JP4209342B2 - Motion controller device - Google Patents

Description

  The present invention is a motion controller device that uses an arch motion motion through a user-specified position in a control device such as an industrial machine (for example, a robot, a machine tool, a processing machine, a transfer machine device, or an automatic assembly machine). The present invention relates to a motion controller device having an automatic route calculation function that passes through a smooth curve.

When continuous operation is performed as a predetermined point on the XY plane, with the conventional combination of linear trajectories, the operation temporarily stops at each positioning target point, and the specified position may not always pass at the specified speed. . Therefore, what is called an arch motion operation is known as an operation that smoothly passes the vicinity of the positioning target position. As products, they are used in robots and NC (Numerical Control) machine tool devices. Patent Document 1 discloses this technique. In this case, there is a thing that does not necessarily draw a smooth trajectory with the shortest route.
Japanese Patent Laid-Open No. 9-69005

  As for the conventional arch motion operation, for example, when control is performed so as to pass a predetermined point (arbitrary several points), the passing course within the movement range of the XY plane can be selected infinitely, but it is not always a short time. It was not always possible to pass all points.

  An object of the present invention is to solve the conventional problem and to provide a motion controller device capable of shortening a movement time (tact time) required for a predetermined passage in movement control of an object. And

  In the present invention, a point that is on the extension of a straight line connecting the first designated position and the first designated position and that is separated from the first designated position by the margin distance with an initial value = 1 is provisionally determined as a position (curve start point) at which to start bending. Next, a virtual point is provisionally determined at a position on the straight line from the start point and extended by a predetermined ratio (initial value = 100/99) of the distance to the position where the bending starts. Next, the acceleration / deceleration at the virtual point when the virtual point is connected to the next designated position and moved toward the designated position is calculated. If the calculated acceleration / deceleration is less than or equal to a predetermined acceleration / deceleration, the virtual point is determined. If the acceleration / deceleration exceeds a predetermined acceleration / deceleration, the margin distance and the predetermined ratio are changed to change the position where the bending starts and the position of the virtual point. The above process is repeated until the acceleration / deceleration obtained from the changed position becomes equal to or less than the predetermined acceleration / deceleration. A virtual point is determined by the above process. When the distance between the determined virtual point and the next designated position is longer than the designated distance, the moving time can be shortened by setting the moving speed to a larger speed than usual.

  That is, the present invention includes a PC unit including an arch motion calculation unit, and passes an arbitrary number of designated passing points, and operates on a straight line or a predetermined curve, or performs a smooth arch motion operation. In a motion controller device that creates motion data and controls a drive device, a first straight line connecting a start point when setting a trajectory of arch motion motion and a first passing point that passes next or an extension of a predetermined curve A second straight line or a predetermined curve that sets a music start point on the line, sets a virtual point ahead of the music start point on the extended line, and connects the virtual point to the second passing point that passes next And moving the arch motion from the starting point to the second straight line or the predetermined curve while operating on the first straight line or the predetermined curved line and its extension line from the starting point to the starting point of the music. A motion controller apparatus having a function of creating the operation data to the.

  In addition, the present invention provides a function for resetting the virtual point or the music start point on the extended line close to the first passing point when the position where the virtual point is set exceeds a predetermined operation range. Is a motion controller device.

  In the present invention, when the distance between the virtual point and the second passing point is a predetermined distance or more, a high-speed virtual point is set on the second straight line or a predetermined curve, and the high-speed point is set. It is a motion controller device having a function of creating motion data for moving to a virtual point at a high speed.

  According to the present invention, for example, in the movement control of the driving device on the XY plane, a suitable route that passes a predetermined point can be determined. As a result, the time required for movement (tact time) can be made shorter than before.

The best mode for carrying out the present invention will be described.
Hereinafter, embodiments of the motion controller apparatus of the present invention will be described in detail with reference to the drawings.

  Example 1 will be described. FIG. 1 shows an example of the entire system configuration including a motion controller device 1 according to an embodiment of the present invention. The motion controller device 1 passes over a specified position at a specified speed, and between the specified positions. Thus, it is possible to calculate a virtual point or the like for performing an optimum arch motion operation with a smooth trajectory without stopping. Hereinafter, instead of operating on a straight line connecting specified positions, it is also possible to operate on a predetermined curve, for example, an arc.

  The motion controller device 1 communicates the PC (personal computer) unit 2 including the arch motion calculation unit 3 that calculates the data of the arch motion operation that passes through the specified position at the specified speed, and the virtual point data calculated by the PC unit 2 by communication. The system configuration is such that it is transmitted to a PLC (programmable logic controller) module 5 of the control panel 4, outputs a command value to the servo amplifier 6, drives the servo motor 7, and passes a specified position on the XY table 8.

  FIG. 1 shows an embodiment of the present invention. A system configuration of a general drive part such as a servo can be used except for the PC part 2 that calculates data of arch motion operation.

  An example of a schematic data flow from the arch motion calculation unit 3 to the PLC module 5 is shown in FIG. Starting from start 200 in FIG. 2, in the process 201, for example, the passing position designated by the user is stored in the PC unit 2. In the process 202, the arch motion calculation unit 3 calculates the optimum arch motion motion path through the designated position. Specific details will be described later with reference to FIG. In the process 203, the process of transmitting the virtual point data for the arch motion operation calculated in the process 202 to the PLC module 5 in the control panel 4 is performed, and the process ends in end204.

Next, an example of the calculation of the optimum path passing through the specified position by the automatic route calculation of the motion controller device 1 of the present embodiment will be described with reference to the flowchart of FIG. 3, and a detailed diagram is shown in FIG. Starting from start 300 in FIG. 3, in process 301, this flowchart is repeated, and the distance (z _I ) from the previously calculated (I-1) virtual point (start point) to the I specified position that is the next passing point is passed. ) Are calculated as the _I- th specified position coordinate point (x _I , y _I ) and the (I-1) -th virtual point coordinate (Lx _I-1 , Ly _I-1 ). Calculation formula (1) is shown below.

In the process 302, the I-th virtual point calculated last time is bent from the (I-1) th virtual point incremented to the (I-1) th virtual point by an arch motion operation on the straight line at the I-th specified position. The point (curve start point), the distance (L ′ _I ) from the I-th specified position to the point added with the margin distance (M: initial value = 1) and the coordinates of the point to bend by the arch motion operation (d′ x _I , D′ y _I ). Calculation formulas (2) and (3) are shown below.

As an example of a specific margin distance, here, a minimum distance (mm) between designated positions / 10 is set as an initial value. The minimum distance here is calculated as 10 (mm). Based on the distance (L ′ _I ) from the (I-1) th virtual point to the turning point and the ratio to the Ith virtual point (hereinafter referred to as “arch motion ratio”), the position of the Ith virtual point is calculated and temporarily calculated. Make a decision. The initial value of the arch motion ratio (α _I ) is 99%.

In process 303, the coordinates (Lx _I , Ly _I ) of the tentatively determined I-th virtual point are calculated, and the distance (L _I ) from the (I-1) -th virtual point to the I-th virtual point is calculated. Calculation formulas (4) and (5) are shown below.

  At this time, the conditional statement 304 determines whether or not the coordinates of the I-th virtual point exist outside the operation range of the XY table. Here, if the coordinates of the I-th virtual point exist outside the operation range of the XY table, it is inappropriate, so the process of returning to the XY table operation range in the process 305 is performed. In this example, since it is within the range, specific processing will be described later.

In the conditional statement 304, if the coordinates of the I-th virtual point are within the operation range of the XY table, it is the next passing point from the coordinate position of the I-th virtual point in the processing 306. calculating a first (I + 1) designated position _{(x I + 1, y I} + 1) linear distance to _{(z I + 1).} Calculation formula (6) is shown below.

  At this time, the conditional statement 307 determines whether or not the distance from the I-th virtual point to the (I + 1) -th specified position is greater than or equal to a specified value (user input is possible). Here, if the distance equal to or greater than the designated value is separated, the high-speed movement process of process 308 is performed. In this example, it is assumed that the distance is not more than a specified value, and specific processing will be described later.

Ｖは通常速度、Ｔはアーチモーション動作により滑らかな軌跡を描いている時間となっている。 When the distance equal to or greater than the specified value is not separated in the conditional statement 307, the processing 309 calculates the acceleration / deceleration (KI) of the arch motion motion at the I-th virtual point. Calculation formula (7) is shown below.

V is a normal speed, and T is a time during which a smooth locus is drawn by an arch motion operation.

  After calculating the acceleration / deceleration, the conditional statement 310 determines whether the calculated value of the acceleration / deceleration of the arch motion motion is within the operable acceleration / deceleration (K) defined by the mechanical system.

Here, when the acceleration / deceleration is exceeded, the arch motion ratio (initial value = 99%) is reduced by 1% (α _I −1 → α _I ), or the margin distance M is increased by 1 ( M + 1 → M), the position of the I-th virtual point is changed, the process returns from the connector B to the process 302, and the I-th virtual point coordinates are recalculated.

  When the arch motion ratio is within the acceleration / deceleration in the conditional statement 310, the coordinates of the I-th virtual point are determined in the process 312. At this time, in the conditional statement 313, it is determined whether or not there are still other designated positions. If there are other designated positions, the I-th is changed to the (I-1) -th and the I-th by the process 315. The (I + 1) -th is incremented to the I-th, and the processing returns to the processing 301 by the connector A, and the calculation of the virtual point corresponding to the next designated position is repeated. If the remaining designated position does not exist in the conditional statement 313, the process of creating a virtual point ends at end 314.

Next, an example of processing that returns to the XY table operation range in the motion controller device of this embodiment will be described with reference to the flowchart of FIG. 5, and a detailed diagram is shown in FIG. Starting from start 500 in FIG. 5, the conditional statement 501 determines whether or not the X coordinate of the I-th virtual point protrudes in the positive direction from the operation range of the XY table. Here, when the X coordinate is protruding, the limit value of the XY table that is substituted into the X coordinate of the I-th virtual point in the process 502 is adopted. In the conditional statement 503, it is determined whether or not the X coordinate of the I-th virtual point protrudes in the negative direction. Here, when the X coordinate is protruding, 0 is substituted into the X coordinate of the I-th virtual point in processing 504. Here, when the X coordinate is adopted in the process 502 or 504, the value of Lx _I is substituted for X in the process 505.

Similarly, in the conditional statement 506, it is determined whether the Y coordinate of the I-th virtual point protrudes in the positive direction. Here, if the Y coordinate is protruding, the limit value of the XY table that is substituted into the Y coordinate of the I-th virtual point in the process 506 is adopted. In the conditional statement 508, it is determined whether or not the Y coordinate of the I-th virtual point protrudes in the negative direction. Here, when the Y coordinate is protruding, 0 is substituted into the Y coordinate of the I-th virtual point in processing 509. Here, if the Y coordinate is adopted in the process 507 or 509, the value of Ly _I is substituted for Y in the process 510.

Next, in the process 511, the X coordinate substituted in the process 505 or the Y coordinate substituted in the process 510 is used to calculate an uncalculated from the equation of the straight line connecting the (I-1) th virtual point and the I designated position. The X coordinate or the Y coordinate is calculated, and the coordinates of the first virtual point at the limit point are calculated. Expression (8) of a straight line connecting the (I-1) th virtual point and the I-th designated position is shown below.

By substituting X derived from the above equation into Lx _I and Y into Ly _I , the coordinates of the I-th virtual point at the limit point (Lx _I , Ly _I ) are calculated.

In process 512, a coordinate obtained by returning Nmm (initial value N = 1) on the straight line of the I-th virtual point from the (I-1) -th virtual point is provisionally determined as the I'-th virtual point. A specific calculation formula (9) is shown below.

The I′th virtual point coordinates (Lx _{I ′} , Ly _{I ′} ) are calculated from the above formula.

In process 513, the distance from the I ′ virtual point to the (I + 1) th designated position is calculated. Calculation formula (10) is shown below.

In process 514, the acceleration / deceleration at the tentatively determined I 'virtual point is calculated. Calculation formula (11) is shown below.

  Next, in the conditional statement 515, it is determined whether or not the acceleration / deceleration at the I'th virtual point calculated in the process 514 is within an operable acceleration / deceleration. If the acceleration / deceleration is not less than the operable acceleration / deceleration, N + 1 → N is determined by the process 516, the process returns by the connector C, and is repeated until the acceleration / deceleration is within the operable acceleration / deceleration. If it is within the acceleration / deceleration operable by the conditional statement 515, the I′th virtual point is determined by the processing 517.

Next, an example of the high-speed movement process in the motion controller apparatus according to the present embodiment will be described with reference to the flowchart of FIG. Starting from start 700 in FIG. 7, the process 701 assumes that the I-th virtual point is a fast start virtual point. In order to return from the high speed to the normal speed before the next (I + 1) th designated position, a margin distance Mk (initial value = 5) is set. Using the Mk set in the process 703 in process 702, to determine the Ik fast termination virtual point _(Lx Ik, _{Ly Ik)} provisionally. Calculation formula (12) is shown below.

ここでＶｋは高速速度として、ユーザ入力が可能となっている。 In step 704, the acceleration / deceleration at the Ik fast end virtual point is calculated. Calculation formula (13) is shown below.

Here, Vk can be input by the user as a high speed.

  In the next conditional statement 705, it is determined whether or not the calculated acceleration / deceleration value at the Ik high-speed end virtual point is within the operable acceleration / deceleration. A virtual point is determined and the process ends at end 710.

  At this time, if the condition of the conditional statement 705 is not satisfied, the high speed of the process 706 is reduced, and the conditional statement 707 determines whether the high speed is equal to or higher than the normal speed. If the conditional statement 707 is satisfied, the process returns to processing 704 and recalculation is performed. If the conditional statement 707 is not satisfied, the Ik fast end virtual point is deleted and the process ends at end 710.

1 is a system configuration diagram including a motion controller device according to Embodiment 1. FIG. 3 is a flowchart of overall processing in an arch motion calculation unit according to the first embodiment. 5 is a flowchart of processing for calculating a virtual point by an arch motion operation in the first embodiment. FIG. 4 is an example of a virtual point setting diagram in the flowchart of FIG. 3. FIG. 4 is a detailed flowchart of processing to return within a limit range in the flowchart of FIG. 3. FIG. 6 is an example of a virtual point setting diagram in the flowchart of FIG. 5. FIG. 4 is a detailed flowchart of high-speed movement processing in the flowchart of FIG. 3. FIG. 8 is an example of a virtual point setting diagram in the flowchart of FIG. 7.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motion controller apparatus 2 PC part 3 Arch motion calculating part 4 Control panel 5 PLC module 6 Servo amplifier 7 Servo motor 8 XY table

Claims (3)

It is equipped with a PC unit including an arch motion calculation unit, and creates an operation data that allows an arbitrary number of designated passing points to pass, operates on a straight line or a predetermined curve, or performs a smooth arch motion operation. In the motion controller device that controls the drive device,
A curve start point is set on the first straight line connecting the start point when setting the trajectory of the arch motion motion and the first passing point that passes next or an extension line of a predetermined curve, and the curve start point on the extension line is set. First, a virtual point is set, a second straight line or a predetermined curve connecting the virtual point and the second passing point that passes next is set, and the first straight line from the starting point to the starting point of the music or A motion controller device having a function of operating on a predetermined curve and an extension thereof and generating operation data for performing an arch motion operation from the music start point to the second straight line or a predetermined curve. The motion controller device according to claim 1,
When the position where the virtual point is set exceeds a predetermined operating range, the virtual point or the music start point has a function of resetting the extension line close to the first passing point. A motion controller device. The motion controller device according to claim 1,
When the distance between the virtual point and the second passing point is a predetermined distance or more, a high-speed virtual point is set on the second straight line or a predetermined curve, and the high-speed virtual point is reached at a high speed. A motion controller device having a function of creating motion data to be moved.

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