitrarily designated from the operation panel or by an external program selection signal.) The machining program 3I1 selected by the machining program 3I1. Or drive the controlled object 40 according to 3kI. During operation, the deviation is checked every cycle. When the deviation exceeds the set value, the cycle is executed, the operation is stopped, and the alarm lamp 31 is lit at the same time. When the independent/system switch 22 is on the independent operation side, the on/off of the start/stop switch 24 on the operation panel is enabled, and when it is on the system operation side, the external start/stop signal is enabled. Become. When the 1-cycle operation switch 23 is on the 1-cycle side, only 1 cycle is executed. If the start/stop switch 24 is turned on when the no correction/correction selection switch 26 is on the correction side, operation is started based on the correction machining program 3m'. At the same time, lamp 29 lights up during startup. If the start/stop switch 24 is turned off,
It will stop after executing the cycle at that time. At the same time, the starting lamp 29 goes out. The same operation occurs in grid operation. In this case, the operation mode is activated by an external start/stop signal input from an external NC device via connector 3CN, and is controlled in synchronization with an external synchronization signal transmitted via connector ICN. ．． When selecting a machining program in response to a program of another system, an external program selection signal is input via the connector 3CN. Further, in parallel with the lighting of the starting lamp 29, a starting signal is output to the outside. If the deviation becomes larger than the set value for some reason during operation, the cycle stops after execution, and the learning completion lamp 28 and starting lamp 29 go out. At the same time, the alarm lamp 31 lights up and an alarm signal is sent to the outside. When the mode selection switch 2l specifies the manual operation mode, the controlled object can be manually operated using the forward and backward buttons 32 and 33, regardless of the machining program. This mode is mainly used for returning to the origin. When this mode is selected, the return-to-origin direction push button is pressed and the deceleration limit switch is turned on while the table is moving, and the machine enters the return-to-origin mode. A series of processing is performed, and when the origin is reached, the machine stops and the origin return completion lamp lights up. [Effects of the Invention] As explained above, the present invention has the following effects. 1) By combining the functions of the mode selection means and the program selection means, it is possible to operate with various specifications, and furthermore, since the learning mode and the driving mode can be started independently by the starting means, these modes can be set arbitrarily. It can be activated at any timing, and as a result, it can be adapted to a variety of purposes. 2) By providing a means to select either individual operation or system operation, it is possible to achieve not only individual operation but also an operation mode that is synchronized with the operation of other systems. 3) Since a machining program can be specified by an external program selection signal, it is possible to automatically specify a machining program to be used in parallel with a machining program used in another system, in response to a machining program used in another system. can. 4) Since it is equipped with a means to start the operation mode by an external start/stop selection signal, the operation of this device can be controlled in synchronization with the operation of other systems. 5) Single cycle operation and continuous operation Since it is equipped with a means for selecting either one of the two modes, in the learning mode, it is possible to perform not only continuous learning operation but also one-cycle learning operation. 6) By providing a starting display means and a learning completion means, it is possible to start the next cycle or the next operation mode while monitoring the learning mode.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an embodiment of the general-purpose learning control device of the present invention, and FIG. 2 (A). (B) is a diagram showing the connector and operation panel of the device in Figure 1, Figure 3 (A),
(B) and (C) are conceptual diagrams each explaining the operation of the editing means, learning means, and driving means of the device shown in FIG. 1, and the storage structure of the memory 3, and FIG. 4 shows the learning operation of the device shown in FIG. This is a flowchart showing the process. 1.5-CPU, 2,3.17...Memory, 3+,3*,3s'...Command memory or machining program, 3l'+3a'+3s""Correction command memo 1H or correction machining program, 4...Personal computer, 6...Dedicated memory, 7...Encoder, 8, 9, 10.1 1--Converter, 1 2-...Spindle pulse generator, 1 3- ...Counter, 14-NG device, 1 5--Display device, 16-ROM, 2 1--Mode selection switch, 22-1 single/system switch, 23-1 cycle operation switch, 2 4- ...Start/Stop switch, 2 5--Program selection switch, 26--No correction/correction switch, 2 7--Ready lamp, 2 8--Learning complete lamp, 29--Start Middle lamp, 30... Home return completion lamp, 31... Alarm lamp, 32... Forward button, 33... Reverse button, 34... Reset button, 35... Emergency stop button, 40. ...Controlled object, 5o...Program selection means, ICN, 2CN, 3CN, 4CN, 5CN, 6CN, 7
CN, 8CN...Connector. Patent applicant: Yaskawa Electric Manufacturing Co., Ltd.

Claims (6)

[Claims] (1) Editing means that achieves an editing mode in which a machining program and various parameters are input from an external information processing device, stored in memory, and edited, and a machining program that is corrected by learning control and the corrected machining program is stored in memory. a learning means for achieving a learning mode stored in the computer, an operating means for achieving an operating mode including controlling the operation of a controlled object according to the correction machining program, and a manual operating means for achieving a manual operating mode for manually operating the controlled object. A learning control device comprising: mode selection means for specifying any one of the editing mode, the learning mode, the driving mode, and the manual operation mode; a program selection means for specifying any one; and a starting means for starting the learning mode or the driving mode, and when the mode selection means specifies the learning mode and the starting means starts the learning mode, The learning means executes learning control based on the machining program or correction machining program specified by the program selection means until the deviation falls within a predetermined range, and when the mode selection means specifies the operation mode, the starting means starts the operation. A general-purpose learning control device characterized in that when the mode is activated, the operating means executes a machining program or a correction machining program specified by the program selection means. (2) It further includes independent operation/system operation selection means for selecting either system operation in which the controlled object is operated in conjunction with other devices or isolated operation in which the controlled object is operated without interlocking with other devices. The general-purpose learning control device according to claim 1. (3) When the mode selection means selects an operation mode and the individual operation/system operation selection means selects system operation, the program selection means selects a machining program or a machining program using an external program selection signal. 3. The general-purpose learning control device according to claim 2, further comprising means for specifying a correction machining program. (4) When the mode selection means selects an operation mode and the individual operation/system operation selection means selects system operation, the activation means selects the operation mode by an external start/stop selection signal. 3. The general-purpose learning control device according to claim 2, further comprising means for activating. (5) The general-purpose learning control device according to any one of claims 1 to 4, further comprising one-cycle operation/continuous operation selection means for selecting one of one-cycle operation and continuous operation. (6) Claim 1, further comprising a starting display means for displaying that the learning means is starting, and a learning completion display means for displaying that the learning means has finished learning.
A general-purpose learning control device described in .