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WO2017195362A1 - Appareil d'essai - Google Patents

Appareil d'essai Download PDF

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Publication number
WO2017195362A1
WO2017195362A1 PCT/JP2016/064350 JP2016064350W WO2017195362A1 WO 2017195362 A1 WO2017195362 A1 WO 2017195362A1 JP 2016064350 W JP2016064350 W JP 2016064350W WO 2017195362 A1 WO2017195362 A1 WO 2017195362A1
Authority
WO
WIPO (PCT)
Prior art keywords
time
pulse generator
pulse
pulses
virtual manual
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/JP2016/064350
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English (en)
Japanese (ja)
Inventor
将伍 森田
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric 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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to CN201680085512.XA priority Critical patent/CN109154835B/zh
Priority to JP2016562036A priority patent/JP6261763B1/ja
Priority to PCT/JP2016/064350 priority patent/WO2017195362A1/fr
Publication of WO2017195362A1 publication Critical patent/WO2017195362A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • 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
    • G05B19/409—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 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/10—Control of position or direction without using feedback

Definitions

  • the present invention relates to a test device for a drive device that is an external device.
  • a drive unit including a movable part, a motor that drives the movable part, a driver that supplies electric power to the motor, and a controller that outputs a command pulse to the driver
  • the motor is driven by the command pulse output from the controller, and the amount of rotation of the motor
  • the moving amount of the movable part is determined according to the above.
  • the number of command pulses output from the controller is calculated by executing a program recorded in the controller, and is calculated so that the movable part is at a target position or speed during normal operation.
  • a manual pulse generator that generates a pulse corresponding to the command pulse is used. May be.
  • a manual pulse generator connect the manual pulse generator to the controller and manually operate the dial-type rotary part provided in the manual pulse generator, so that the pulse of the pulse signal according to the amount of rotation of the rotary part The number is sent to the driver or controller. Thereby, the rotation amount of the motor is determined in accordance with the number of pulses of the pulse signal, and the movement amount of the movable part can be finely adjusted.
  • the amount of movement of the movable part can be fine-tuned by using the manual pulse generator, but with a drive device that is not equipped with a manual pulse generator, a person cannot fine-tune the amount of movement of the movable part.
  • the movable part can be moved by using the operation test function of the engineering tool of the drive device.
  • the drive device engineering tool can be exemplified by a computer with software installed, and the operation test function includes a jog (jogging) operation in which the movable part of the drive device is moved at a constant speed, or a positioning operation in which the drive device is moved by a specified amount of movement. Can be exemplified.
  • the driving test of the driving device can be performed without using a manual pulse generator.
  • Patent Document 1 shows an example of an engineering tool for a driving device.
  • the technique disclosed in Patent Literature 1 displays a virtual operation panel on a display unit connected to an operation target apparatus body, and performs operations similar to operations performed on an actual operation panel on the virtual operation panel. It is configured to be able to.
  • a conventional engineering tool for a driving device represented by Patent Document 1 is connected to the driving device by a wired or wireless communication line.
  • the data transmission cycle of the communication line connected to the engineering tool is longer than the transmission cycle of the pulse transmitted from the actual manual pulse generator to the controller.
  • the number of pulses of the pulse signal corresponding to the amount of rotation of the rotating unit is transmitted to the driving device regardless of whether the rotating unit has a high or low rotational speed.
  • the engineering tool of the prior art drive device represented by Patent Document 1 since the data transmission cycle of the communication line is long, an operation in which the number of pulses is generated a plurality of times in a cycle shorter than the data transmission cycle of the communication line is performed.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a test apparatus capable of efficiently adjusting a movable part in a drive device.
  • the test apparatus of the present invention is operated by a display control unit that displays a virtual manual pulse generator that generates a pulse signal according to an operation amount on a screen.
  • the number of pulses of the pulse signal corresponding to the operation amount of the virtual manual pulse generator is calculated every first time, and the pulse number data obtained by adding time information to the number of pulses calculated every first time,
  • a data transmission unit that accumulates a second time longer than the first time, and transmits a plurality of pulse number data accumulated for the second time as one combined pulse number data to an external device every second time. It is characterized by that.
  • the test apparatus according to the present invention has an effect that the movable part in the driving apparatus can be adjusted efficiently.
  • the figure which shows the test device which concerns on embodiment, and the drive device connected to a test device Functional block diagram provided in the terminal of the test apparatus according to the embodiment The figure for demonstrating a state when rotating the virtual manual pulse generator shown in FIG. 1 by operation of a mouse
  • the figure which shows the drive amount when driving a motor using a real manual pulse generator The figure which shows the drive amount when driving a motor by 2nd communication using a virtual manual pulse generator.
  • the figure for demonstrating the pulse number data group contained in the coupling pulse number data transmitted to a controller The figure which shows the relationship between the drive amount corresponding to the pulse number shown in FIG. 7, and the pulse number Enlarged view of the operation test screen shown in FIG.
  • test equipment will be described in detail below based on the drawings. Note that the present invention is not limited to the embodiments.
  • FIG. 1 is a diagram illustrating a test apparatus according to an embodiment and a driving apparatus connected to the test apparatus.
  • FIG. 2 is a functional block diagram provided in the terminal of the test apparatus according to the embodiment.
  • the test apparatus 100 according to the embodiment is an apparatus for performing an operation test by transmitting a pulse or a signal corresponding thereto to the drive apparatus 200 that is an external apparatus.
  • the test apparatus 100 includes a terminal 101 represented by a personal computer or a tablet, a mouse 102 connected to the terminal 101, and an engineering tool 103 installed in the terminal 101.
  • FIG. 1 shows an example in which a notebook personal computer is used as the test apparatus 100.
  • the mouse 102 is a man-machine interface for operating the terminal 101, and is used for operating a pointer or an icon displayed on the screen 10 of the terminal 101.
  • the engineering tool 103 has an operation test screen 103a, and a virtual manual pulse generator 103b for generating a pulse signal corresponding to the operation amount is displayed in the operation test screen 103a.
  • the virtual manual pulse generator 103b shown in FIG. 1 corresponds to a rotating unit included in a real manual pulse generator.
  • the number of pulses generated when the rotating unit is rotated once is determined for each product. Examples of the number of pulses generated when one rotation is made include 100 pulses and 200 pulses.
  • the number of pulses generated when the virtual manual pulse generator 103b is rotated once is set in advance, as in the actual manual pulse generator.
  • the test apparatus 100 is connected to the driving apparatus 200 via the communication line 11.
  • the driving device 200 includes a movable unit 204, a motor 203 that drives the movable unit 204, a driver 202 that supplies power to the motor 203, and a controller 201 that transmits a command pulse to the driver 202.
  • the terminal 101 is connected to the controller 201.
  • the driver 202 has a control function similar to that of the controller 201, the driving test can be performed by connecting the terminal 101 to the driver 202.
  • the terminal 101 includes a display control unit 20 that displays a virtual manual pulse generator 103 b on the screen 10.
  • the test apparatus 100 includes a data transmission unit 30.
  • the data transmission unit 30 performs a pulse signal pulse corresponding to the operation amount of the virtual manual pulse generator 103b. Equation 32a is calculated for each first time. Further, the data transmission unit 30 accumulates the pulse number data obtained by adding time information to the pulse number 32a calculated every first time for a second time longer than the first time, and the plurality of times accumulated for the second time. Is transmitted to the driving device 200 every second time as one combined pulse number data 33a.
  • the time information is information indicating a time corresponding to the first time.
  • the data transmission unit 30 includes a rotation amount calculation unit 31, a pulse number calculation unit 32, a data storage unit 33, and a communication unit 34.
  • the rotation amount calculation unit 31 acquires the coordinate movement amount of the mouse 102, detects a difference in the displacement amount of the coordinate movement amount, and calculates the rotation amount and the rotation direction as the operation amount based on the detected value. calculate.
  • the rotation amount calculation unit 31 assigns the fixed coordinates [x1, y1] of the virtual manual pulse generator 103b shown in FIG. 1 as the rotation center position. In addition, the rotation amount calculation unit 31 assigns the positive and negative values of the change amount in the X direction and the change amount in the Y direction as the rotation direction in the two-dimensional space.
  • the reason why the positive and negative values are assigned as the rotation direction is that the rotation direction of the virtual manual pulse generator 103b and the movable portion 204 of the drive device 200 shown in FIG. As an example, when the virtual manual pulse generator 103b is operated in the clockwise direction, the movable portion 204 moves to the right in the drawing of FIG. 1, and the virtual manual pulse generator 103b is rotated in the counterclockwise direction. When operated, the movable unit 204 moves leftward in FIG.
  • the rotation amount calculation unit 31 obtains a line segment R1 connecting the fixed coordinate and the operation start coordinate based on the fixed coordinate [x1, y1] and the operation start coordinate [x1a, y1a]. Similarly, the rotation amount calculation unit 31 is based on the fixed coordinates [x1, y1] and the operation end coordinates [x1b, y1b] and connects the fixed coordinates [x1, y1] and the operation end coordinates [x1b, y1b]. Find R2. The rotation amount calculation unit 31 calculates the angle formed by the obtained line segments R1 and R2 as a rotation angle with the fixed coordinate as the center, and the operation amount of the virtual manual pulse generator 103b corresponding to the calculated rotation angle. A certain amount of rotation is calculated.
  • the pulse number calculation unit 32 calculates the pulse number 32a of the pulse signal corresponding to the rotation amount calculated by the rotation amount calculation unit 31 every first time.
  • the first time can be exemplified as 50 ms.
  • the data storage unit 33 accumulates pulse number data obtained by adding time information to the pulse number 32a calculated for each first time by the pulse number calculation unit 32 for a second time longer than the first time.
  • the second time can be exemplified by 250 ms described later.
  • the communication unit 34 transmits the plurality of pulse number data accumulated in the data storage unit 33 for the second time as one combined pulse number data 33a to the driving device 200 every second time.
  • the communication unit 34 incorporates the combined pulse number data 33 a in a frame conforming to the protocol of the communication line 11 and outputs the transmission destination as the driving device 200.
  • the communication unit 34 transmits one combined pulse number data 33a, the combined pulse number data 33a accumulated in the data storage unit 33 is deleted, and the second time elapses from that point.
  • a plurality of pulse number data is accumulated in the data storage unit 33. This process is repeated during the driving test.
  • the display control unit 20 updates the screen display according to the rotation amount calculated by the rotation amount calculation unit 31, and rotates the virtual manual pulse generator 103b displayed on the screen 10.
  • the controller 201 receives the combined pulse number data 33a transmitted from the communication unit 34 every second time, and based on the time information added to each of the plurality of pulse number data included in the combined pulse number data 33a.
  • the total number of pulses included in the combined pulse number data 33a is decomposed into the number of pulses for each first time. Then, the controller 201 drives the motor 203 with the number of pulses for each decomposed first time.
  • FIG. 3 is a view for explaining a state when the virtual manual pulse generator shown in FIG. 1 is rotated by operating the mouse.
  • FIGS. 3A and 3B show a virtual manual pulse generator 103 b and a pointer 12 displayed on the screen 10 of the terminal 101.
  • FIG. 3A shows a virtual manual pulse generator 103b before being operated with the mouse 102, that is, before being rotated.
  • FIG. 3B shows the virtual manual pulse generator 103b after being operated with the mouse 102, that is, after being rotated.
  • P shown in FIG. 3A is a mouse drag start position
  • P ′ shown in FIG. 3B is a mouse drag end position.
  • the virtual manual pulse generator 103b displayed on the screen 10 of the terminal 101 changes its rotation direction and rotation amount in accordance with the movement amount of the pointer 12 or icon.
  • the direction and amount of rotation of the virtual manual pulse generator 103b are controlled by the display control unit 20 shown in FIG.
  • the pointer 12 is moved to the mouse drag end position P '.
  • the virtual manual pulse generator 103b is operated so as to rotate in the clockwise direction.
  • the test apparatus 100 calculates the rotation angle of the virtual manual pulse generator 103b displayed on the screen 10, and calculates the number of pulses corresponding to the rotation angle.
  • the rotation operation of the virtual manual pulse generator 103b is not limited to the drag operation by the mouse 102.
  • the rotation operation can be performed by touching the tablet terminal or the touch panel screen.
  • the rotation amount calculation unit 31 illustrated in FIG. 2 acquires the coordinate movement amount obtained by the touch operation, detects a difference in the displacement amount of the coordinate movement amount, and the rotation amount based on the detected value. Is calculated.
  • the operation by the mouse 102 may be realized by using the rotation amount when the mouse wheel is rotated.
  • the rotation amount calculation unit 31 converts the rotation amount of the mouse wheel into the rotation amount of the manual pulse generator 103b.
  • the rotation amount of the mouse wheel is converted into the rotation amount of the virtual manual pulse generator 103b at a magnification desired by the user.
  • the number of pulses corresponding to the rotation amount of the virtual manual pulse generator 103b is transmitted to the controller 201 of the drive device 200.
  • the transmission cycle of pulses transmitted from the real manual pulse generator to the controller 201 is short, so that the controller 201 rotates the real manual pulse generator.
  • a process for driving the motor 203 can be performed for each individual pulse generated at times. Therefore, the motor 203 can be continuously and smoothly driven. Therefore, the user of the actual manual pulse generator can intuitively and efficiently perform fine adjustment of the movable portion 204.
  • the controller 201 drives the motor 203 for each individual pulse generated by the rotation of the virtual manual pulse generator 103b. Can be processed. That is, when the data transmission cycle in the communication line 11 is equal to the transmission cycle of the pulse transmitted from the actual manual pulse generator to the controller 201, the pulse information is transmitted to the controller 201 every time one pulse is generated. Therefore, the motor 203 can be continuously and smoothly driven.
  • the data transmission cycle of the communication line 11 between the test apparatus 100 and the controller 201 is a time of 250 ms, which is compared with the transmission cycle of pulses transmitted from the actual manual pulse generator to the controller. long.
  • the number of pulses generated when the virtual manual pulse generator 103b is rotated 360 ° is 100
  • the number of pulses generated when the virtual manual pulse generator 103b is rotated 120 ° is 33. It is.
  • the test apparatus 100 transmits pulse number data to the driving apparatus 200 by the first communication or the second communication described below. Think about the case.
  • the data transmission cycle is 250 ms, and pulse number data for one pulse is transmitted every 250 ms.
  • 8250 ms is required to drive the motor 203 by 33 pulses. Therefore, when the virtual manual pulse generator 103b is rotated 120 ° in a time shorter than 8250 ms, the drive amount of the motor 203 does not coincide with the rotation amount of the virtual manual pulse generator 103b. Cannot follow the rotation of a typical manual pulse generator 103b.
  • the motor 203 is driven only for two pulses in 500 ms.
  • the data transmission cycle is 250 ms and the pulse number data of all the pulses generated every 250 ms is transmitted.
  • the virtual manual pulse generator 103b is rotated 120 ° at a constant speed for 500 ms, 16 pulses are generated from 0 ms to 250 ms, and 17 pulses are generated from 250 ms to 500 ms. It is assumed that an integrated pulse of less than 1 pulse is added to 17 pulses. Therefore, in the second communication, communication between the test apparatus 100 and the driving apparatus 200 is performed twice, that is, communication that transmits 16 pulses and communication that transmits 17 pulses.
  • the drive amount of the motor 203 matches the rotation amount of the virtual manual pulse generator 103b. However, since the motor 203 in this case performs driving for 16 pulses and driving for 17 pulses every 250 ms, the motor 203 cannot be continuously and smoothly driven.
  • FIG. 4 is a diagram showing the drive amount when the motor is driven using a real manual pulse generator.
  • FIG. 5 is a diagram showing the drive amount when the motor is driven by the second communication using the virtual manual pulse generator.
  • the vertical axis in FIGS. 4 and 5 represents the drive amount of the motor 203, and the drive amount is represented by the number of pulses.
  • the horizontal axis in FIGS. 4 and 5 represents time.
  • the motor 203 is driven for 16 pulses when 250 ms elapses, and the motor 203 is driven for 17 pulses when 500 ms elapses.
  • the drive amount changes more rapidly than when the motor is driven using the manual pulse generator.
  • the unit 204 operates largely every 250 ms.
  • the test apparatus 100 transmits one combined pulse number data obtained by accumulating the pulse number data to which the time information is added for the second time to the driving apparatus 200 by one communication.
  • the motor 203 can follow the rotation of the virtual manual pulse generator 103b and can be continuously driven smoothly.
  • FIG. 6 is a diagram showing a position every 50 ms and the number of generated pulses every 50 ms when the virtual manual pulse generator according to the embodiment is rotated 120 ° from 0 ms to 500 ms.
  • the time of 50 ms is a value determined as a short time for driving the motor 203 smoothly, and corresponds to the first time described above.
  • the first time is set according to the characteristics of the movable part 204 to be driven, and is assumed to be 50 ms. The user of the test apparatus 100 may actually be determined for the first time.
  • the virtual manual pulse generator 103b is shown on the upper side of the drawing in FIG.
  • the table shown on the lower side of FIG. 6 shows a position every 50 ms, a rotation angle every 50 ms, and every 50 ms when the virtual manual pulse generator 103b is operated in the clockwise direction. The number of pulses is associated.
  • the position P0 indicated in the virtual manual pulse generator 103b corresponds to the mouse drag start position P described above, and the position P10 indicated in the virtual manual pulse generator 103b is the mouse drag end position P ′ described above. Correspond.
  • the position P1 indicated in the virtual manual pulse generator 103b is a position when 50 ms has elapsed from the position P0.
  • the position P2 to the position P10 are positions when 50 ms have elapsed from each of the position P1 to the position P9.
  • the rotation angle corresponding to the position P1 corresponds to an angle formed by a line segment connecting the rotation center of the virtual manual pulse generator 103b and the position P0 and a line segment connecting the rotation center and the position P1.
  • the rotation angle corresponding to the position P1 is 10 °.
  • the rotation angle corresponding to each of the positions P2 to P10 is a line connecting the rotation center and each of the positions P1 to P9 and a line connecting the rotation center and each of the positions P2 to P10. Corresponds to the angle between minutes.
  • the number of pulses corresponding to the position P1 is the number of generated pulses calculated from the rotation amount corresponding to the rotation angle corresponding to the position P1. In the illustrated example, the number of pulses corresponding to the position P1 is two. Similarly, the number of pulses corresponding to each of the positions P2 to P10 is the number of generated pulses calculated from the rotation amount corresponding to the rotation angle corresponding to each of the positions P2 to P10.
  • FIG. 7 is a diagram for explaining a pulse number data group included in the combined pulse number data transmitted to the controller.
  • FIG. 8 is a diagram showing the relationship between the number of pulses shown in FIG. 7 and the driving amount corresponding to the number of pulses.
  • FIG. 7 shows an example of the first pulse number data group accumulated until 250 ms elapses after the operation is started.
  • an example of the second pulse number data group accumulated from the time when 250 ms elapses until 500 ms elapses is shown.
  • the first pulse number data group the number of pulses calculated every 50 ms from 0 ms to 250 ms is associated with time information added to the number of pulses. 250 ms corresponds to the second time described above.
  • the plurality of pulse numbers shown in the first pulse number data group are the pulse numbers calculated every 50 ms from the time point when the operation is started at the position P0 shown in FIG. 6 to the position P5.
  • the number of pulses calculated every 50 ms between 250 ms and 500 ms is associated with time information added to the number of pulses.
  • the time from 250 ms to 500 ms corresponds to the second time described above.
  • the plurality of pulse numbers shown in the second pulse number data group are the pulse numbers calculated every 50 ms from the position P6 to the position P10 shown in FIG.
  • the time when the operation is started at the position P0 is set to time “0”, and the combined pulse number data is not transmitted to the controller 201 until 250 ms elapses from the time “0”.
  • the combined pulse number data including the first pulse number data group shown in FIG.
  • 500 ms elapses from the time when the operation is started at the position P0 the combined pulse number data including the second pulse number data group shown in FIG.
  • the controller 201 that has received the combined pulse number data including the first pulse number data group, for each first time based on the time information added to each of the plurality of pulse number data included in the combined pulse number data.
  • the number of pulses is extracted, and the motor 203 is driven every first time.
  • the controller 201 extracts the number of pulses “+2” corresponding to the time information “50 ms” and drives the motor 203.
  • the controller 201 has a pulse number “+3” corresponding to the time information “100 ms”, a pulse number “+2” corresponding to the time information “150 ms”, and a pulse number “+3” corresponding to the time information “200 ms”.
  • the controller 201 when receiving the combined pulse number data including the second pulse number data group is the same.
  • the controller 201 cannot calculate the drive amount corresponding to the number of pulses due to the data transmission delay time of the communication line 11 until 250 ms elapses after the operation is started at the position P0. However, after 250 ms has elapsed since the operation was started at the position P0, the driving amount corresponding to the number of pulses every 50 ms can be calculated. Therefore, the motor 203 can be continuously and smoothly driven as compared with the case where the motor 203 is driven by the second communication shown in FIG.
  • FIG. 9 is an enlarged view of the operation test screen shown in FIG.
  • the operation test screen 103a illustrated in FIG. 9 is realized by the display control unit 20 illustrated in FIG. 2 executing a program for the engineering tool 103 installed in the terminal 101.
  • the operation test screen 103a displays a virtual manual pulse generator 103b and a pulse number input unit 103c for inputting the number of pulses generated when the virtual manual pulse generator 103b rotates once.
  • the operation test screen 103a includes a magnification input unit 103d for inputting a pulse number magnification and an upper limit input unit 103e for inputting an upper limit value of the number of pulses output per second from the virtual manual pulse generator 103b. Is displayed.
  • the number of pulses generated when the virtual manual pulse generator 103b is rotated once by the mouse 102 is transmitted to the controller 201 via the communication line 11, thereby driving the motor 203.
  • the pulse number input unit 103c allows the user to set the number of pulses generated when the virtual manual pulse generator 103b is rotated once.
  • the number of pulses generated during one rotation is determined depending on the hardware configuration of the product. Therefore, when it is desired to change the number of pulses generated during one rotation, it is necessary to prepare another manual pulse generator in which the number of pulses generated during one rotation is set to a different value.
  • the test apparatus 100 can change the number of pulses generated when the virtual manual pulse generator 103b is rotated once by the pulse number input unit 103c shown in FIG. Therefore, it is not necessary to prepare a plurality of actual manual pulse generators, and the cost of the operation test can be reduced.
  • the pulse number input unit 103c may be configured to be able to input a numerical value desired by the user by using an input device typified by a keyboard, or displays a pull-down menu and displays a plurality of displayed pulse numbers.
  • the mouse 102 may be selectable.
  • the magnification input unit 103d allows the user to set the magnification of the number of pulses generated when the virtual manual pulse generator 103b is rotated.
  • the motor 203 is driven by increasing the pulse number magnification as compared with the case where the pulse number magnification is 1. You can increase the amount. Therefore, the movable unit 204 can be adjusted more efficiently than when the test is performed with the pulse number magnification set to 1.
  • the magnification input unit 103d may be configured to be able to input a magnification desired by the user using an input device, or may display a pull-down menu and display a plurality of displayed magnifications. It may be configured to be selectable with the mouse 102 from the inside.
  • the upper limit value input unit 103e is for preventing a sudden movement of the movable unit 204 due to an erroneous operation.
  • the number of pulses calculated during the first time described above is limited. The Therefore, each value of the plurality of pulse numbers included in the combined pulse number data received by the controller 201 is less than the value set in the upper limit value input unit 103e.
  • the unit time described above may be a time other than the first time, a time shorter than the first time, or a second time.
  • the maximum value of the number of pulses output per second from the virtual manual pulse generator 103b can be changed by the upper limit value input unit 103e shown in FIG. Therefore, compared with a real manual pulse generator, the burden on the user is reduced and the risk of the movable part 204 being damaged can be reduced.
  • the upper limit input unit 103e may be configured to be able to input an upper limit desired by the user using an input device, like the pulse number input unit 103c, or may display a pull-down menu and display a plurality of displayed values.
  • the upper limit value may be selected with the mouse 102.
  • test apparatus 100 it is possible to efficiently solve an abnormality that has occurred when the drive apparatus 200 represented by the servo control apparatus is started up or when the drive apparatus 200 deteriorates over time. Therefore, it is possible to reduce the work man-hours when starting up the drive device 200 and the maintenance man-hours when operating the drive device 200.
  • FIG. 10 is a diagram illustrating a configuration example of hardware for realizing the virtual manual pulse generation device according to the embodiment.
  • the apparatus shown in FIG. 10 includes a processor 61, a memory 62, an input / output unit 63, and a display 64.
  • the processor 61 performs computation and control by software using the received data
  • the memory 62 stores received data or data and software necessary for the processor 61 to perform computation and control.
  • a coordinate movement amount is input to the input / output unit 63, and the input / output unit 63 outputs pulse number data to the communication line 11.
  • the display 64 corresponds to the screen 10 shown in FIG.
  • a program for the data transmission unit 30 and the display control unit 20 is stored in the memory 62, and the processor 61 executes this program,
  • the data transmission unit 30 and the display control unit 20 are realized.
  • a pointing device such as a trackball or a touch pen may be used instead of the mouse 102.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Stepping Motors (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

La présente invention concerne un appareil d'essai (100) qui vérifie le fonctionnement d'un appareil d'entraînement (200), l'appareil d'entraînement étant un appareil externe, équipé: d'une unité de commande d'affichage qui affiche, sur un écran (10), un dispositif de génération d'impulsions manuelles virtuelles (103b) qui génère un signal d'impulsion selon une quantité de rotation; et d'une unité de transmission de données qui calcule le nombre d'impulsions du signal d'impulsion en fonction de la quantité de rotation du dispositif de génération d'impulsions manuelles virtuelles actionné (103b) à chaque première période de temps, qui accumule des données de nombre d'impulsions, qui sont obtenues en ajoutant une information temporelle au nombre d'impulsions calculé à chaque première période de temps, pendant une seconde période de temps plus longue que la première période de temps, et qui transmet une pluralité d'ensembles de données de nombre d'impulsions accumulées pendant la seconde période de temps, sous forme d'un ensemble de données de nombre d'impulsions combinées, à l'appareil d'entraînement (200) à chaque seconde période de temps.
PCT/JP2016/064350 2016-05-13 2016-05-13 Appareil d'essai Ceased WO2017195362A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201680085512.XA CN109154835B (zh) 2016-05-13 2016-05-13 测试装置
JP2016562036A JP6261763B1 (ja) 2016-05-13 2016-05-13 テスト装置
PCT/JP2016/064350 WO2017195362A1 (fr) 2016-05-13 2016-05-13 Appareil d'essai

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/064350 WO2017195362A1 (fr) 2016-05-13 2016-05-13 Appareil d'essai

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JP2003202908A (ja) * 2001-11-15 2003-07-18 Heidelberger Druckmas Ag 複数の電気駆動ユニットを同期させる装置と方法
JP2010176241A (ja) * 2009-01-28 2010-08-12 Digital Electronics Corp プログラマブル表示器、機器監視システム、及び制御プログラム

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JP2021045819A (ja) * 2019-09-18 2021-03-25 ファナック株式会社 ロボット制御装置
JP7497966B2 (ja) 2019-09-18 2024-06-11 ファナック株式会社 ロボットシステムおよびロボット制御装置

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