JP3901136B2 - Pulse output control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a pulse output control device for controlling the output of a pulse (train) used for driving a pulse train servomotor or pulse motor of a numerically controlled machine tool, and particularly during a single continuous pulse output operation. The present invention relates to a pulse output control device that can output a total number of output pulses that exceed the total number of output pulses equipped with hardware (even if it is infinitely large).
In the following drawings, the same reference numerals denote the same or corresponding parts.
[0002]
[Prior art]
FIG. 4 is a block diagram showing the configuration of the main part of this type of pulse output control device 01. In the figure, first, the total pulse number setting value 5 is written in the total pulse number writing latch 1 to set the total pulse number setting value 5 in the total pulse number down counter 2 as an initial value.
Next, by supplying a pulse output start signal 6 to the acceleration / deceleration pulse output control unit 3, output of the output pulse 9 from the acceleration / deceleration pulse output control unit 3 is started. The output pulse 9 is input to the total pulse number down counter 2 and is also supplied to a pulse train servo motor (not shown) in this example, and the pulse train servo motor is rotated (moved) by a rotation angle corresponding to the number of output pulses 9. ).
[0003]
The acceleration / deceleration pulse output control unit 3 monitors the remaining pulse number 7 of the total pulse number down counter 2 after inputting the pulse output start signal 6, and sets the frequency of the output pulse 9 with a preset parameter (acceleration). A gradually increasing acceleration mode, a constant speed mode in which the frequency of the output pulse 9 is maintained at a preset value, and a frequency parameter of the output pulse 9 (deceleration, in this example, the absolute value is made equal to the acceleration). It has a function to switch to the deceleration mode that gradually decreases.
Therefore, in this example, the acceleration / deceleration pulse output control unit 3 is in the acceleration mode immediately after startup, and the frequency of the output pulse 9 is gradually increased at a set acceleration (that is, with a constant gradient with respect to the elapsed time). After accelerating operation and the frequency of the output pulse 9 reaches the set frequency, a constant speed mode is set up to a deceleration start point described below, and the frequency of the output pulse 9 is kept constant and the servo motor is operated at a constant speed.
[0004]
Next, when the remaining number of pulses 7 becomes equal to the number of output pulses 9 output in the acceleration mode, this point is used as a deceleration start point, and the mode is switched to the deceleration mode. The servo motor is decelerated while gradually decreasing (in other words, with a reverse gradient equal to that during acceleration with respect to the elapsed time, in other words, with a gradient that is symmetrical to that during acceleration).
On the other hand, each time the output pulse 9 is input, the total pulse number down counter 2 counts down from the set initial pulse number setting value 5, and the total number of output pulses 9 becomes the total pulse number setting value 5. At this point, a total pulse number zero signal 8 is output to the effect that the remaining number of pulses due to the countdown has become zero.
[0005]
At the time when the total pulse number zero signal 8 is output, the frequency of the output pulse 9 from the acceleration / deceleration pulse output control unit 3 in the deceleration mode becomes 0, and the output of the output pulse 9 stops.
Thus, the continuous output of the output pulse 9 for one time (of the total number of pulses corresponding to the total number of pulses setting value 5) is completed.
FIG. 3 is a timing chart showing an example of the operation of FIG. 4. From the top, the pulse output start signal 6, the total pulse number zero signal 8, and the frequency of the output pulse 9 of FIG. And the time transition of the remaining number of pulses 7 is shown.
[0006]
In this example, the total number of pulses N1 for each pulse output period T1 (between time points t11 and t12), T2 (between time points t21 and t22), and T3 (between time points t31 and t32) corresponding to three machining steps. , N2, and N3, the output pulse 9 is continuously output. In each of the periods T1, T2, and T3, the frequency of the pulse output 9 increases linearly in each period T1, T2, and T3, and the frequency of the pulse output 9 Are constant speed modes, and there are deceleration mode periods in which the frequency of the pulse output 9 decreases linearly with a symmetrical gradient from that in the acceleration mode.
Here, at time points t11, t21, and t31, the set value 5 of the total number of pulses N1, N2, and N3 is written in the write latch 1 and is set as the initial value in the total number of pulses down counter 2 at the same time as the pulse. The output start signal 6 is output, and at the time points t12, t22, and t32, the remaining pulse number 7 becomes 0, and the total pulse number zero signal 8 is output.
[0007]
Patent Document 1 shows an example in which a pulse motor that raises and lowers a dispensing nozzle is controlled by a group of continuous pulse outputs similar to FIG.
[0008]
[Patent Document 1]
Japanese Patent Laid-Open No. 7-63772 (FIGS. 10, 11, 14, and 15)
[0009]
[Problems to be solved by the invention]
However, the conventional pulse output control device described above has the following problems.
(1) In one continuous pulse output, it is not possible to generate more pulses than the total maximum pulse value equipped with hardware.
{Circle around (2)} Before starting the continuous pulse output, it is necessary to calculate the required total number of output pulses.
(3) Even if it is desired to continue the pulse output beyond the initial value set in the down counter 2 during the continuous pulse output operation, it cannot be done.
[0010]
(4) For example, when it is desired to continuously perform the operations for three machining steps of the total number of pulses N1, N2, and N3, respectively, and when it is desired to output the total number of pulses Ns = (N1 + N2 + N3), Ns is the hardware If it exceeds the maximum value of the total pulse equipped in, continuous pulse output must be performed twice or more (3 times in FIG. 3) as shown in FIG. In addition, since some stop periods are included, the time (control time) until the output for the total number of pulses Ns as a total is longer than when the total number of pulses Ns can be output as one continuous pulse. .
[0011]
It is an object of the present invention to provide a pulse output control device that can solve these problems.
[0012]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, a pulse output control device according to claim 1 comprises:
In response to a pulse output start command (pulse output start signal 6), at least a pulse (output pulse 9) is repeatedly output, and the output of the pulse is stopped when the number of remaining pulses (7) to be monitored becomes zero. Pulse generation means (acceleration / deceleration pulse output control unit 3);
Each time the total pulse number setting value (5) is written to the total pulse number writing latch (1), the total pulse number setting value is set as an initial value, and the initial value is counted down each time the pulse is input. The remaining value of the initial value is output as the remaining pulse number, and the total pulse number count down means (total pulse number down counter 2) outputs the total pulse number zero signal (8) when the remaining pulse number becomes zero. In the pulse output control device (01) provided with
Total pulse number setting value written in the total pulse number write latch and the remaining pulse number at the time of writing are added, and this added value is set as the initial value in the total pulse number countdown means It is assumed that addition means (adder 4) is provided.
[0013]
The pulse output control device according to claim 2 is the pulse output control device according to claim 1,
The pulse generating means is in an acceleration mode at the input time of the pulse output start command so that the frequency of the pulse is gradually increased from 0 according to a designated parameter.
The pulse output control device according to claim 3 is the pulse output control device according to claim 2,
During the operation in the acceleration mode, the pulse generation means switches to the constant speed mode when the pulse frequency reaches a specified value so as to keep the pulse frequency at the specified value. .
[0014]
The pulse output control device according to claim 4 is the pulse output control device according to claim 3,
During the operation in the constant speed mode, the pulse generation means switches to the deceleration mode when the number of remaining pulses reaches a predetermined value, and gradually reduces the frequency of the pulse according to the specified parameter from the specified value, The remaining number of pulses is made zero when the pulse frequency becomes zero.
The pulse output control device according to claim 5 is the pulse output control device according to any one of claims 1 to 4,
The number of pulses output from the pulse generating means determines the amount of movement of a motor (such as a servo motor 04) driven based on this pulse.
[0015]
That is, the operation of the present invention is as follows. That is,
An adder is provided between the total pulse number write latch 1 and the total pulse number down counter 2 so that the total pulse set value 5 is written in the total pulse number write latch 1 even during continuous output pulse 9 output operation. The sum of the total pulse setting value 5 and the remaining pulse number of the total pulse number down counter 2 at this time can be set as a new initial value in the total pulse number down counter 2, and the total pulse maximum value provided by hardware This enables continuous output operation of a total number of output pulses 9 exceeding (even infinitely large).
[0016]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a block diagram showing the configuration of the main parts of a pulse output control device and its host system as an embodiment of the present invention. The pulse output control device 01 of FIG. 1 differs from the conventional device 01 of FIG. 4 in that an adder 4 is added between the total pulse number write latch 1 and the total pulse number down counter 2.
As a result, in FIG. 1, even during the continuous output operation of the output pulse 9, by newly writing the total pulse number setting value 5 to the total pulse number writing latch 1, the newly written total pulse number setting value 5 and The added value with the remaining number of pulses 7 at that time can be set as a new initial value in the total pulse number down counter 2.
[0017]
At the time of starting the continuous pulse output operation, the remaining pulse number 7 of the total pulse number down counter 2 immediately before is 0, so only the total pulse number setting value 5 written in the total pulse number writing latch 1 is used. Is set in the total pulse number down counter 2 as an initial value.
In FIG. 1, 02 is a microprocessor that controls the entire system of FIG. 1 while exchanging signals with the pulse output control device 01 and the like, 03 is a pulse train command servo amplifier described below, 04 is a servo motor, and 05 is a servo motor 04. Is a pulse generator that outputs a pulse 05a corresponding to the amount of rotational angle movement of the servo motor 04, and 06 is a counter that counts and transmits the pulse 05a to the microprocessor 02.
[0018]
Here, the pulse train command servo amplifier 03 is driven by the servo motor 04 so that the pulse train of the output pulse 9 from the acceleration / deceleration pulse output control unit 3 and the pulse train of the output pulse 05a of the pulse generator 05 correspond to each other on a one-to-one basis. A signal is given, and the servo motor 04 is rotated (moved) by a rotation angle corresponding to the number of output pulses 9.
Therefore, the microprocessor 02 can know the movement amount of the servo motor 04 from the count value of the counter 06.
FIG. 2 is a timing chart corresponding to FIG. 3 as an example of the operation of FIG. 1, and in order from the top, the pulse output start signal 6, the total pulse number zero signal 8, the frequency of the output pulse 9, and the rest of FIG. The time transition of the number of pulses 7 is shown.
[0019]
In FIG. 2, the total number of pulses Ns (= N1 + N2 + N3) corresponding to the three machining steps N1, N2, and N3 described in FIG. 3 is continuously output as the output pulse 9 without stopping the servo motor 04. An example of performing work for three processing steps is shown.
Referring to FIG. 2, first, at time ts1, the microprocessor 02 writes the total pulse number N1 for the first step into the total pulse number write latch 1 as the total pulse number setting value 5.
At this time, since the remaining pulse number 7 of the total pulse number down counter 2 is 0, the addition by the adder 4 has no meaning, and the total pulse number written to the total pulse number write latch 1 is not stored in the total pulse number down counter 2. The value N1 as the setting value 5 is set as it is as the initial value.
[0020]
Then, the microprocessor 02 gives the pulse output start signal 6 together with parameters for determining acceleration and constant speed to the acceleration / deceleration pulse output control unit 3 to start the continuous output operation of the pulse output 9.
As a result, the acceleration / deceleration pulse output control unit 3 starts outputting the output pulse 9 and linearly increases its frequency according to the designated parameter, and accelerates the servo motor 04 while increasing the speed of the servo motor 04 at a constant gradient. drive.
Since the frequency of the output pulse 9 reaches the value specified by the parameter at the next time tsA, the acceleration / deceleration pulse output control unit 3 switches the pulse output operation mode to the constant speed mode, and specifies the frequency of the output pulse 9 The servo motor 04 is operated at a constant speed.
[0021]
Next, during the output operation of the total number of pulses N1 for the first step, the microprocessor 02 activates the servo motor 04 in the first step based on the remaining number of pulses 7 and the count value of the counter 06 (that is, the movement amount of the servo motor 04). At the time ts2 when it is determined that it is not necessary to stop, the total pulse number N2 for the second step is written in the total pulse number write latch 1 as the total pulse number setting value 5.
As a result, at time ts2, the total value of the total number of pulses N2 for the second step, which is a new total pulse number setting value 5, and the remaining number of pulses 7 at that time are added to the total pulse number down counter 2 as a new initial value. Set as
[0022]
This means that during the continuous output operation of the output pulse 9, when the output of the output pulse 9 of the total number of pulses N1 for the first step is completed (that is, the remaining number of pulses 7 becomes 0), the output of the output pulse 9 is output. This is equivalent to writing the total pulse number N2 for the second step as the total pulse number setting value 5 in the total pulse number writing latch 1 without stopping the process.
Next, at the time ts3 when the microprocessor 02 determines that it is not necessary to stop the servo motor 04 in the second step from the remaining number of pulses 7 and the count value of the counter 06 during the output operation of the output pulse 9 for the second step. The total pulse number N3 for the third step is written in the total pulse number write latch 1 as the total pulse number setting value 5.
[0023]
Thereby, at time ts3, the total value of the total number of pulses N3 for the third step, which is the new total pulse number setting value 5, and the remaining number of pulses 7 at that time are added to the total pulse number down counter 2 as a new initial value. Set as
This means that during this continuous output operation of the output pulse 9, the output of the total number of pulses (N1 + N2) of the first process and the second process is completed (that is, the remaining number of pulses 7 is 0). This is equivalent to writing the total pulse number N3 for the third step as the total pulse number setting value 5 in the total pulse number writing latch 1 without stopping the output of the output pulse 9.
[0024]
At the next time point tsB, the remaining number of pulses 7 is equal to the total number of pulses output in the acceleration mode, so the acceleration / deceleration pulse output control unit 3 switches the pulse output operation mode to the deceleration mode.
As a result, the acceleration / deceleration pulse output control unit 3 linearly decreases the frequency of the output pulse 9 with respect to the elapsed time at a rate equal to that in the acceleration mode, and decreases the speed of the servo motor 04 with a gradient symmetrical to that during acceleration. The motor 04 is decelerated.
Therefore, at the time ts4 when the remaining number of pulses 7 becomes 0, the total pulse number zero signal 8 is output from the total pulse number down counter 2 and at the same time the frequency of the output pulse 9 becomes 0, and the acceleration / deceleration pulse output control unit 3 The output pulse 9 is stopped.
[0025]
In this way, the continuous pulse total number Ns (= N1 + N2 + N3) of the output pulses 9 is continuously output in the period Ts from the time point ts1 to ts4, and the total number of pulses N1, N2, and N2, respectively, without stopping the servo motor 04. Operations for the three processing steps of N3 are continuously performed.
The pulse output period Ts at this time can be set only once for the acceleration period and the deceleration period of the servo motor 04 within this period, and therefore has a respective acceleration period and deceleration period as shown in FIG. It can be made shorter than the sum (T1 + T2 + T3) of the pulse output periods of the two processing steps.
[0026]
【The invention's effect】
According to the present invention, the output of at least the output pulse 9 is started in response to the pulse output start signal 6, and the frequency of the output pulse 9 is sequentially changed according to the acceleration mode, the constant speed mode, and the deceleration mode, and then the monitoring target. An acceleration / deceleration pulse output control unit 3 that stops the output of the output pulse 9 when the remaining number of pulses 7 becomes 0;
Each time the total pulse number setting value 5 is written in the total pulse number writing latch 1, the total pulse number setting value 5 is set as an initial value, and while inputting the output pulse 9, the initial value is counted down each time, A pulse output control device 01 provided with a total pulse number down counter 2 that outputs the residual value of the initial value as the remaining pulse number and outputs the total pulse number zero signal 8 when the remaining pulse number 7 becomes zero. In
The total pulse number setting value 5 written in the total pulse number writing latch 1 is added to the remaining pulse number at the time of writing, and this added value is set as the initial value in the total pulse number down counter 2 Because we were equipped with vessel 4
(1) It becomes possible to manage and continuously output a total number of output pulses 9 exceeding the maximum value of the total number of pulses, which is the upper limit on the hardware configuration with a limited scale (even infinitely large).
[0027]
(2) In a plurality of machining steps performed within the total number of pulses exceeding the upper limit on the hardware configuration, conventionally, a total number of pulses within the upper limit on the hardware configuration is assigned to each processing step, and a plurality of machining steps are assigned. However, according to the present invention, the number of times of acceleration / deceleration is reduced to 1 by continuously performing a plurality of machining steps without stopping the output pulse 9. And the execution time of a plurality of processing steps can be shortened.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a main part as an embodiment of the present invention. FIG. 2 is a timing chart showing an embodiment of the operation of FIG. 1. FIG. 3 is a conventional timing chart corresponding to FIG. 4) Conventional block diagram corresponding to FIG.
01 Pulse output controller 02 Microprocessor 03 Pulse train command servo amplifier 04 Servo motor 05 Pulse generator 06 Counter 1 Total pulse number write latch 2 Total pulse number down counter 3 Acceleration / deceleration pulse output control unit 4 Adder 5 Total pulse number setting value 6 Pulse output start signal 7 Remaining pulse number 8 Total pulse number zero signal 9 Output pulse

Claims (5)

Pulse generation means for starting at least pulse repetition in response to a pulse output start command and stopping the output of the pulse when the number of remaining pulses to be monitored becomes 0;
Each time the total pulse number setting value is written to the total pulse number write latch, the total pulse number setting value is set as an initial value. In a pulse output control device comprising a total pulse number countdown means for outputting a value as the remaining pulse number and outputting a total pulse number zero signal when the remaining pulse number becomes 0,
Total pulse number setting value written in the total pulse number write latch and the remaining pulse number at the time of writing are added, and this added value is set as the initial value in the total pulse number countdown means A pulse output control device comprising an adding means. In the pulse output control device according to claim 1,
The pulse output control device according to claim 1, wherein the pulse generating means is in an acceleration mode at the time of input of the pulse output start command, and gradually increases the frequency of the pulse from 0 according to a designated parameter. In the pulse output control device according to claim 2,
The pulse generating means switches to a constant speed mode when the pulse frequency reaches a specified value during operation in the acceleration mode, and maintains the pulse frequency at the specified value. A pulse output control device. In the pulse output control device according to claim 3,
During the operation in the constant speed mode, the pulse generation means switches to the deceleration mode when the number of remaining pulses reaches a predetermined value, and gradually decreases the frequency of the pulses from the specified value according to the specified parameter, A pulse output control device characterized in that the number of remaining pulses becomes zero when the frequency of the pulse becomes zero. In the pulse output control device according to any one of claims 1 to 4,
The pulse output control device characterized in that the number of pulses output from the pulse generation means determines a moving amount of a motor driven based on the pulses.

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