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WO1986003905A1 - Dispositif de commande de l'entrainement pour servomoteurs - Google Patents

Dispositif de commande de l'entrainement pour servomoteurs Download PDF

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Publication number
WO1986003905A1
WO1986003905A1 PCT/JP1985/000708 JP8500708W WO8603905A1 WO 1986003905 A1 WO1986003905 A1 WO 1986003905A1 JP 8500708 W JP8500708 W JP 8500708W WO 8603905 A1 WO8603905 A1 WO 8603905A1
Authority
WO
WIPO (PCT)
Prior art keywords
servo
control
cpu
servo motor
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP1985/000708
Other languages
English (en)
Japanese (ja)
Inventor
Mitsuo Kurakake
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of WO1986003905A1 publication Critical patent/WO1986003905A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33119—Servo parameters in memory, configuration of control parameters

Definitions

  • the present invention relates to a servomotor drive control device for driving a load of a machine tool or the like.
  • a servomotor that is depressed by a command signal such as a numerical control device (hereinafter, referred to as an NC device) is used.
  • a command signal such as a numerical control device (hereinafter, referred to as an NC device)
  • NC device a numerical control device
  • this type of servomotor was driven by an analog servo device, but with the recent development of computer control technology, There are various ways to control multiple servomotors efficiently with a single control device.
  • FIG. 2 is a block diagram showing an outline of such a servomotor control circuit.
  • input data is read, and a main CPU 1 of a micro processor configuration for performing a predetermined sequence processing, and a plurality of units.
  • the shared RAM 2 is re-coupled to the data bus.
  • each shared RAM 2 is connected to a CPU 3 for servo control in a microprocessor configuration via a bus B 2, and each of the servo bores is connected to each shared RAM 2.
  • Control signals for the current, speed, position, etc. of the servomotor 5 connected to the pump 4 are output as PWM signals.
  • a support provided with an inverter arranged on the support side.
  • the pump 4 is composed of the minimum circuit elements necessary to control the servo motor 5 in response to the above-mentioned PWM signal, and the current and the current level of the servo motor 5 are reduced. Then, a predetermined feed pack control is performed for the speed.
  • the number n of the servo motors 5 is set according to the number of machine tools to be controlled.
  • each servo control CPU 3 Since the data is exchanged between the main CPU 1 and the servo control CPU 3 in addition to the shared RAM 2, the position signal of the servo motor 5, for example, is transmitted.
  • the memory is temporarily stored in the shared RAM 2 via the servo control CPU 3, and the stored value is read out from the main CPU 1 to perform display processing and the like.
  • the position command signal from the main CPU 1 is temporarily stored in the shared RAM 2, the stored value is read out by the servo control CPU 3, and the stored value is transferred to the servo 8.
  • the speed finger is output.
  • each servo control CPU 3 is connected to the drive power supply of each servo motor, whether the drive power is correct, the number of rotations, the current limiter, the torque characteristics, etc.
  • a ROM 6 for storing control parameters based on the model is provided, and each servo control CPU 3 reads the model data directly. Therefore, the data tilling at the data bus Bi can be performed at a high speed.
  • each servo control CPU side has a drive power supply for each servomotor, whether it is a direct drive, a direct drive, a rotation speed, a current limiter, and torque characteristics. Since it was necessary to provide a ROM for storing control parameters based on the shape of the This was a factor in the high cost of installation.
  • the present invention relates to controlling a plurality of servomotors by the above-described servo control circuit, wherein each servo control C
  • a drive control device for a sapo-motor that enables the storage means (ROM) at the PU to be eliminated and simplifies the system and reduces costs. It is intended to be provided.
  • a servo motor for performing drive processing on a drive command signal and data returned from the servo motor to control the drive of the servo motor.
  • a main CPU that performs input data processing and sequence processing, and a sub-motor that is coupled to the main CPU.
  • Servo control CPU that controls current, speed, and position, and control parameters related to the shape of the servo motor connected to the servo control CPU.
  • -ROM that stores data and the corresponding control parameters from this ROM are transferred and the data is transferred between the servo control CPU and the main CPU.
  • a drive control device for a thermomotor having a shared RAM for transmitting and receiving detectors.
  • An apparatus for controlling the movement of a servo motor includes a plurality of servo motor control parameters connected via a data bus of a main CPU. It is possible to store data in R0M such as non-volatile memory, and transfer only the control parameters of the servo motor to be controlled to the shared RAM. Wear . BRIEF DESCRIPTION OF THE FIGURES
  • FIG. 1 is a block diagram showing an embodiment of the present invention
  • FIG. 2 is a block diagram showing an example of a conventional servo motor drive control device.
  • Reference numeral 10 denotes a block diagram of an embodiment of the present invention.
  • a CPU 1 for a servo control for controlling the current, speed, and position of the servo motor 10 is shown.
  • the main CPU 12 and the shared RAMI 3 are arranged in the NC unit, and are coupled by the main CPU 12 and the data bus 14.
  • the CPU 11 for servo control outputs a PWM command to the servo amplifier 15 as a digital signal. Therefore, the inverter 16 of the servo amplifier 15 has a configuration in which only the last-stage driver element such as a diode transistor is arranged. That is, most of the elements of the complex control circuit are put together on the NC side, and the load side is made up of only the minimum circuit elements such as the above-mentioned transistor on the operation panel. To be placed.
  • a pull-out for sending digital signals such as PWM commands, and 18 a and 18 b are servo motors 10 respectively. It is a cable that feeds back current and position data from the NC unit to the CPU 11 on the NC unit side.
  • 19 is a non-volatile memory composed of ROM. It is connected to tapas 14 and stores all control parameters relating to the shape of the servomotor.
  • the servo motor drive control device when input data is read and the CPU 12 performs a predetermined sequence control, for example, a data not shown in the drawing is used.
  • a data not shown in the drawing is used.
  • the CPU 1 for servo control from the main CPU 12 through the shared RAM 13
  • the control parameters related to the shape of the servo motor 10 connected to the CPU 11 as well as the driving finger of each servo motor 10 can be obtained.
  • the servo control CPU 11 that is operated only, current, speed, and position control signals are sent to the servo side via a cable 17.
  • the laser pump 15 drives the servo motor 10 and the cables 18a and 18b output the current of the servo motor 10 from the cables 18a and 18b.
  • the position signal is returned to the NC device.
  • the shared RAM 13 is fed to the servo control CFU 11 and the current value and the position of the servo motor 10 to be packed are transferred to the main CPU 12.
  • the information is displayed on a display device (not shown). Nao, first
  • the present invention is not limited to the above embodiment, and is applicable to a drive control device based on various data other than data on position and speed. It has an excellent impeachment.
  • the servo motor drive control device is a control device for controlling a plurality of servo motors.
  • the RAM is stored in ROM such as non-volatile memory connected via the cable of the main CPU, and it is necessary to control the shared RAM. Since the control parameters of the servo control are transferred, the storage means (ROM, etc.) in each servo control CPU can be deleted, and the system can be simplified. Become .

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

Dans ce dispositif, une unité centrale (CPU) (11), qui assure la servocommande et qui traite les signaux d'instruction d'entraînement et les données renvoyées par un servomoteur (10), est couplée à une unité centrale (CPU) principale (12) effectuant le traitement des données en entrée et le traitement séquentiel, via une RAM commune (13) par l'intermédiaire d'un bus de données (14) dans un appareil de commande numérique. Les paramètres de commande pour une pluralité de servomoteurs (10) sont stockés dans une ROM, telle qu'une mémoire rémanente (19) couplée via le bus de données (14) et uniquement les paramètres de commande des servomoteurs (10) à commander sont transmis à la RAM commune (13).
PCT/JP1985/000708 1984-12-26 1985-12-24 Dispositif de commande de l'entrainement pour servomoteurs Ceased WO1986003905A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP59/278828 1984-12-26
JP27882884A JPS61154493A (ja) 1984-12-26 1984-12-26 サーボモータの駆動制御装置

Publications (1)

Publication Number Publication Date
WO1986003905A1 true WO1986003905A1 (fr) 1986-07-03

Family

ID=17602721

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1985/000708 Ceased WO1986003905A1 (fr) 1984-12-26 1985-12-24 Dispositif de commande de l'entrainement pour servomoteurs

Country Status (2)

Country Link
JP (1) JPS61154493A (fr)
WO (1) WO1986003905A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63190584A (ja) * 1987-01-30 1988-08-08 Yaskawa Electric Mfg Co Ltd サ−ボモ−タ
JP2650310B2 (ja) * 1988-03-31 1997-09-03 三菱電機株式会社 インバータ装置
JPH01308185A (ja) * 1988-06-02 1989-12-12 Fanuc Ltd モータ制御装置
JP4708525B2 (ja) * 2000-02-29 2011-06-22 キヤノン株式会社 モータのサーボ制御装置
JP2005086918A (ja) 2003-09-09 2005-03-31 Fanuc Ltd モータ駆動装置
JP2007037300A (ja) * 2005-07-27 2007-02-08 Denso Wave Inc 駆動制御装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58129606A (ja) * 1982-01-29 1983-08-02 Toyoda Mach Works Ltd 群管理システムにおけるデ−タ転送方法
JPS5989592A (ja) * 1982-11-13 1984-05-23 Fanuc Ltd 複数モ−タの切替制御方式
JPS5999988A (ja) * 1982-11-29 1984-06-08 Fanuc Ltd 複数モ−タの切替制御方式

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH637228A5 (fr) * 1980-03-27 1983-07-15 Willemin Machines Sa Dispositif de commande d'une machine ou d'une installation.
JPS58166478A (ja) * 1982-03-27 1983-10-01 Fujitsu Ltd マルチプロセツサシステムの起動方式
JPS59100967A (ja) * 1982-11-30 1984-06-11 Fuji Facom Corp マルチプロセツサ・システムのイニシヤル処理方式

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58129606A (ja) * 1982-01-29 1983-08-02 Toyoda Mach Works Ltd 群管理システムにおけるデ−タ転送方法
JPS5989592A (ja) * 1982-11-13 1984-05-23 Fanuc Ltd 複数モ−タの切替制御方式
JPS5999988A (ja) * 1982-11-29 1984-06-08 Fanuc Ltd 複数モ−タの切替制御方式

Also Published As

Publication number Publication date
JPS61154493A (ja) 1986-07-14
JPH0226477B2 (fr) 1990-06-11

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