JPH0633206U - Position control device - Google Patents

Abstract

(57) [Summary] [Purpose] It can be easily applied to standard length cutting and indexing. [Structure] A position counter 2 which represents a position by counting pulses of an encoder 1 and a comparator 4 compares contents of a position setting memory 3 and a position counter 2 in accordance with an input from the position counter 2, and a comparator 4 Output unit 6 according to the comparison output of 4
A position control device configured to control the output to the position control device, and which is stored in the position setting memory 3 is used as a final step of a program for setting the position control process of the system to which the position control device is applied. By setting a control command indicating position control or one-way repetitive position control, it is possible to determine whether or not to preset each internal position counter at the time when the final process is started. It is possible to easily use the position control device for the one-way repetitive control and the one-way repetitive control.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a position control device that combines a large number of addition / subtraction type preset counters and outputs and controls a moving position and a speed relative to the position.

[0002]

[Prior art]

 FIG. 1 shows a configuration example of a conventional position control device of this type. The position control device shown in FIG. 1 is an input from the position counter 2 that counts the pulses of the encoder 1 and the position counter 2 that represents the position, the memory 3 that stores the speed change position and its control speed, and the position counter 2. It comprises a memory 4 and a comparator 4 for comparing the contents of the position counter 2 in accordance with the above, and a control unit 5 for controlling the output to the output unit 6 according to the output of the comparator 4.

[0003]

[Problems to be solved by the device]

 Since the device shown in Fig. 1 is generally intended to perform position control (hereinafter referred to as absolute position control) from one position (position counter value) designated by the program to another designated position, fixed length cutting When this type of device is to be applied to one-way repetitive position control such as a device or an indexing device, the number of cutting and indexing is limited by the capacity of the position counter 2.

On the other hand, although a general-purpose preset counter is sometimes used for the purpose of this one-way repetitive position control, in this case, a plurality of preset counters of the number of speed changes × the set number are required, and further, these preset counters are required. A sequence control device for controlling is required. Therefore, an object of the present invention is to provide a position control device that can be easily applied to fixed length cutting, indexing and the like.

[0005]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the present invention provides an absolute position control in a storage area of a final step of a position control process program according to a program input in a position control device which outputs and controls a moving position and a velocity with respect to the position. Position setting storage means in which a control command indicating one of the one-way repeated position control is stored, and the end of each position control process program at the start point of each position control process program stored in the position setting storage means. Judges the control command stored in the process storage area, presets a preset value in the position counter in the case of one-way repetitive position control, executes the position control process program, and executes the position control in the case of absolute position control. And a control means for executing the process program from the first step.

[0006]

[Action]

 According to the position control device of the present invention, a control command indicating absolute position control or one-way repetitive position control is added to the final process of the program that sets the position control process of the system to which the position control device is applied. By setting, it is possible to judge whether to preset each internal position counter at the time of starting the final process, or not to preset, thereby easily using the absolute position control device for one-way repetitive position control.

[0007]

[Example of device]

 Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 2 shows a part of the contents of the program of the present invention, and FIG. 3 shows an example of the internal operation of the system when the program is executed. The configuration of the position control device applied to the present invention is the same as that of the conventional example shown in FIG. 1, and therefore its detailed description is omitted.

In FIG. 2, PT1 is a first pattern, PT2 is a second pattern, and PS is a preset value setting area, which are stored in advance in the position setting memory 3 of FIG. The first pattern PT1 is set for absolute position control, and the second pattern PT2 is set for one-way repeated position control. Further, in the preset value setting area PS, the value of the position counter immediately after the activation of the one-way repetitive position control is set.

FIG. 3 shows a result of executing the setting instruction shown in FIG. The first pattern PT1 proceeds from address 100 to address 1000 in the first step S1, proceeds to address 1500 in the next second step S2, and returns to address 100 in the third step S3. Here, the address indicates the destination position. In the second pattern PT2, the stationary position is stored as a preset value immediately after startup and the address 1000 is set, and this preset operation is repeated after each startup.

As described above, the operation pattern is composed of steps S1 to S3 in which the target position (address) and the acceleration / deceleration pattern information reaching the target position are combined. That is, the patterns PT1 and PT2 are operation patterns designated in advance by the input from the input means (not shown), and the acceleration / deceleration pattern is set from the step S1 to the target position sequentially set for each start command. The shift position calculated from the above and the value of the position counter 2 are compared by the comparator 4, and the output is controlled as shown in FIG.

At this time, since the first pattern PT1 is set with an “end” command indicating absolute position control in the final step, the controlled position (position counter at the end of each step) is shown in FIG. As shown, the address moves from 1000 to 1500 to 100. Also, since the 2nd pattern PT2 is set to the “continuous” command indicating the one-way repeated position control in the final step, the operation start position to be controlled is 100, which is a preset value set separately, and the target position is It will be 1000.

FIG. 4 shows an example of a control procedure of the control unit 5 that executes the operation shown in FIGS. 2 and 3. The procedures T1 to T9 are stored in the program memory in the control unit 5. First, after driving (T1), the operation pattern designation input is performed by input means (not shown) such as a keyboard, and the operation pattern as shown in FIG. 2 is stored in the position setting memory 3 (T2). Next, it is judged whether or not it is the first step S1 (T3), and if the judgment is affirmative, it is judged whether or not the final step is "CNT (repetitive positioning mode)" (T4). Preset counter 2. Therefore, when this affirmative determination is made, the operation is the second pattern. Further, at this time, the control unit 5 automatically presets the position counter 2 to the preset value 100 at the moment when the one-way repeated position control pattern is activated.

Next, the “direction” and “speed” to the target position are output according to the acceleration / deceleration pattern (T6), and when the value of the position counter 2 reaches the target position (T7), the “direction” and “speed” are changed. Turn off the output (T8), increment the number of steps (corresponding to S1 to S3 in Fig. 1) by +1 (T9), then return to the first startup processing (T1) and repeat the processing from T1 to T9. .

On the other hand, in T3, when it is determined that the first step S1 is not performed, the process proceeds to T6 described above, and when it is determined that the final step is not “CNT” in T4, the process proceeds to T6. Therefore, at this time, the operation of the first pattern PT1 is executed without performing the preset processing. In addition to the two-phase encoder input required for absolute position control, the encoder 1 also has a single-phase encoder input for addition and subtraction, making it suitable for one-way repetitive position control. There is.

[0015]

[Effect of device]

 As described above, according to the present invention, in the position control device for controlling the output of the moving position and the speed with respect to the position, the absolute position control or the absolute position control is performed in the storage area of the final process of the position control process program according to the program input. Position setting storage means in which a control command indicating one of the one-way repetitive position control is stored, and the start step of each position control step program stored in the position setting storage means Judge the control command stored in the memory area, preset the preset value in the position counter in the case of one-way repetitive position control and execute the position control process program, and execute the position control process program in the case of absolute position control. By providing a control means that executes from the first step, an absolute position control device capable of speed control is programmed. It is possible to apply in one direction repetitive controller only, advanced position control of this kind can be realized at low cost.

Further, in the present invention, since two control methods can be selected for each operation pattern, complicated position control in which both controls are mixed is possible, and the position control process program of each operation pattern can be performed. Since the control command is stored only in the storage area for the final process, the position setting storage means for storing the position control process program can be saved, and the programming can be made easier. Have.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration example of a position control device according to the present invention.

FIG. 2 is a position setting memory 3 storing control commands of the present invention.
Explanatory diagram showing the contents of

FIG. 3 is a velocity diagram showing an example of executing the control instruction of FIG.

FIG. 4 is a flowchart showing an example of control operation of the position control device of FIG.

[Explanation of symbols]

 1 Encoder 2 Position Counter 3 Position Setting Memory 4 Comparator 5 Control Section 6 Output Section 7 Drive Source

Claims (1)

[Scope of utility model registration request] 1. A position control device for controlling output of a moving position and a velocity relative to the moving position, wherein either absolute position control or one-way repetitive position control is performed in a storage area of a final process of a position control process program in response to a program input. And a control command stored in the storage area of the final process of each position control process program at the start time of each position control process program stored in the position setting storage device. In the case of one-way repetitive position control, a preset value is preset in the position counter to execute the position control process program, and in the case of absolute position control, a control means to execute the position control process program from the first step. A position control device comprising: