JPH04177511A - Servomotor controller - Google Patents

Abstract

PURPOSE:To arbitrarily execute the change of a program and data of a memory even in the course of operation by providing a rewriting means for rewriting the program and the data of the memory in a servo-control unit by an external command at the time of setting a remote mode, and a command means operated directly. CONSTITUTION:By setting a changeover switch 17 to a remote mode, for instance, a communication code constituted of a necessary command and data, etc., from a main controller 15, and an external command from the main controller 15 in a state set to the remote mode are transmitted to a servo-control unit 16. Accordingly, an operation by the external command can be commanded directly irrespective of an internal program. In such a way, with respect to the internal program of the servo-control unit, actuation, stop, change, monitoring, read-in, write, etc., can be executed by the external command without necessitating an external operation, and also, can be executed by giving directly a command by the external command.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention mainly relates to a control device for a servo motor as an operating source of an industrial robot.

(Prior Art) This type of servo motor control device generally has a configuration as shown in FIGS. 6 and 7, which illustrate the case of an orthogonal three-axis robot. That is, when the changeover switch 1 is switched to the local mode RUN, the control unit 2 consisting of a sequence controller controls the X-axis amplifiers 3 . Y-axis amplifier 4 and Z
When a command value is issued to the axis amplifier 5 and the X-axis servo motor 6, Y-axis servo motor 7, and Z-axis servo motor 8 are rotated in the designated direction based on the command value, the rotation speed is transmitted to each encoder 9, 10, . 11 detects each position, and the encoder unit 12 detects each position, and this detected value is fed back to the control unit 2 through the lotus line 13, and this feedback control system controls each servo motor 6.
-8 is controlled to rotate so as to match the command value.

(Problem to be Solved by the Invention) By the way, in such a servo motor control device, there are cases where it is desired to execute an operation other than the program of the control unit 2, but the control unit 2 is Although it requires manual work and is capable of independent operation, it is impossible to change the program due to external factors, and furthermore, when changing the program, the entire program must be rewritten.

Therefore, as shown in FIG. 6, the dedicated program loader 14 is connected to the control unit 2 only when the switching switch 1 is set to the off mode, and teaching data and programs can be read and written, or as shown in FIG. As shown, the main controller 15 is connected to the control unit 2,
Direct operation commands are given using codes such as pVG (servo motor drive command) and pvs (servo motor stop command).

However, since the method shown in FIG. 6 can only be performed using the dedicated program loader 14, the dedicated code for this is not made available to the public, and the user can only use the predetermined operation of the dedicated program loader 14. Since it can only read and write teaching data and programs, it cannot have a program for independent operation, and furthermore, it must have a link to the previous command in order to execute each command. There is a problem with long execution times. Moreover, there is a drawback that the operation can only be carried out in the non-operational state with the changeover switch 1 in the OFF mode.

On the other hand, the means shown in FIG. 7 has a problem in that it can only execute commands from the main controller 15, but cannot change the program or rewrite data in the storage section in the control unit.

The present invention has been made in view of these conventional problems, and it is an object of the present invention to provide a servo motor control device that can arbitrarily change programs and data in the memory within a control unit even during operation. is a technical issue.

(Means for Solving the Problems) In the present invention, as a technical means for achieving the above-mentioned problems, a servo motor control device is configured as follows. That is, in a servo motor control device that controls multiple types of servo motors via a feedback control system based on an internal program of a servo control unit, the servo control unit is driven by a local mode in which only the internal program is executed and an external command. A changeover switch is provided for switching to a remote mode in which the servo control unit is set, and the servo control unit is provided with a rewriting means for rewriting the program and data in the memory in the servo control unit by an external command when the remote mode is set, and an external command. (Operation) Set the changeover switch to remote mode and send a communication code consisting of required commands and data from the main controller to the servo control unit. Then, you can rewrite the programs and data in the memory inside this Ninia. Further, if the main controller sends an external command to the servo control unit while the main controller is set to the remote mode, the servo control unit can directly command the operation based on the external command regardless of the internal program.

Further, by setting the changeover switch to the local mode, only the internal program of the servo control unit 7) can be executed.

(Example) Hereinafter, a preferred example of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows one embodiment of the present invention in block configuration, and the sixth embodiment of the present invention is shown in FIG.
Components that are the same as or equivalent to those in the figures and FIG.

The difference is that the servo control unit 16 is
Communication CPU 16a, first memory 16b, servo control CPU 16d, second memory 16C2 third memory 1
6f and a command analysis CPU 16e-t-, the configuration has a new communication function, and a switching switch 17.
This is the only configuration in which remote mode R is provided. and,
When the switching switch 17 is set to the local mode, it operates only with an internal program like the existing switch.

FIG. 2 shows an orthogonal three-axis robot whose operation is controlled by the device of the present invention, and which operates in three directions: the X-axis, the Y-axis, and the Z-axis. Now, program block A makes this robot perform operations from ■ to ■ shown in Figure 3, program block B causes it to perform operations from ■ to [phase], and program block C causes it to perform operations from @ to [phase]. The operation when the program is sent from the main controller 15 to the servo control unit 16 will be described. A communication code consisting of STX, command, data, checksum, and EXT is transmitted from the main controller 15 through the communication line, and can be used to rewrite the program in the storage part of the servo control unit 16, rewrite the data, or directly. Instructions for movement are given. Typical commands are shown below.

cpw Program writing CPR program reading CDW Data writing CDR data reading CSC Servo motor drive command CSS Servo motor stop command C3J Servo motor jog command C5M Servo motor status information transmission command CIM
Interrupt Control Command CPB Program Block Startup First, the program transmission from the main controller 15 to the servo control unit 16 will be explained based on the flowchart in FIG. Main controller 15 to C
When the A block program is sent to the servo control unit 16 by the PW command (step S1), the servo control unit 16 sends a notification that the A block program has been read to the main controller 15 (
Step S2). As a result, the main controller 15
The next B block program is sent to the servo control unit 16 by the CPW command (step S3).
, from the servo control unit 16 to the main controller 1
The completion of reading the B block program is sent to the main controller 15 (step S4).
The next C block program is sent to the servo control unit 16 by the CPW command (step S5).
, from the servo control unit 16 to the main controller 1
5, the completion of reading of the C block program is transmitted to the computer (step 36).

Next, the flowchart shown in FIG. 5 will be explained. A command C of the servo drive command from the main controller 15 to the servo control unit 16 to the PT point shown in FIG.
When transmitting 5G (step 510), this command C
It is determined in the communication memory 16a whether to send the 8G to the first memory 16b or the second memory 16c (step 5ll).

That is, it is determined whether or not there is an urgent need to process the command, and if the command is not an emergency command, the command C3G is temporarily stored in the first memory 16b, and then the command C3G is used as the command analysis command C3G.
The third
(step 513), and this third
After temporarily storing it in the memory 16f, the servo control CPU 1
6d (step 514) and further sends information to pathline 13 so that the commands and data can perform appropriate control (step 515).

On the other hand, if an emergency is required, the command data is temporarily stored in the second memory 16C and then transferred to the servo control CPU.
16d (step 516), and the servo control CP
U16d analyzes the sent command and sends information to the pass line 13 for immediate processing (Step 5
17).

In any of the above cases, the rotation of each servo motor 6 to 8 is controlled by the feedback control system according to the information sent through the pass line 13 (step 318), and this rotation control continues until the final target PT point is reached. (step 519).

When it is determined in this step S19 that the movement to the PT point is completed, it is transmitted from the servo control unit 16 to the main controller 15 (step 520).

Next, the main controller 15 sends the A block program start command CPB to the servo control unit 16, and the A block program GA is executed by the same operation as steps Sll to S19 of X surrounded by broken lines in FIG. (step 522), and the operations ① to ② in FIG. 3 are performed.

When the operation of this A block program is completed, it is transferred from the servo control unit 16 to the main controller 15.
(step 523), and then it is determined whether the chuck is on (closed) at point 28 in FIG. 3 (step 524). In this case, since the chuck is turned on by the operation (2), the process proceeds to step 25, and the main controller 15 sends the B block program start command CPB to the servo control unit 16 (step 525). Step Sl of the aforementioned X
The B block program is executed by the same operations as steps 1 to S19 (step 526), and operations 1 to [phase] in FIG. 3 are performed. After transmitting the completion of the operation of this B block program from the servo control unit 16 to the main controller 15 (step 32B), step S
Jump to 24.

Then, in step S24, it is determined whether the chuck is on or not. In this case, since the chuck is in the off (open) state due to the operation of C for unit 16
The block program startup command CPB is sent (step 529), and the C block program is executed in the same manner as steps Sll to S19 in X (step 530), and the operations in [phase] to [phase] in FIG. will be carried out. Thereafter, the completion of the operation of this C block program is transmitted from the servo control unit 16 to the main controller 15 (step 531).

The above operation is performed by setting the changeover switch I7 to the remote mode R, but when the local mode RIJN is set, only the internal program of the servo control unit 16 is executed.

(Effects of the Invention) As described above, according to the servo motor control device of the present invention,
It is possible to start, stop, change, monitor, read, write, etc. to the internal program of the servo control unit using external commands without requiring external operations, and it is also possible to directly give commands and execute them using external commands. can. Moreover, it has the advantage of being able to execute only internal programs.

[Brief explanation of drawings]

Fig. 1 is a block mechanism diagram of an embodiment of the present invention, Fig. 2 is a perspective view of an orthogonal three-axis robot whose operation is controlled by the device of the present invention, and Fig. 3 is an explanatory diagram of the operation program of the robot shown in Fig. 2. , FIG. 4 is a flowchart for transmitting the program shown in FIG. 3, FIG. 5 is a flowchart for executing the program, and FIGS. 6 and 7 are conventional block configuration diagrams. 6 to 8... Servo motor 15... Main controller 16... Servo control unit 17... Selector switch 6-81-(-nu 15)

Claims (1)

[Claims] (1) In a servo motor control device that controls multiple types of servo motors via a feedback control system using an internal program of a servo control unit, a local mode and an external command that cause the servo control unit to execute only the internal program rewriting means for rewriting a program and data in a memory in the servo control unit by an external command when setting the remote mode to the servo control unit;
A servo motor control device characterized by comprising a command means that operates directly in accordance with an external command.