JPH0820903B2 - Servo motor controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention mainly relates to a controller for a servomotor as an operation source of an industrial robot.

(Prior Art) This type of servo motor control device is generally an orthogonal type 3
The configuration is as shown in FIG. 6 and FIG. 7 exemplifying the case of the axis robot. That is, when the changeover switch 1 is switched to the local mode RUN, the control unit 2 including the sequence controller instructs the X-axis amplifier 3, the Y-axis amplifier 4 and the Z-axis amplifier 5 in the order according to the preset program. Gives a value and based on it, X-axis servo motor 6, Y-axis servo motor 7 and Z-axis servo motor 8
When is rotated in the specified direction, the number of rotations is detected by each encoder 9, 10, 11 and each position is detected by the encoder unit 12, and the detected value is sent to the control unit 2 through the bus line 13. The servomotors 6 to 8 are fed back, and rotation control is performed by the feedback control system so that the servomotors 6 to 8 match the command values.

(Problems to be Solved by the Invention) In such a servo motor control device, it may be desired to execute an operation other than the program of the control unit 2. However, the servo control unit 2 does not change the program or starts the program. It requires human work to manually operate the operation panel when stopping, and it is possible to operate independently, but it is not possible to change the program due to external factors due to commands such as external commands. In some cases, all rewriting must be done.

Therefore, as shown in FIG. 6, the dedicated program loader 14 is connected to the control unit 2 to read and write teaching data and programs only when the changeover switch 1 is set to the off mode, or as shown in FIG. Connect the main controller 15 to the control unit 2,
Direct operation commands are given by codes such as PVG (servo motor drive command) and PVS (servo motor stop command).

However, since the means shown in FIG. 6 can be performed only by the dedicated program loader 14, the dedicated code for this is not disclosed to the public, and the user can teach the teaching data only by a predetermined operation of the dedicated program loader 14. Can read and write programs, and cannot have a program for independent operation. Furthermore, it must have the end of the previous instruction to execute each instruction, so the execution time is long. There is such a problem. In addition, there is a drawback that the changeover switch 1 can be performed only in an operation rest state in which the changeover switch 1 is set to the off mode.

On the other hand, the means shown in FIG. 7 has a problem that it is only possible to execute the instructions of only the command of the main controller 15, and it is not possible to change the program of the storage unit in the control unit or rewrite the data.

The present invention has been made in view of the above-mentioned conventional problems, and it is possible to change a program or data in the main memory of the servo control unit without any manual work.
Further, it is a technical object to provide a servo motor control device that can be arbitrarily performed without making an operation halt state, can directly instruct an urgent operation, and can execute only an internal program.

(Means for Solving the Problems) In the present invention, as a technical means for achieving the above objects, a servo motor control device is configured as follows. That is, in the servo motor control device for controlling the rotation of a plurality of types of servo motors so as to match the command value via the feedback control system from the internal program previously stored in the main memory of the servo motor control unit, the required command A communication code composed of data, data, etc. to the servo control unit through a communication line, a local mode for executing only an internal program for the servo control unit, and an external command transmitted from the main controller. A changeover switch for switching and setting a remote mode to be driven based on the operation mode and an off mode to stop the operation is provided, and the servo control unit is provided to determine whether or not the command received from the main controller at the time of setting the remote mode is for emergency. Discriminate and A communication CPU sends the selected transmission destination on the basis of the different result, analyzes the command of the non-emergency sent selected from the communication CPU, the main memory in a program and rewrites the data command analysis CPU
And only the internal program is executed when the local mode is set, and the communication program is used when the remote mode is set.
It is characterized by including a servo control CPU that analyzes an emergency command selected and sent from the CPU and directly commands the execution of an operation based on the command.

(Operation) The changeover switch is set to the remote mode, and the main controller transmits a communication code composed of required commands and data to the servo control unit through the communication line. In the servo control unit, the communication CPU determines whether the received command needs to be processed urgently, and if it is not an emergency command, the command analysis CP
Send to U. The command analysis CPU analyzes the received command and then rewrites the internal program and data in the main memory. After that, the servo control CPU commands the execution of the changed internal program. As a result, it is possible to execute an emergency process such as an emergency stop or skip a certain execution by the command of the external command.

On the other hand, when the communication CPU determines that the received command is for emergency, it sends the command to the servo control CPU. The servo control CPU analyzes the command and directly issues an operation based on the command regardless of the internal program.

Also, when the changeover switch is set to the local mode,
The servo control CPU commands only the execution of internal programs.

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

FIG. 1 shows an embodiment of the present invention in a block configuration, and the same or equivalent parts as those in FIGS. 6 and 7 are designated by the same reference numerals and the description thereof will be omitted. And, the difference is that the servo control unit 16 includes a communication CPU 16a, a first memory 16b, a servo control CPU 16, a second memory 16c, a main memory 16f and a command analysis CPU 16e, and a new communication function is provided. Is provided, and the changeover switch 17 is provided with the remote mode R only. When the changeover switch 17 is set to the local mode, only the internal program operates as in the existing one.

FIG. 2 shows an orthogonal type three-axis robot whose operation is controlled by the device of the present invention, which operates in three directions of X axis, Y axis and Z axis. As shown in FIG. 3, the main controller 15 servo-controls a program which is a program block A for performing the operations up to, a program block B for performing the operations up to, and a program block C for the operations up to ~ shown in FIG. The operation when the data is transmitted to the communication unit 16 will be described. The main controller 15
From, the communication code composed of STX, command, data, checksum, EXT is transmitted through the communication line, and the command of rewriting the program of the memory part in the servo control unit 16, rewriting the data, or direct operation is issued. Is given. A typical command is shown below.

Write CPW program Read CPR program Write CDW data Read CDR data CSG Servo motor drive command CSS Servo motor stop command CSJ Servo motor jog command CSM Servo motor status information transmission command CIM Interrupt control command CPB program block start First, main Transmission of the program from the controller 15 to the servo control unit 16 will be described with reference to the flowchart of FIG. From the main controller 15
When the A block program is transmitted to the servo control unit 16 by the CPW command (step S1), the completion of reading the A block program is transmitted from the servo control unit 16 to the main controller 15 (step S1).
S2). As a result, the next B block program is transmitted from the main controller 15 to the servo control unit 16 by the CPW command (step S3), and the completion of reading the B block program is transmitted from the servo control unit 16 to the main controller 15 ( Step S4). Subsequently, the main controller 15 transmits the next C block program to the servo control unit 16 by a CPW command (step S5), and the servo control unit 16 transmits a read completion of the C block program to the main controller 15 ( Step S6) The procedure is executed.

Next, the flowchart of FIG. 5 will be described. When the command CSG of the servo drive command to the PT point shown in FIG. 3 is transmitted from the main controller 15 to the servo control unit 16 (step S10), this command CSG is stored in the first memory 16b or the second memory 16c. It is determined in the communication memory 16a to which to send (step S11). That is, it is determined whether or not it is necessary to urgently process, and if it is not an emergency command, this command CSG is temporarily stored in the first memory 16b and then this command CSG is used for command analysis CPU 16c.
Is analyzed (step S12), then sent to the main memory 16f (step S13), and the internal program or data stored in the main memory 16f is rewritten based on the command of the analyzed command. The rewritten internal program and data are sent to the servo control unit 16d (step S14), and further information is sent to the bus line 13 so that the command and data can perform appropriate control (step S15).

On the other hand, when an emergency is required, the command data is temporarily stored in the second memory 16c and then the command data is stored in the servo control CPU 16d.
(Step S16), the servo control CPU 16d analyzes the command sent and sends information to the bus line 13 so that immediate processing can be performed (step S17).

In any of the above cases, the rotation control of the servomotors 6 to 8 is performed by the feedback control system in accordance with the information sent through the bus line 13 (step S18), and this rotation control is continued until the final target PT point is reached. Is performed (step S19).

When it is determined in 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 S20).

Then, from the main controller 15 to the servo control unit 16, the start command command CP of the A block program is issued.
B is transmitted, and step S11 of X surrounded by a broken line in FIG.
By the same operation as S19, the A block program GA is executed (step S22), and the operations (1) to (3) in FIG. 3 are performed.

When the operation of this A-block program is completed, it is transmitted from the servo control unit 16 to the main controller 15 (step S23), and then it is checked whether or not the chuck is ON (closed) at the PS point in FIG. Judge (step S24). In this case, since the chuck is turned on by the operation of, the process proceeds to the tip 25 and the start command command CPB of the B block program is transmitted from the main controller 15 to the servo control unit 16 (step S25). The B block program is executed by the same operation as steps S11 to S19 of X (step S2
6), the operations of to in FIG. 3 are performed. Completion of this B block program operation is indicated by the servo control unit 16
To the main controller 15 (step S28), the process jumps to step S24.

Then, in step S24, it is determined whether or not the chuck is on. In this case, since the chuck is in the off (open) state in the operation of, the process proceeds to step S29 and the main controller 15 transfers the servo control unit 16 to the servo control unit 16. On the other hand, the start command command CPB of the C block program is transmitted (step S29), the C block program is executed by the same operation as that of steps S11 to S19 of X (step S30), and the operations of to in FIG. 3 are performed. After that, the completion of the operation of this C block program is confirmed by the servo control unit 16
From the main controller 15 (step S3
1).

The above operation is performed by setting the changeover switch 17 to the remote mode R, but when the local mode RUN 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, the internal program of the servo control unit is started, stopped, changed, monitored, read, written, etc. by an external command without requiring an external operation. In addition to being able to perform, it is possible to directly give a command by an external command and execute the command. Moreover, there is an advantage that only the internal program can be executed.

[Brief description 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 an operation program of the robot of FIG. 4, FIG. 4 is a flow chart of the transmission of the program of FIG. 3, FIG. 5 is a flow chart of the execution of the program, and FIGS. 6 and 7 are conventional block configuration diagrams. 6-8 Servo motor 15 Main controller 16 Servo control unit 16a Communication CPU 16d Servo control CPU 16e Command analysis CPU 16f Main memory 17 Switching switch

Claims (1)

[Claims] 1. A servo motor control device in which a plurality of types of servo motors are rotationally controlled to match a command value via a feedback control system by an internal program previously stored in a main memory of a servo control unit. , A main controller that sends a communication code composed of required commands and data to the servo control unit through a communication line; a local mode that causes the servo control unit to execute only an internal program; and a transmission from the main controller A command switch received from the main controller when the remote mode is set is provided to the servo control unit for emergencies by providing a changeover switch for switching and setting a remote mode for driving based on an external command and a off mode for stopping operation. Determine whether or not Communication CPU to send to the destination selected based on the determination result
And a command analysis CPU that analyzes non-emergency commands sent from this communication CPU and rewrites the internal program and data in the main memory, and executes only the internal program when the local mode is set. , And the communication CPU when the remote mode is set
A servo motor control device comprising: a servo control CPU that analyzes an emergency command that is selected and transmitted from among the commands and directly commands execution of an operation based on the command.