JPS59175389A - Stopping method of encoder motor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a method for stopping an encoder mode, for example, a method for stopping an encoder mode suitable for use in a conveyor.

[Purpose of the invention]

The present invention corrects and uses a preset deceleration speed command based on pattern correction information from the outside, allows the deceleration speed to be selected from the outside, and substantially changes the preset deceleration pattern. The purpose is to make it usable as several times the amount of butter.

[Summary of the invention]

Using external pattern correction information, the preset deceleration speed command value can be corrected (several times or even a fraction) during use.
) to change the deceleration characteristics.

[Prior art]

Conventionally, in position control using an encoder modele, the rotation angle of the modele to be moved is converted into encoder pulses and inputted to the instruction control unit as a position command.
The encoder pulses output as the modele rotates can be counted up or down depending on the direction of rotation.
A method is adopted in which the device counts down and stops at a point that matches the input position command.

This will be explained with reference to FIG. 1 in the case of a DC mode equipped with an encoder.

Here, FIG. 1 shows a DC mode control system, that is, a DC mode M is a transistor QA(→, QA(→
, Qe(g), and Qn(g), are connected to the center of the full bridge type, and the bases of these transistors are connected to resistors RA(g) and RA(g), respectively.

It is connected to the microcomputer MPU via B (a) and R8 (f).

Then, when the transistor QA (→, Qζ) is turned on by the output of the microcomputer MPU, the DC moder M rotates forward, and the transistor Q, (g).

When QB (c) is turned on, the DC moder M is rotated in the opposite direction.

Further, an encoder E is directly connected to the axis of the DC modele M, and as the DC modele M rotates, the encoder E generates outputs φA and φB shown in each waveform phase chart in FIG.
It outputs two-phase rectangular waves with different phases.

The phases of the outputs φA and φ island are reversed depending on the direction of rotation of the DC moder M. That is, when the DC moder M rotates in the forward direction, the output φ-m advances, while when the DC moder M rotates in the reverse direction, the phase of the output φ- advances.

Therefore, the up/down counter circuit UDCNT outputs the outputs φ, , φm'k of the encoder E, and the pulses FC of FIG.
As shown in Figure 4, each rising and falling edge is detected.
The frequency is doubled, and the quadrupled pulse FC is counted up or down according to the rotation direction of the DC mode model M, and the counter value C0UNT is counted up or down.
is input to the microcomputer MPU as velocity or position information.

In addition, the up/down counter circuit Ul)CNT has a DC
The rotational direction signal of the moder M, that is, the rotational direction signal ROT in FIG. 2, is inputted to the microcomputer MPU as H or L.

INF is an interface circuit, and this interface circuit INF and the above-mentioned microcomputer MPU are related to the instruction control section. In addition,'
R*jI are the right and left current directions of the DC mode M.

With this configuration, when the speed command SC1, position command PC, and operation command CTL are input to the microcomputer MPU via the interface circuit INF, the microcomputer MPU calculates the relationship between the speed 1 position and time during position control. As shown in Fig. 3, which is an explanatory diagram, ("After accelerating to the commanded speed S, rotate at the commanded speed, monitor the counter value C0 (JNT, and set the position where it can stop in the optimal pattern, that is, decelerate. When you reach starting position XI,
The vehicle is decelerated and stopped in accordance with the deceleration speed command pattern PI shown in FIG. 4, which is a deceleration speed command pattern diagram, which is set in advance in the microcomputer MPU.

Here, the speed command pI in the deceleration speed command pattern P1 is p1=v/TT7 (K is a constant), which is given as a function of the remaining pulse number θ to the stop position, and as the stop position approaches, the speed The command is also small as shown in the figure, and can be stopped without vibration.

However, this stopping pattern is given as a function of the position, that is, the remaining 1t-t to the stop position, and the value converted to the encoder pulse number θ.
The deceleration characteristics are determined by the encoder installed in the C mode model M.

Now, in FIG. 4, if the deceleration pattern P1 is set as the optimal deceleration pattern in the microcomputer MPU, if the speed is fast sl, deceleration will start from the far position X2, and if the speed is slow S, the deceleration will start from the far position , the vehicle starts decelerating from the nearby position XI and stops at the stop position. however,
As is clear from FIG. 4, in either case, the deceleration was performed using the deceleration pattern P+, so the deceleration characteristics were always the same.

Therefore, in the conventional technology, even if a plurality of deceleration patterns are set in advance in the MPU, the usage range is limited to the set patterns, so changes in the DC mode used, changes in the inertia of the load, etc. In order to respond to a wide range of changes such as changes in load torque, it is necessary to set an extremely large number of deceleration patterns. We had no choice but to respond to the deceleration pattern.

For this reason, the corresponding range of one deceleration pattern is extremely
It was difficult to respond in detail. Furthermore, it was also impossible to change the deceleration pattern.

[Embodiments of the invention]

The encoder mode stop method according to the present invention corrects the deceleration speed command obtained from the optimal deceleration pattern using external information, and equivalently converts one preset deceleration speed pattern into several deceleration patterns. This allows it to be used as a pattern.

An embodiment of the present invention will be described with reference to the drawings.

Figure 5 is a block diagram of the control system, and parts with the same symbols as those in Figure 1 above indicate equivalent parts.
PUI is a microcomputer, INFI is an interface circuit, and CHG is a pattern correction command.

That is, the illustrated configuration is the same as in FIG. 1 with a pattern correction command added.

FIG. 6 shows an example of the operation of the pattern correction information CHG, which will be explained in detail below.

Now, if P is the optimal stop pattern, if there is no pattern correction command, deceleration will start from position gtx and the pattern P
Stop according to the following. Here, when a pattern correction command is input manually from the outside, the MPU corrects the deceleration speed command from the optimal deceleration pattern (for example, 2 times, 3 times, 1.5 times, or 1/2) according to the correction command value. ,1/3,1/1.5
etc.) This is used as a deceleration speed command to perform deceleration.

According to this method, one deceleration pattern can equivalently be used as many times as the number of external correction commands, so it is possible to adapt to an extremely wide range, and the deceleration characteristics can be changed externally. Assuming that the pattern P' is a certain multiple of the optimal pattern P, and the pattern P'' is a certain multiple of the optimal pattern P, the moders rotating at a speed S will move from positions x' and x'', respectively. Start decelerating,
Stop at the stop position.

As described above, according to the present invention, a limited number of deceleration patterns can be used for external correction, and therefore its practical value is extremely large.

[Efficacy of invention]

According to the present invention, a limited deceleration pattern can be used as many times as the number of external corrections, so the applicable range becomes extremely wide, and the deceleration pattern can be changed externally. Since the number of deceleration patterns that can be set in advance can be reduced, the CPU capacity can be reduced.

[Brief explanation of drawings]

Fig. 1 is a block diagram of the conventional DC mode control/stem, Fig. 2 is a phase diagram of each waveform, Fig. 3 is an explanatory diagram of the relationship between speed, position, and time during position control, and Fig. 4 is an illustration of the relationship between speed, position, and time during position control. FIG. 5 is a block diagram of a control system used to implement an embodiment of the present invention, and FIG. 6 is an explanatory diagram of a pattern correction method according to an embodiment of the present invention. M...DC modele, E...encoder, QA (g). QA (to), Qa (-4-), Qll (to)...
- Transistor, R4 (g). 1 (1 (to), Rm (to), RB (to)...resistance, U
l) CNT...up/down count circuit, C0UN
T...Counter value, MPU1.・Microcomputer, INFl ・Interface circuit, CTL・
...Operation command, SL...Speed command, PC...Position command, CHG...Pattern correction command, ROT...Rotation direction signal, φ,, φ8...Encoder output, FC・
...Encoder quadrupled pulse, Xl + Xs
*Xs X', X"...Position to start deceleration, P
, P' , P'',...Deceleration speed command pattern X2 X. Hapoku motion I

Claims (1)

[Claims] 1. Controls the mode with an encoder, inputs the stop position by the number of encoder pulses, and outputs the preset deceleration speed command pattern to the external A method for stopping an encoder mode, characterized in that pattern correction information is inputted and corrected, and the encoder mode is stopped in accordance with the corrected deceleration speed command pattern.