JP4584191B2 - Positioning control device - Google Patents

Description

  The present invention relates to a positioning control device that controls the operation of a cam mechanism by driving a motor to perform positioning control of a workpiece.

  There is an electronic cam control device (positioning control device) as a device that controls the operation corresponding to the cam mechanism by a servo motor and performs workpiece positioning control. A conventional positioning control device calculates a cam operation amount from, for example, a cam table (data table related to the operation of an electronic cam), and calculates a workpiece positioning amount based on the cam stroke amount and the cam operation amount. (For example, refer to Patent Document 1).

  For example, a punch machine that moves and moves a workpiece in an XY direction by an XY table, positions the workpiece in a predetermined position, and moves a punch axis that moves in a Z-axis direction to process and mold the workpiece. is there. In such a punching machine, the movement speed of the punch axis is controlled after the workpiece is moved to the punching position by controlling the movement speed of the workpiece in the X-axis direction and the movement speed of the workpiece in the Y-axis direction (after positioning is stopped). Is used to mold the workpiece. In this case, after the positioning of the workpiece in the X-axis direction and the Y-axis direction is completed, it is necessary to synchronize and synchronize (synchronization between axes) so as to start the punch axis in the Z-axis direction. However, the time required for the interlock processing was required, and the required tact time could not be satisfied.

  The positioning device described in Patent Document 2 includes a motor that drives a control target and a controller that controls driving of the motor that positions the control target in synchronization, and the controller serves as a reference position for driving and controlling the motor in synchronization. A drive software module that generates and outputs information, a transmission software module that calculates input information and outputs the result as transmission information, and an output that calculates input information and outputs the result as a motor drive control command It has a software module, which makes the axis synchronized.

Japanese Patent No. 3220588 Japanese Patent No. 2697399 Publication Example 1

  However, the former and latter conventional techniques have a problem in that a plurality of cam tables cannot be coupled to control the cam operation, and a complicated cam operation cannot be easily performed.

  The present invention has been made in view of the above, and an object of the present invention is to obtain a positioning control device capable of easily performing a complicated cam operation.

In order to solve the above-described problems and achieve the object, the present invention provides a positioning control device for controlling the positioning of a controlled object by driving and controlling a plurality of cam mechanisms, and the cam angle and cam stroke ratio of each cam mechanism. A storage unit that stores information on the relationship between each cam mechanism as cam information, and a cam angle and a cam stroke position for each cam information of the cam mechanisms to be combined so that the plurality of cam information operate as one cam mechanism. An instruction information creating unit that creates control instruction information for driving and controlling the cam mechanism based on the coupling cam information and the number of pulses of a predetermined reference pulse that is externally input. The instruction information creating unit needs the total number of reference pulses in each cam information to be combined for one cycle operation of the cam mechanism of the combined cam information. Set the number of pulses that the reference pulse, and drives controlling the cam mechanism on the basis of the control command information the instruction information creation unit creates.

  According to the present invention, since a plurality of cam information is combined and a new one cam information is created so that the plurality of cam mechanisms operate as one cam mechanism, the cam operation is controlled by combining the plurality of cam information. Thus, it is possible to easily perform a complicated cam operation.

  Embodiments of a positioning control device according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration of a machining system including a positioning control device according to a first embodiment of the present invention. The machining system includes a punching machine 90 that punches a workpiece (not shown), and a positioning control device 1 that controls the positioning of a control target by driving and controlling a plurality of cam mechanisms when the punching machine 90 performs punching. I have.

  The punching machine 90 includes an XY table 91 that moves a workpiece in the XY direction, and a punch shaft (tool) 92 that performs punching by moving in the Z-axis direction. The punching machine 90 moves the workpiece in the XY direction by the XY table 91, positions the workpiece to a predetermined position (a punching position), and moves the punch shaft 92 moving in the Z-axis direction up and down. Process and mold the workpiece. In the processing system, the positioning control device 1 may be connected to a processing device other than the punching machine 90 (a device that performs processing by positioning a control target).

  FIG. 2 is a block diagram showing a configuration of the positioning control apparatus according to the first embodiment of the present invention. The positioning control device (electronic cam control device) 1 includes a reference pulse generation unit 2, an electronic cam control unit 10, and a drive control unit 3.

  The reference pulse generator 2 generates a reference pulse to be provided to the electronic cam control unit 10 and transmits it to the electronic cam control unit 10. The electronic cam control unit 10 creates predetermined command information (position command) based on the number of reference pulses generated by the reference pulse generation unit 2, and transmits it to the drive control unit 3.

  The electronic cam control unit 10 includes a cam shape data table storage unit 11, a stroke amount storage unit 12, a position command creation unit 13, a cam pattern information storage unit 14, a cam coupling information storage unit 15, a composite cam information storage unit 16, and a smoothing area. A constant storage unit 17 is included.

  The cam shape data table storage unit 11 stores a data table (cam shape data table 50A and cam shape data table 50B described later) indicating the cam shape of each cam for each cam. The stroke amount storage unit 12 stores, for each cam, a stroke amount setting value (following stroke amount) of a control target (an XY table 91, a punch shaft 92, etc.) for the cam.

  The position command generation unit 13 uses the cam shape data tables 50A and 50B in the cam shape data table storage unit 11, the cam stroke amount set value in the stroke amount storage unit 12, and the reference pulse from the reference pulse generation unit 2. Position command information (control instruction information) to be transmitted to the drive control unit 3 is created.

  The position command generator 13 determines the cam angle for each reference pulse number based on the cam resolution (number of reference pulses required for one cycle operation of the cam mechanism) and the cam angle included in the cam shape data tables 50A and 50B. Is calculated. The position command creation unit 13 uses the stroke ratio for each cam angle included in the cam shape data tables 50A and 50B and the cam stroke amount setting value in the stroke amount storage unit 12 for each reference pulse number (for each cam angle). The cam stroke position (stroke ratio × stroke amount setting value) is calculated and stored in the cam pattern information storage unit 14 as cam pattern information (cam pattern information 51 described later).

  The position command creating unit 13 combines the cam pattern data 51 corresponding to the cam shape data tables 50A and 50B, respectively, and operates a plurality of cams as one cam mechanism (combined cam information) (combined cam information). To create a cam pattern). When creating the cam shape data table (composite cam pattern) of the composite cam, the position command creation unit 13 uses the cam resolution of each cam included in the cam shape data tables 50A and 50B to The cam angle, the composite cam resolution array (total value of the composite (combined) cams), and the composite cam stroke position are calculated. The position command creating unit 13 creates position command information for the drive control unit 3 using the number of reference pulses transmitted from the reference pulse generating unit 2 and the cam shape data table of the composite cam.

  The cam pattern information storage unit 14 stores the cam pattern information 51 calculated by the position command generation unit 13 for each cam (for each cam shape data table). The cam coupling information storage unit 15 stores cam coupling information (cam coupling information 52 described later) for coupling a plurality of cam shape data tables to one composite cam pattern. The cam coupling information 52 here is information set in advance by the user of the positioning control device 1.

  The composite cam information storage unit 16 stores the composite cam resolution array and the composite cam stroke position calculated by the position command generation unit 13. The smoothing area constant storage unit 17 stores a smoothing area constant ts when performing the smoothing process using the moving average method.

  The drive control unit 3 controls the position of a control target such as a workpiece (not shown) based on the position command information created by the position command creating unit 13. The drive control unit 3 controls the position of the workpiece by controlling a motor (not shown) that moves the workpiece.

  The cam shape data table storage unit 11 here corresponds to the storage unit described in the claims, and the position command generation unit 13 here corresponds to the instruction information generation unit described in the claims.

  Here, the positioning control device 1 is configured to include the reference pulse generation unit 2 and the drive control unit 3, but the positioning control device 1, the reference pulse generation unit 2, and the drive control unit 3 may be configured separately. In this case, the position command creation unit 13 creates position command information and outputs it to the drive control unit 3 using a reference pulse externally input from the reference pulse generation unit 2 that is an external device.

  Here, the configuration of the cam shape data tables 50A and 50B stored in the cam shape data table storage unit 11 will be described. FIG. 3 is a diagram illustrating an example of the configuration of a cam shape data table of the reciprocating cam. The cam shape data table 50A for the reciprocating cam includes a cam shape data table number i (i is a natural number) indicating a table number of the cam shape data table, a cam resolution r (i), a cam angle (0 ° to 360 °), and a cam. It has the information which shows the relationship of the stroke ratio corresponding to this angle. The cam resolution r (i) is the number of pulses required for one cam cycle. The stroke ratio of the final point (cam angle is 360 °) corresponding to the cam angle is s (i). In the cam shape data table 50A for the reciprocating cam, the stroke ratio s (i) (final point) is zero.

  FIG. 4 is a diagram showing an example of the configuration of the cam shape data table of the feed cam. The cam shape data table 50B of the feed cam (when performing a one-way feed operation) includes a cam shape data table number i indicating a table number of the cam shape data table, a cam resolution r (i), and a cam angle (0 ° to 360). °) and the stroke ratio corresponding to the cam angle. In the cam shape data table 50B of the feed cam, the stroke ratio s (i) is 1.

  In the first embodiment, the cam shape data table storage unit 11 stores a plurality of cam shape data tables 50A and 50B shown in FIG. 3 and FIG. The stroke amount storage unit 12 stores a plurality of cam stroke amount setting values corresponding to the cam shape data tables 50A and 50B. In the following description, the cam shape data table 50A and the cam shape data table 50B may be referred to as the cam shape data table 50. The cam shape data tables 50A and 50B here correspond to the cam information described in the claims.

  Next, the configuration of the cam pattern information 51 stored in the cam pattern information storage unit 14 and the configuration of the cam coupling information 52 stored in the cam coupling information storage unit 15 will be described. FIG. 5 is a diagram illustrating an example of the configuration of the cam pattern information. The cam pattern information 51 includes the stroke position (stroke ratio × stroke amount setting value) calculated by the position command creation unit 13. The cam pattern information 51 here has information indicating the cam shape data table number i and the relationship between the generated pulse and the stroke position (stroke position corresponding to the number of input pulses). Note that the stroke position corresponding to the input pulse j is S (j). For example, the stroke position of the input pulse 0 corresponds to S (0) = 0, and the stroke position of the input pulse (r (i) -1) corresponds to S (r (i) -1).

  FIG. 6 is a diagram illustrating an example of the configuration of the cam coupling information. The cam coupling information 52 is information for coupling a plurality of cam shape data tables to one composite cam pattern (composite cam), information on the number of cams to be combined, and information on the order of cams to be combined (use order). It is configured to include. Here, the number of cams to which the cam coupling information 52 is coupled is N (N is a natural number), and the order of the coupled cams is C1, C2,... CN.

  Next, a processing procedure of cam coupling processing of the positioning control device 1 will be described. FIG. 7 is a flowchart showing a processing procedure of cam coupling processing. As an initial process, the position command creating unit 13 extracts the number N of cams to be coupled from the cam coupling information 52 in the cam coupling information storage unit 15 (step S100).

  The position command generator 13 sets R (i) as the total resolution of the cams up to the i-th to be combined, S (i) as the stroke amount of the cam at the i-th to be combined, and sets R (0) and S (0) to 0. (Step S110).

  Next, the position command generator 13 initializes the counter i to 1 (i = 1) to calculate the cam pattern information 51 to be combined as preparation for combining the cams (step S120), and the following step S130. ˜S180 is executed N times (for the number of cams to be combined).

  First, the position command generation unit 13 sets the cam shape number C (i) of the cam to be combined as the cam shape number of the cam j (j = C (i)) from the cam connection information 52 in the cam connection information storage unit 15. Extract (step S130). Here, since the position command creating unit 13 is i = 1, the cam shape number C (1) to be coupled is extracted from the cam coupling information 52.

  The position command generation unit 13 extracts the cam shape data table 50 corresponding to the cam j from the cam shape data table storage unit 11 and extracts the stroke ratio from the extracted cam shape data table 50. Then, using the cam stroke amount setting value in the stroke amount storage unit 12, the stroke amount setting value × stroke ratio is calculated, and the cam pattern information 51 of the cam j is calculated (step S140). The position command creation unit 13 stores the calculated cam pattern information 51 of the cam j in the cam pattern information storage unit 14.

  The position command generation unit 13 sequentially adds the resolutions of the cam patterns so that the cam resolution of the entire composite cam becomes the sum of the resolutions of the cam patterns. The position command generator 13 adds the resolution of the cam j to the resolution of the composite cam at the present time as the array of the resolution of the composite cam. That is, the i-th resolution array is calculated by adding the resolution of the i-th cam to the (i-1) -th resolution array (total value). Specifically, the position command creating unit 13 calculates an array of resolutions of the composite cam by R (i) = R (i−1) + r (j) (step S150). The position command creating unit 13 here calculates R (1) by R (1) = R (0) + r (j) since i = 1. R (0) is 0.

  Further, the position command creating unit 13 sequentially adds the stroke amounts of the cam patterns so that the stroke amount of the entire composite cam becomes the sum of the stroke amounts of the cam patterns. The position command generator 13 adds the final stroke position of the cam j (the stroke amount setting value of the cam j) to the current stroke position of the composite cam as the stroke position of the composite cam. That is, the i-th stroke position is calculated by adding the i-th cam stroke position to the (i-1) th stroke position.

  Specifically, the position command creating unit 13 calculates the stroke position of the composite cam by S (i) = S (i−1) + s (j) × (stroke amount setting value) (step S160). Since the position command creating unit 13 here is i = 1, S (1) = S (0) + s (j) × (stroke amount setting value) is calculated as S (1). S (0) is 0. The position command creation unit 13 stores the calculated composite cam resolution array and the composite cam stroke position in the composite cam information storage unit 16.

  The position command generator 13 increments the counter value i by 1 (i = i + 1) (step S170). The position command creating unit 13 determines whether i is smaller than N + 1 (i ≧ N + 1), thereby calculating whether the cam pattern information 51 and the like have been completed for the number (N) of cams to be combined. Is determined (step S180).

  When i is smaller than N + 1 (No at Step S180), the position command creating unit 13 returns to Step S130 and repeats Steps S130 to S180. On the other hand, when i is greater than or equal to N + 1 (step S180, Yes), the position command creating unit 13 ends the calculation of the individual cam pattern information 51 used for coupling.

  Next, the position command creating unit 13 uses the calculated resolutions R (i) and stroke amounts S (i) to combine the cams (cam pattern information 51) (generate cam pattern information of the composite cam). I do.

  The position command generator 13 initializes the counter i with 1 (step S190). The position command generator 13 calculates a cam angle corresponding to the resolution ratio with respect to the cam pattern information 51 of the cam number Ci. The position command generator 13 calculates the cam angle in the composite cam for each cam angle (each cam angle in the cam shape data table 50) D. Specifically, the position command creating unit 13 uses a formula of 360 ° × (R (i−1) / R (N)) + D × (r (i) / R (N)) in the composite cam. Each cam angle is calculated.

  Further, the position command creating unit 13 calculates a stroke amount S for each cam angle (for each pulse) with respect to the cam pattern information 51 of the cam number Ci. Specifically, the position command creating unit 13 calculates a stroke amount S for each cam angle using an equation of S (i−1) + S (step S200).

  The position command generator 13 increments the counter value i by 1 (i = i + 1) (step S210). The position command creating unit 13 determines whether i is smaller than N + 1 (i ≧ N + 1), thereby determining whether or not the combination of the cam pattern information 51 has been completed for the number (N) of cams to be combined. Is determined (step S220).

  When i is smaller than N + 1 (No at Step S220), the position command creating unit 13 returns to Step S200 and repeats Steps S200 to S220. On the other hand, when i is greater than or equal to N + 1 (step S220, Yes), the position command creating unit 13 ends the combination of the cam pattern information 51.

  Here, an example of a cam pattern (cam pattern information 51) combining process using each calculated resolution R (i) and each stroke amount S (i) will be conceptually described. FIG. 8 is a diagram for explaining an example of cam pattern combining processing, and conceptually shows composite cam pattern generation processing (cam pattern combining processing). Here, as an example of cam pattern combination processing, a cam corresponding to the cam shape data table X1 and the stroke amount setting value Y1, a cam corresponding to the cam shape data table X2 and the stroke amount setting value Y2, and a cam shape data table X3 A case where three cams corresponding to the stroke amount setting value Y3 are combined will be described.

  The cam shape data tables X1 to X3 here correspond to the cam shape data table 50A and the cam shape data table 50B shown in FIGS. The cam shape data tables X1 to X3 are stored in the cam shape data table storage unit 11, and the stroke amount setting values Y1 to Y3 are stored in the stroke amount storage unit 12.

  The position command creating unit 13 creates the cam pattern Z1 using the cam shape data table X1 and the stroke amount setting value Y1. Further, the position command creating unit 13 creates the cam pattern Z2 using the cam shape data table X2 and the stroke amount setting value Y2. Further, the position command creating unit 13 creates the cam pattern Z3 using the cam shape data table X3 and the stroke amount setting value Y3. The cam patterns Z1 to Z3 here correspond to the cam pattern information 51 shown in FIG.

  Next, the position command creating unit 13 creates (combines) the cam patterns Z1 to Z3 and the cam coupling information (cam coupling information 52) to create a composite cam pattern C. The composite cam pattern C here corresponds to a composite cam pattern 81 described later. Although the case where three cam patterns are combined is described here, two or four or more cam patterns may be combined.

  Next, when there is no continuity of the change amount of the stroke amount at the cam coupling portion, the position command creating unit 13 performs the smoothing process using the moving average method. The position command creating unit 13 first initializes the counter value i with 1 (step S230), and acquires the smoothing region constant ts from the smoothing region constant storage unit 17 (step S240).

  The position command generator 13 calculates the stroke value (point) T after the smoothing process by averaging the amount of change in the stroke position in the smoothing section before and after the coupling point of the cam data (step S250).

  Specifically, T = (S (j + ts) −S (j−ts−1)) / () at a resolution j between the coupling points R (i) ± ts of cam data (a predetermined region including the coupling portion). 2ts + 1) + S (j−1) is calculated, and the stroke value T is calculated.

  The position command creating unit 13 substitutes the stroke value T after the smoothing process at the resolution j between the coupling points R (i) ± ts of the cam data (S (j) = T)), and the cam pattern Is updated (step S260).

  The position command generator 13 increments the counter value i by 1 (i = i + 1) (step S270). The position command generation unit 13 determines whether or not the smoothing process has been completed for the number of cams to be combined (N) by determining whether i is smaller than N (i ≧ N) ( Step S280).

  When i is smaller than N (step S280, No), the position command creating unit 13 returns to the process of step S240 and repeats the processes of steps S240 to S280. On the other hand, when i is greater than or equal to N (step S280, Yes), the position command creating unit 13 ends the smoothing process for each cam pattern.

  Here, the cam pattern combination processing (composite cam pattern generation processing) will be described in detail. FIG. 9 is a diagram for explaining a specific example of cam pattern combining processing. Here, as an example of the cam pattern combining process, a case where three cams are combined, that is, a cam corresponding to the cam shape data table 61, a cam corresponding to the cam shape data table 62, and a cam corresponding to the cam shape data table 63. explain. The cam shape data tables 61 to 63 here correspond to the cam shape data table 50A and the cam shape data table 50B shown in FIG. 3 and FIG.

  The cam shape data table 61 is a data table of the cam shape data table number “1”, and has a stroke amount setting value “10”. The cam shape data table 62 is a data table of the cam shape data table number “4” and has a stroke amount setting value “−15”. The cam shape data table 63 is a data table of the cam shape data table number “15” and has a stroke amount setting value “30”.

  The cam shape data table 61 has a cam resolution “131072”, a stroke ratio “0” when the cam angle is 0 ° and 360 °, and a stroke ratio “1” when the cam angle is 90 ° and 180 °. .

  The cam shape data table 62 has a cam resolution “81920”, a stroke ratio “0” when the cam angle is 0 °, and a stroke ratio “1” when the cam angles are 120 ° and 360 °.

  The cam shape data table 63 has a cam resolution of “196608”, a stroke ratio of “0” when the cam angle is 0 °, a stroke ratio of “0.75” when the cam angle is 90 °, and a cam angle. When the angle is 360 °, the stroke ratio is “1”.

  The cam patterns 71 to 73 can be obtained by the positioning control device 1 executing the processes of steps S100 to S180 described with reference to FIG. Cam patterns 71 to 73 are cam patterns created based on cam shape data tables 61 to 63, respectively. The cam patterns 71 to 73 here correspond to the cam pattern information 51 shown in FIG.

  The positioning control device 1 can obtain the combined composite cam pattern 81 by executing the processes of steps S190 to S280 of FIG. 7 on the obtained cam patterns 71 to 73. At this time, the positioning control device 1 uses the cam coupling information 52 to obtain the combined composite cam pattern 81.

  Thereafter, the electronic cam control unit 10 creates position command information using the reference pulse generated by the reference pulse generation unit 2 and the created composite cam pattern 81 after combining, and the created position command information is used as the drive control unit 3. Send to. The drive control unit 3 controls the positions of the XY table 91 and the punch shaft 92 based on the position command information from the electronic cam control unit 10 and causes the punch machine 90 to process the workpiece.

  Thus, since the cam angle of each cam with respect to the composite cam is calculated, the composite cam pattern 81 can be used to issue a position command based on the reference pulse number so that the composite cam operates as one cam mechanism. It becomes possible.

  In the first embodiment, each of the cam shape data tables 61 to 63 is combined at the bottom dead center or the top dead center which is the stroke data of the final point of the cam pattern, but other than the bottom dead center or the top dead center. It is good also as combining at the point of. In this case, the position command creating unit 13 calculates a cam angle serving as a coupling point, a cam resolution corresponding to the cam angle, and a stroke amount with respect to the cam shape data tables 61 to 63 of each cam, and uses the calculated information. Then, cam pattern information 51 is created. Then, a composite cam pattern is created using the created plurality of cam pattern information 51 and cam coupling information 52. At this time, the cam angle of each cam with respect to the composite cam is set using the calculated cam angle as the coupling point and the cam resolution corresponding to this cam angle.

  As described above, according to the first embodiment, a plurality of cam shape data tables 50 (cam pattern information 51) are coupled (connected) so that a plurality of cams (cam mechanisms) operate as one cam mechanism. Since 81 is created, the cam operation can be controlled by combining a plurality of cam shape data tables, and a complicated cam operation can be easily performed by a cam table that could not be realized conventionally.

  Further, since the cam shape data tables 50 can be joined at points other than the bottom dead center or the top dead center, which is the stroke data of the final point of the cam pattern information 51, it is complicated by a cam table that could not be realized conventionally. The cam operation can be easily performed.

  In addition, when there is no continuity in the amount of change in the cam stroke amount at the joint part between the cam pattern information, a smoothing process is performed on a predetermined area including the joint part to create a composite cam pattern. Even when there is no continuity in the amount of change in the cam stroke amount at the joint portion, it is possible to create a composite cam pattern having continuity in the cam stroke amount.

Embodiment 2. FIG.
In the second embodiment, the composite cam pattern created in the first embodiment is changed by changing a part of the cam combination information 52 (for example, the cam table number used for the combination) and the stroke amount setting value.

  That is, the positioning control device 1 uses the cam shape data table 50 and the stroke amount setting value corresponding to the cam shape data table 50 in the same manner as in the first embodiment, and uses the cam pattern (cam pattern information) corresponding to each cam. 51). Then, the composite cam pattern is created such that the cam resolution of the entire composite cam is the sum of the resolution of each cam pattern, and the stroke amount of the entire composite cam is the sum of the stroke amounts of each cam pattern.

  When information for changing the composite cam pattern is input to the positioning control device 1 by the user of the positioning control device 1, the position command creating unit 13 changes the resolution or the final stroke position as a change of the composite cam pattern. Judge whether or not.

  When the resolution and the final stroke position are not changed as a change of the composite cam pattern, the position command generator 13 changes the composite cam pattern by executing a smoothing process (the processes of steps S230 to S280 shown in FIG. 7). To do.

  On the other hand, when the resolution or the final stroke position is changed as a change of the composite cam pattern, the position command creating unit 13 performs the processing of steps S100 to S280 shown in FIG. Change the cam pattern.

  As a change of the cam pattern (composite cam pattern), for example, a case of changing the speed in the Y-axis direction of the punching machine 90 shown in FIG. 1 will be described. FIG. 10 is a diagram showing the cam pattern before the change, and FIG. 11 is a diagram showing the cam pattern after the change.

  The speed in the Y-axis direction is changed in the cam pattern P2 shown in FIG. 11 with respect to the cam pattern P1 shown in FIG. Even in such a case, since the final stroke position is not changed as the cam pattern is changed, the position command creating unit 13 performs the smoothing process (the processes of steps S230 to S280 shown in FIG. 7), The cam pattern can be easily changed.

  When a new cam shape data table is added, a new cam shape data table is stored in the cam shape data table storage unit 11, and a cam pattern corresponding to the new cam shape data table is stored in the position command creation unit 13. Create information. Then, if necessary, new cam pattern information is used to create a composite cam pattern.

  As described above, according to the second embodiment, when the resolution and the final stroke position are not changed as the cam pattern, the cam pattern can be changed by executing the smoothing process. If the resolution or the final stroke position is changed, the cam pattern may be changed at the changed point, so that the cam pattern can be easily changed.

  Even when a part of the composite cam pattern 81 is changed, it is not necessary to set (change) the cam shape data table itself by the user program for the cam shape data table storage unit 11 to be changed. This eliminates the need for the user program to calculate and store the shape data. Therefore, the cam pattern can be easily changed by a simple user program.

  As described above, the positioning control device according to the present invention is suitable for the operation control of the cam mechanism.

It is a figure which shows the structure of the processing system provided with the positioning control apparatus concerning Embodiment 1. FIG. 1 is a block diagram illustrating a configuration of a positioning control device according to a first embodiment; It is a figure which shows an example of a structure of the cam shape data table of a reciprocating cam. It is a figure which shows an example of a structure of the cam shape data table of a feed cam. It is a figure which shows an example of a structure of cam pattern information. It is a figure which shows an example of a structure of cam coupling | bonding information. It is a flowchart which shows the process sequence of the joint process of a cam. It is a figure for demonstrating notionally an example of the combination process of a cam pattern. It is a figure for demonstrating the specific example of the coupling | bonding process of a cam pattern. It is a figure which shows the cam pattern before a change. It is a figure which shows the cam pattern after a change.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Positioning control apparatus 2 Reference pulse generation part 3 Drive control part 10 Electronic cam control part 11 Cam shape data table storage part 12 Stroke amount storage part 13 Position command creation part 14 Cam pattern information storage part 15 Cam coupling information storage part 16 Composite cam Information storage unit 17 Smoothing area constant storage unit 50A, 50B, 61-63 Cam shape data table 51 Cam pattern information 52 Cam coupling information 71-73 Cam pattern 81 Compound cam pattern 90 Punch machine 91 XY table 92 Punch shaft

Claims (5)

In a positioning control device that controls the positioning of a controlled object by driving and controlling a plurality of cam mechanisms,
A storage unit that stores information on the relationship between the cam angle of each cam mechanism and the cam stroke ratio as cam information for each cam mechanism;
Control instruction information for creating a cam angle and a cam stroke position as coupled cam information for each cam information of the cam mechanisms to be coupled so as to operate the plurality of cam information as one cam mechanism, and for controlling driving of the cam mechanism An instruction information creating unit that creates the combined cam information and the number of predetermined reference pulses input from the outside;
With
The instruction information creating unit sets the sum of the number of reference pulses in each cam information to be combined to the number of reference pulses required for one cycle operation of the cam mechanism of the combined cam information,
A positioning control device that controls driving of the cam mechanism based on control instruction information created by the instruction information creating unit. Each cam information includes information on the number of reference pulses required for one cycle operation of the cam mechanism corresponding to the cam information,
The instruction information creation unit calculates a cam stroke position for each cam mechanism according to the number of pulses of the reference pulse based on the cam stroke amount and the cam information set for each cam mechanism, The positioning control device according to claim 1, wherein the coupling cam information is created using a stroke position. The positioning control device according to claim 1, wherein the instruction information creating unit sets a total stroke amount of the cam corresponding to each cam information to be combined as a cam stroke amount of the combined cam information. . When there is no continuity in the amount of change in the cam stroke amount at the joint portion between the cam information to be joined, the instruction information creation unit performs a smoothing process on a predetermined area including the joint portion to perform the joint cam information The positioning control device according to any one of claims 1 to 3 , wherein When changing the generated combined cam information, the instruction information generating unit changes the combined cam information by changing a cam stroke position for each cam mechanism according to the number of pulses of the reference pulse. The positioning control device according to claim 1 , wherein

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