JPH0433596A - Pulse motor controller - Google Patents

Abstract

PURPOSE:To execute high speed cyclic operation in a short time by separating the operational pattern processing of a pulse motor from one cycle processing of motor operation. CONSTITUTION:At first a register number is inputted to a data command analyzing section 16. An operating section 18 then calculates an operational pattern MP which is fed to an operational pattern memory section 32 and stored therein together with the register number. At this time point, one cycle operation processing is waited. Consequently, one cycle time includes a pulse motor standby time and pulse motor operating time. since the pulse motor standby time is short, one cycle operation is repeated during a short time. Since the operational pattern processing and storing processing of a pulse motor are separated from one cycle processing operation of motor, cycle time is shortened resulting in a high speed cyclic operation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a pulse motor control device used, for example, in machine tools or NC devices.

[Prior Art 1] Fig. 4 is a characteristic diagram showing the operation pattern of a pulse motor in relation to time and speed.

In the figure, PL is a low speed, which indicates the speed immediately after the pulse motor starts rotating or the speed immediately before it stops rotating. P
H is a high speed, which indicates a constant speed that allows the pulse motor to rotate stably. PA is a rise time constant, which indicates the time required to gradually accelerate the low speed PL and raise the high speed pHl. PD is a falling time constant, which indicates the time it takes to gradually decelerate the high speed circle I until it stops rotating. The above-mentioned parameters determine the movement conditions PX of, for example, the feed axis or rotation axis, which is moved by driving the pulse motor. The locus of the rotational speed of the pulse motor at this time is the operation pattern MP of the pulse motor. Furthermore, the trapezoidal area surrounded by the operation pattern corresponds to the amount of movement PC by which, for example, the feed shaft or rotation shaft is moved by driving the pulse motor.

FIG. 5 is a block diagram showing a conventional pulse motor control device.

In the figure, reference numeral 10 denotes a pulse motor control device, which inputs data a1 through a data input section 12 and a command input section 14.
and command b are input.

Reference numeral 16 denotes a data/command analysis section which analyzes parameters necessary for driving the pulse motor (see FIG. 4) based on data a and command b, and outputs movement condition Px1 movement=pc and start command C. Reference numeral 18 denotes an operation pattern calculation unit, which calculates the movement condition PX and the movement amount PC according to the timing of the start command C.
The motion pattern MP is calculated using the input as input, and is output. 2
0 is a pulse generator, which receives the operation pattern MP as input.
A pulse d for driving a pulse motor having a frequency proportional to the input is generated and output.

Incidentally, a pulse amplification section 22 is provided outside the control device, and a drive pulse D obtained by power amplifying the pulse d is supplied to the pulse motor 24.

The operation of the pulse motor control circuit having the above configuration will be explained according to flowchart 1 in FIG.

First, movement conditions Px necessary for driving the pulse motor are set (step 101), and after the setting is completed, movement ff1Pc is set (step 102).

Next, step 1 waits for startup command C to be input.
03), when input, the motion pattern calculation unit 18 calculates the motion pattern MP based on the movement condition PX and the movement fftPc.Step 104), the motion pattern MP
The pulse motor 24 is rotated by generating a pulse d (drive pulse D) corresponding to the pulse motor 24 (step 105).

When the rotation of the pulse motor 24 is completed, it is determined whether or not it is necessary to newly rotate the pulse motor 24 to move the axis (step 106), and if necessary, return to step 101 and perform the subsequent processing. repeat.

[Problems to be Solved by the Invention] By the way, in the conventional pulse motor control device as described above, in order to operate the pulse motor 24 once, the movement condition setting time shown in TMI in FIG. 7 must be set each time. (
"r, total time of T2, T3, T4), travel amount setting time T5, start command standby time T1, total time adding all start command setting time T7, operation pattern calculation time T8, and pulse motor operation time T9 Is required.

Here, start the pulse motor 24 in the shortest possible time,
Considering the case of rotation, one cycle time is the total time T1o excluding the activation command waiting time T6, as shown in TM2 in FIG. Here, the total time T1
o is the preparation time required each time the pulse motor 24 is operated, but for the actual operation time T9 of the pulse motor 24, it is a wasted time when the motor does not rotate.

For example, if the pulse motor operation interval T shown in TM3 in FIG.
For example, when 9 is short and the operation is repeated in a short time cycle, it is described as high-speed cycle operation below.One cycle time T when performing high-speed cycle operation is the preparation time T1.
Even if the actual operating time T9 of the pulse motor 24 is short, as a result, one cycle time becomes redundant.

Therefore, in the prior art, a preparation time T1o is required for each operation of the pulse motor 24, and there is a problem that high-speed cycle operation cannot be performed in a short time.

The present invention has been made to solve the problems of the prior art described above, and its purpose is to provide a pulse motor control device capable of performing high-speed cycle operation in a short period of time.

[Means for Solving the Problems] In order to achieve the object described in JL, the pulse motor control device according to the present invention includes an operation pattern storage section that stores an operation pattern together with its registration number, and an operation pattern storage section that stores an operation pattern along with its registration number. The present invention is characterized in that it includes an operation pattern reading section that reads out a stored operation pattern using the registration number, and a pulse generation section that generates drive pulses for the pulse motor according to the read operation pattern.

Furthermore, it is effective to store a plurality of motion patterns in the motion pattern storage section and configure the system so that any motion pattern can be read out using a registration number.

[Function] In the pulse motor control device of the present invention having the above configuration, the operation pattern calculation process of the pulse motor can be separated from the one cycle process of motor operation, and the preparation time until motor startup can be shortened.

In addition, by storing a plurality of motion patterns in a readable manner, it is possible to accumulate motion patterns performed in the past, and there is no need to redundantly perform arithmetic processing on motion patterns.

[Embodiments] Hereinafter, preferred embodiments of the present invention will be described based on the drawings.

FIG. 1 is a block diagram showing a pulse motor control device according to an embodiment of the present invention. In the figure, the same or corresponding parts as in FIG. 5 are denoted by the same reference numerals, and explanations thereof will be omitted.

In FIG. 1, 30 is a pulse motor control device of the present invention, which has the following characteristic components.

That is, 32 is a motion pattern storage section which is the first characteristic component of the present invention, and stores the motion pattern MP calculated by the motion pattern calculation section 18 together with its registration number i. The movement pattern storage unit 32 stores a plurality of movement patterns M having different movement conditions PX and movement amounts PC.
Pj can be stored, and each motion pattern MP1 can be identified by a registration number i. 34 is an operation pattern reading unit which is the second characteristic component of the present invention;
It is stored in the motion pattern storage section 32. The operation pattern MPi is read out using the registration number i specified using the command input unit 14, for example. The read operation pattern MPi is sent to the pulse generator 20, where it is converted into a pulse proportional to the operation pattern MPj, as in the conventional case.

FIG. 2 is a flowchart showing the flow of the operation in FIG. 1, and the operation will be explained below according to FIG.

First, the data input section 12 (or command input section 14)
The registration number i is manually set in the data/command analysis section 16 using (step 201).

By inputting the registration number i, the data/command analysis unit 16 recognizes that the process is to store an operation pattern MPi that does not actually drive the pulse motor 24.

Next, the data/command analysis unit 16 converts the feed shaft or rotation shaft (not shown) driven by the pulse motor 24
The data necessary to move the
It is input from the data human resources section 12 as a parameter. The data/command analysis unit 16 performs an analysis process according to the data written in ``2'' and generates an operation pattern Ml corresponding to the registration number i.
A movement condition PX (see FIG. 4) for calculating 'l is set (step 202). Next, the data/command analysis section 16 sets the movement fikPc (see FIG. 4) for calculating the motion pattern MPi corresponding to the registration number i, as described above (step 203).

The above movement condition Px and movement amount PC are input to the operation pattern calculation section 18, and the operation pattern MP of the pulse motor 24 is calculated in the calculation section 18 (step 20).
4). This motion pattern MP is stored in the motion pattern storage section 3.
2 and stored along with the registration number i (step 2
05).

When one motion pattern MPi is stored, the data/command analysis section 16 determines whether all necessary motion patterns MPi have been stored, based on input from the data input section 12 (or command input section 14), that is, the motion pattern It is determined whether the MP storage process is completed (step 206). If the process has not been completed, the process returns to step 201 and the subsequent processes are repeated.

In this embodiment, this repetitive processing, which is the essential storage processing for each motion pattern, will be referred to as initialization processing. This initialization process is assumed to be performed, for example, when power is supplied to the pulse motor control device 30. However, it is desirable that the motion pattern MPi already stored in the motion pattern storage section 32 be configured so that it will not be lost even if the power is stopped.

On the other hand, when the above initialization process is completed, the process enters a standby state for the one-cycle operation process from step 207 onwards. That is,
By setting and inputting a registration number i as a reading number using the command input section 14 (or data input section 12), this registration number i is transferred to the operation pattern reading section 34. The operation pattern reading unit 34 reads the operation pattern MPj corresponding to the registration number i from the operation pattern storage unit 32 (step 207), and generates drive pulses according to this operation pattern 1IIPi to rotate the pulse motor 24 (step 207). 208).

When one cycle of operation of the pulse motor 24 is completed, the data/command analysis unit 16 determines whether the next operation is necessary based on the input from the command input unit 14 (step 209), and if necessary, proceeds to step 207. Repeat the process after return.

The key to the operation pattern of motor control performed in this way is
Since data can be stored and stored sequentially, there is no need to repeat calculations for previously performed movement patterns.
This makes it possible to reduce the amount of time spent on arithmetic processing.

The above processing timing is shown in FIG. TM4 in Figure 3
is a timing chart showing initialization processing, and the total processing time, that is, initialization time T1゜ is the registration number setting time T
13. It is the sum of the movement condition setting time (total of T t to T ), the movement amount setting time T5, and the time T14 required for calculating and storing the operation pattern. In the present invention, the above initialization process is separated from the one-cycle process shown at 7M5 and TM6 in FIG. 3 and is performed as an independent process. That is, unlike the conventional example, processing can be performed without driving the pulse motor 24.

On the other hand, as shown at 7M5 and TM6 in FIG. 3, one cycle time T1□ of this embodiment is the read number setting time T
16, the operation pattern readout time T16, and the pulse motor operation time T9. Here, if the pulse motor operation time T9 is excluded because it varies depending on the operation pattern, the total time T1o of T15 and T16 is
This is the pulse motor preparation time required for each pulse motor operation in this embodiment.

When the pulse motor operating time T9 is short, one cycle time T11 becomes a time approximate to the pulse motor operating time T9 because the pulse motor preparation time T1° is short. Therefore, it becomes possible to repeat one cycle operation in a short time, and high-speed cycle operation becomes possible.

In addition, in the above embodiment, until one cycle operation is completed,
Although the configuration is such that the next readout number is not accepted, a configuration may also be adopted in which a plurality of readout numbers are consecutively set in advance and the cycle operation is executed continuously.

[Effects of the Invention] As explained above, according to the pulse motor control device according to the present invention, the operation pattern calculation processing and storage processing of the pulse motor are separated and independent from the motor's one cycle processing = 13- immediate operation. One cycle time can be shortened and high-speed cycle operation becomes possible.

Furthermore, since a plurality of motion patterns can be stored, motion patterns can be stored using time not related to motor drive. Furthermore, since previously performed motion patterns can be reused, motion pattern calculation processing can proceed without duplication, and calculation time can be shortened, which is even more effective in high-speed cycle operation.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a pulse motor control device according to an embodiment of the present invention, FIG. 2 is a flowchart 1 showing the operation flow of FIG. 1, and FIG. 3 is a flowchart showing the processing timing of the embodiment. Figure 4 is a characteristic diagram showing the pulse motor operation pattern in terms of time and speed. Figure 5 is a block diagram showing a conventional pulse motor control device. Figure 6 is the operation of Figure 5. FIG. 7 is a timing chart showing conventional processing timing. 12 ... Data input section 14 ... Command input section 18 ... Operation pattern calculation section 20 ... Pulse generation section 24 ... Pulse motor 30 ... Pulse motor control device 32 ... Operation pattern storage section 1 ... Registration number 34 ... Motion pattern reading department applicant Okuma Iron Works Co., Ltd. agent Patent attorney Yoshi]]] Kenji (2 others) [
+)-70] N [ Shi吃, ', 2 Ward Susui n Sokyu Castle

Claims (2)

[Claims] (1) An input section for inputting the parameters necessary to move the feed axis or rotary axis driven by the pulse motor to the target position, and an operation pattern calculation section for calculating the operation pattern of the pulse motor based on these parameters. A pulse motor control device comprising: an operation pattern storage section that stores the operation pattern together with its registration number; an operation pattern reading section that reads out the operation pattern stored in the operation pattern storage section using the registration number; A pulse motor control device comprising: a pulse generator that generates drive pulses for the pulse motor according to an issued operation pattern. (2) The pulse motor control device according to claim (1), wherein a plurality of motion patterns are stored in the motion pattern storage section, and any motion pattern can be freely read out using a registration number. .