JP4112781B2 - Machine control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a machine control device, and more particularly to a control device for controlling a plurality of machines used in a production line or the like.
[0002]
[Prior art]
In recent years, a scene in which a plurality of machines are working synchronously and collaboratively on a factory production line is often seen.
[0003]
Conventionally, when a plurality of machines are operated in synchronism, the operation is memorized for each machine, and the operation signal stored in each machine is transferred so that each machine operates in synchronism. By taking the timing.
[0004]
For example, when two NC units each having a three-axis motion system are operated in synchronism, conventionally, teaching is performed separately for each unit, and each unit has that unit. The drive shaft positioning data is stored, and each unit passes a synchronization signal such as an interlock signal, or outputs a synchronization signal to both units from the control device that controls both units. Are moving synchronously.
[0005]
[Problems to be solved by the invention]
As described above, in the control of the conventional machine, when two or more machines are operated in synchronism with each other, the operation is performed based on the mutual synchronization signal exchange and the synchronization signal output from the control device. There was a problem that the machine could not be synchronized due to forgetting to apply the synchronization signal or the difference in output timing. In addition, since positioning data itself is stored for each unit, if you forget to apply a synchronization signal, even if you look at the data stored in one unit, you can synchronize with other machines. There is also a problem that it is difficult to maintain because it is difficult to know if it is necessary to issue a synchronization signal.
[0006]
SUMMARY OF THE INVENTION An object of the present invention is to provide a machine control device that can reliably operate a machine having a plurality of drive shafts in synchronization.
[0007]
[Means for Solving the Problems]
The object of the present invention is achieved by the following means.
[0008]
(1) A storage means for storing positioning data for each drive source of a plurality of drive axes, a type of automatic operation and a positioning position of each unit are determined, and according to the positioning position of each unit for each type of automatic operation, Setting means for setting drive sources of a plurality of drive axes that are operated synchronously without depending on each unit to a read group and storing the setting contents in a table, positioning data for the plurality of drive axes, and the read group For each writing group in which the driving sources of different driving axes are grouped into one group, the writing means for writing to the storage means, and the automatic reading, according to the positioning position of each unit according to the type of automatic driving. Read means for reading a group unit from the table, and the storage in units of the read read group Control means for reading the positioning data from the stage and synchronously operating the drive sources of the drive axes, and an encoder provided for each drive source of the plurality of drive axes set as the read group A determination means for determining the end of the operation for each drive source of each drive axis by comparing the output of the position information from the positioning data and the drive for which the operation is determined to be ended by the determination means Release means for releasing the drive source of the axis from the readout group of the synchronous operation, and a plurality of drives set in the first readout group read from the table by the readout means for the preceding synchronous operation Before all of the drive sources of the shaft are completed, some of the drive sources of the plurality of drive shafts set in the first readout group are driven. Set to the second read group read from the table by the read means for the synchronous operation following the preceding synchronous operation, when the source is released from the synchronous operation of the synchronous read group The drive sources of all the drive axes that are to be accepted are capable of accepting new operations, and the drive sources of the drive axes that have been released from the preceding synchronous operation are set in the second read group. In this case, the subsequent synchronization operation is started even before all the operations of the drive sources of the plurality of drive axes set in the first readout group for the preceding synchronization operation are completed. The control device is controlled by the control means.
[0010]
(2) the write means, when teaching the positioning position, characterized in that shall be the group write drive source of a plurality of drive shafts of each of the units.
[0012]
【The invention's effect】
According to the present invention, the following effects can be obtained for each claim.
[0013]
According to the first aspect of the present invention, the type of automatic operation and the positioning position of each unit are determined, and a plurality of synchronous operations are performed without depending on each unit according to the positioning position of each unit for each type of automatic operation. Setting means for setting the drive source of the drive axis to a read group and storing the setting contents in a table. During automatic operation, the unit of the read group is determined according to the positioning position of each unit according to the type of automatic operation. Each of the units according to the type of automatic operation, since the positioning means reads out the positioning data from the storage means in units of the read-out reading group and synchronously operates the driving source of each driving axis. Depending on the positioning position, the drive source of the drive shaft that moves in synchronization is set as a read group. Therefore, the drive signal of the drive shaft that needs to be operated in synchronization according to the positioning position of each unit according to the type of automatic operation is set as a group without the dependency on the unit, so that the synchronization signal is passed. Therefore, synchronization can be reliably performed for each type of automatic operation. In addition, by setting a group according to the positioning position of each unit for each type of automatic operation, it becomes possible to determine which drive shaft drive source moves synchronously, and maintenance is facilitated.
In addition, since there is a writing means for writing the positioning data to the storage means by a writing group that is different from the reading group, in the teaching operation, the drive source of each drive axis that is operated in synchronization is set to the synchronous operation. Teaches can be taught separately.
And determining means for determining the end of the operation for each drive source of each drive axis; and releasing means for releasing the drive source of the drive axis determined to be ended by the determining means from the readout group of the synchronous operation. The first read-out before all of the drive sources of the plurality of drive axes set in the first read-out group read from the table by the read-out means for the preceding synchronous operation are completed When a part of the drive sources of the plurality of drive axes set in the group is released from the synchronization operation of the readout group of the synchronization operation, for the synchronization operation following the preceding synchronization operation In addition, the drive sources of all the drive axes set in the second read group read from the table by the read means can accept a new operation. And the drive source of the drive shaft released from the preceding synchronous operation is set to the second read group, the first read group for the preceding synchronous operation Even before all the operations of the set drive sources of the plurality of drive shafts are completed, the control unit controls to start the subsequent synchronous operation. In the case of the drive source of the drive shaft being performed, if the operation ends first, it can be operated as another group at that time.
[0015]
In the present invention according to claim 2, wherein said writing means, when teaching the positioning position, since the drive source of the plurality of drive shafts of each of the unit Ru der those with the write group, in the teaching of the positioning position Uses the drive source that drives the drive shaft for each unit as a write group, and writes the positioning data in the storage unit for each write group. Therefore, in the teaching of the positioning position, Ru can be performed teachings in units. On the other hand, when the automatic operation, according to the type of automatic operation to the positioning position of each unit, Ru drive source of a plurality of drive shafts for synchronous operation without depending on each unit is set as the read group. Therefore , the drive source of the drive shaft that needs to be operated in synchronization is set as a readout group without dependency on the unit according to the positioning position of each unit according to the type of automatic operation, so that it is surely synchronized. be able to.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.
[0018]
FIG. 1 is a block diagram showing a system configuration for controlling an NC machine to which a control device of the present invention is applied, and FIG. 2 is a block diagram showing an internal configuration of a controller that is a control device of this system. 3 is a drawing showing a schematic configuration of an NC machine that is a control target in the present embodiment. In addition, in each figure, the same code | symbol was attached | subjected to the same member.
[0019]
First, an NC machine system in the present embodiment will be described with reference to FIG. This system includes a controller 1 for controlling the operation of the NC machine, amplifiers 11 to 16 provided for each motor in order to convert an instruction from the controller 1 into an electrical signal and actually drive the motor, It consists of motors 21 to 26 which are drive sources of the drive shaft, and encoders 31 to 36 provided in each motor. The controller 1 is connected to a teaching pendant 65 that is an input device for performing a teaching operation described later and a PLC 66 that issues an instruction for an automatic operation.
[0020]
As shown schematically in FIG. 2, the controller 1 includes a CPU 51 that controls the NC machine according to a predetermined program, a ROM 52 that stores programs and predetermined constants, and a RAM 53 that is used as a work area and temporary storage for the CPU 51. A control signal is output to the flash memory 54 for storing positioning data and grouping parameters for each drive axis, and the amplifiers 11 to 16, and signals from a teaching pendant 65, PLC 66, and encoders 11 to 16, which will be described later, are output. It comprises an I / O interface (I / F) 55 for receiving.
[0021]
As shown in FIG. 3, the NC machine is two units that can be operated independently of each other in the present embodiment. Each unit has a three-axis configuration. That is, one first unit 101 has motors 21, 22, and 23 for each drive shaft in order to be movable in the X, Y, and Z directions. The other second unit 102 also has motors 24, 25, and 26 for each drive shaft so as to be movable in the X, Y, and Z directions.
[0022]
In this system, each motor that operates each drive shaft of the unit is managed without the dependency of each unit in the system, and the motors 21 to 23 of the first unit 101 are first to third motors. The motors 24 to 26 of the second unit 102 are managed as fourth to sixth motors.
[0023]
The motors are grouped and managed by the parameter table shown in FIG. 4, and the motors are grouped and stored at the time of writing positioning data and at the time of reading data when operating. This parameter table is stored in the flash memory 54. The parameter table is not limited to the flash memory, but may be stored in the RAM for the purpose of speeding up the reading, for example, or may be stored in the hard disk and read into the RAM immediately before the automatic operation. Also good.
[0024]
Here, at the time of data writing, when the positioning position is the first position, a group A in which the first to third motors are grouped and a group B in which the fourth to sixth motors are grouped as flash memory for each group Positioning data is written in 54. Similarly, in the second position, as the groups A and B, the positioning data is written in the flash memory 54 for each grouped motor in the same manner until the nth position. The written position data is stored for each motor unit.
[0025]
On the other hand, the reading of data differs between the first automatic operation and the second automatic operation. In the first automatic operation, the first to sixth motors are grouped into one group from the first position to the nth position. Group C.
[0026]
On the other hand, in the second automatic operation, the first position is a group F in which the first to fourth motors are one group, and the group D is a group in which the fifth and sixth motors are one group, and the second position to the nth position are The first to sixth motors are grouped as a group C.
[0027]
In each automatic operation, the position data of each motor in the group is read for each group, and an operation instruction is given to each motor. As a result, for positioning operations that need to be synchronized, the operation group that needs to be synchronized, i.e., the positioning data readout group, is set so that no synchronization signals are exchanged. The operation of each motor can be synchronized.
[0028]
The group configuration is preferably defined in advance. In this embodiment, as can be seen from the above description, the group A is the first to third motors, the group B is the fourth to sixth motors, Group C is a group of first to sixth motors, group D is a group of first to fourth motors, group E is a group of fifth and sixth motors. Of course, such grouping can be arbitrarily determined according to the necessity of synchronization.
[0029]
Next, a teaching operation in this system, that is, a procedure for writing positioning data to the flash memory 54 as a storage means will be described. FIG. 5 is a flowchart for explaining the procedure of the teaching operation.
[0030]
First, the position to be positioned (first position, second position, etc.), the teaching unit, and the coordinates of the positioning position are input from the teaching pendant 65 (input teaching data, S1). For example, the coordinates of the first positioning position with respect to the first unit 101 are input.
[0031]
Upon receiving this coordinate input, the controller 1 outputs a signal for operating the designated unit to each amplifier using the input coordinates as target coordinates (S2). For example, the first to third motors that are the motors 21 to 23 of the first unit 101 are driven in the target coordinate direction.
[0032]
Thereby, since each motor moves, a current position feedback signal is output from an encoder attached to each motor, and the controller 1 receives this (S3). For example, when the motors 21 to 23 are moved, position feedback signals are output from the encoders 31 to 33 to the controller 1.
[0033]
The controller 1 compares the encoder output with the target coordinates to determine whether or not the position of each motor has reached the target coordinate position (S4). If not, the motor is continuously driven. Stops driving each motor (S5).
[0034]
Then, the group to be stored is input together with the storage command from the teaching pendant 65, and the controller 1 stores the current position of each motor as positioning data at that time according to the configuration of the input group (S6). For example, in the case of positioning the first position with respect to the first unit, since the group A, that is, the first to third motors are set as a group, the current position of the first to third motors is used as positioning data for the first position. Store for each motor. The setting of the writing group may be determined in advance, or may be grouped at the stage of writing the positioning data and instructed from the teaching pendant 65.
[0035]
If there is an input from the teaching pendant 65 indicating that the teaching of all the positioning positions has been completed (S7, Yes), then a reading group is set (S8). Here, drive axes that need to be moved in synchronization during automatic operation are grouped. In the present embodiment, as shown in FIG. 4 described above, the two automatic operations of the first automatic operation and the second automatic operation are grouped for each positioning position.
[0036]
Note that the teaching operation method is not limited to the above-described procedure. In addition, for example, when each unit is operated individually or simultaneously by manual remote control from the teaching pendant and reaches the positioning position. Thus, the motors of the drive shafts to be stored as positioning positions at that time may be grouped, and the current positions of the motors belonging to this group may be written.
[0037]
Next, the procedure for automatic operation will be described. FIG. 6 is a flowchart for explaining the procedure of automatic driving.
[0038]
First, in the PLC 66 that controls the entire line, after a command (not shown) of the type of automatic operation, here the first automatic operation or the second automatic operation, is output from the PLC 66 to the controller 1. (S11). This positioning command is a command for positioning positions such as the first position and the second position, for example.
[0039]
The controller 1 that has received the positioning position reads the group setting at the positioning position from the flash memory 54 (S12). For example, if the first position is commanded in the previous step S1, the group of the first position in the first automatic operation is read from the parameter table shown in FIG. Therefore, in this case, it is recognized that the first to sixth motors are one group (group C) as the operation target.
[0040]
Subsequently, it is determined whether all the motors constituting the read group have finished the previous operation (S13). Here, the previous operation is, for example, when the current positioning position is the second position, and the previous operation in this step is the movement to the first position.
[0041]
In step S13, if all the motors in the group for which the operation command has been issued have not completed the previous operation, the process waits for the operation of all the motors in the group to be completed. If all the motors have completed the previous operation, the positioning data of the current operation command is read for each motor constituting this group (S14). Then, operation signals are output simultaneously to the amplifiers of the motors (S15).
[0042]
Each motor operates in accordance with this operation signal, and a feedback signal of the current position is output from the encoder, so the controller 1 receives this (S16). Subsequently, the controller 1 compares the output from the encoder with the positioning data for each motor read in advance, and determines whether or not each motor has reached the positioning position set in this operation. Judgment is made (S17). What is important here is that whether or not the positioning position has been reached is determined not for the entire group but for each motor. By doing so, in the case of a motor belonging to another group at the time of the next operation command, it becomes possible to operate as another group when the operation is finished first.
[0043]
As a result of the determination in step S17, the grouping is canceled for the motors that have completed the operation (S18). If the operation has been completed for all the motors (S19), the PLC 66 is informed that the positioning operation has been completed. Output (S20), the process is terminated. On the other hand, if there is no motor that has reached the positioning position in step S17, the process returns to step S15 and the operation signal output to each motor is continued. Similarly, the operation signal output is continued for the motor that has not reached the positioning position in step S19.
[0044]
As described above, according to the present embodiment, the teaching of the positioning position can be performed in units of units by grouping the motors that drive the drive shafts for each unit. During operation, the motors of the drive shafts that need to be operated in synchronization can be reliably synchronized by grouping them without the dependency on the units. Further, in the present embodiment, when the operation is finished for each individual motor, the grouping is canceled, so that the next operation can be quickly performed. Furthermore, in this embodiment, the parameter table allows you to see at a glance how the motors of each drive axis are grouped. Becomes easier.
[0045]
Although the present embodiment has been described above, the present invention is not limited to this embodiment. For example, the present invention is not limited to the control of two units, but three, four, or even more units. A plurality of drive shafts may be grouped. The drive source for moving the drive shaft is a motor here. However, in applying the present invention, the drive shaft is not limited to the drive shaft driven by the motor, and may be, for example, a piston cylinder, and the motor and the piston cylinder. Different types of driving sources may be combined into one group.
[Brief description of the drawings]
FIG. 1 is a diagram showing a system configuration in an embodiment to which the present invention is applied.
FIG. 2 is a block diagram showing a schematic configuration of a controller used in the system.
FIG. 3 is a diagram showing a schematic configuration of an NC machine used in the system.
FIG. 4 is a chart showing a grouping parameter table used in the system.
FIG. 5 is a flowchart showing a procedure of teaching operation.
FIG. 6 is a flowchart showing a procedure of automatic operation.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Controller 11-16 ... Amplifier 21-26 ... Motor 31-36 ... Encoder 51 ... CPU
52 ... ROM
53 ... RAM
54 ... Flash memory 55 ... Interface 65 ... Teach pendant 66 ... PLC

Claims (2)

Storage means for storing positioning data for each drive source of a plurality of drive shafts;
Together defining a type of automatic operation and positioning position of each unit, by type of automatic operation according to the positioning location of each unit, the group read the drive source of a plurality of drive shafts for synchronous operation without subordinate to each unit and setting means for storing the settings in the table set,
Writing means for writing the positioning data of the plurality of drive axes to the storage means for each write group in which the drive sources of the plurality of drive axes different from the read group are one group;
During automatic operation, according to the positioning position of each unit according to the type of automatic operation, reading means for reading the unit of the read group from the table,
Control means for reading the positioning data from the storage means in units of the read-out read groups, and synchronously operating the drive sources of the drive axes;
By comparing the output of position information from the encoder provided for each drive source of each drive axis among the plurality of drive axes set as the read group with the read positioning data, each drive axis Determining means for determining the end of the operation for each driving source;
Release means for releasing the drive source of the drive shaft determined to be completed by the determination means from the readout group of the synchronous operation,
Before all of the drive sources of the plurality of drive axes set in the first read group read from the table by the reading means for the preceding synchronous operation are set in the first read group When a part of the drive sources of the plurality of drive shafts is released from the synchronization operation of the readout group of the synchronization operation, the readout unit performs the synchronization operation subsequent to the preceding synchronization operation. The drive sources of all the drive axes set in the second read group read from the table are in a state in which a new operation can be accepted, and the drive axes released from the preceding synchronous operation When the drive source is set to the second readout group, the multiple readout set to the first readout group for the preceding synchronization operation is performed. It said control means machine controller, characterized in that to control even before all of the operation of the drive source of the drive shaft is complete to start the subsequent synchronous operation.   2. The machine control device according to claim 1, wherein when the writing unit teaches the positioning position, a plurality of section coaxial drive sources for each unit are used as a writing group.

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