JP2002006912A - Motion controller - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To speed up the servo command issuing process of a network servo compatible motion controller. A motion command processing unit (5) creates and issues a servo command (8) according to a format defined by the network type servo amplifier (11), and a network type servo amplifier (1).
The servo response management unit 7 monitors and manages responses from 0. When issuing the servo command 8, the servo command issuance processing unit 6 merely checks whether the target network-type servo amplifier 11 is in a state in which the servo command 8 can be received. Do not check. On the other hand, the servo response 9 from the network type servo amplifier 11 is monitored by the servo response management unit 7, and the status is constantly reported to the servo command issue processing unit 6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion controller for performing positioning control of a device to be controlled such as an industrial machine based on a motion program.

[0002]

2. Description of the Related Art FIG. 5 is a block diagram showing a configuration of a conventional network servo-compatible motion controller.

A command given by the motion program 1 or the user ladder 2 is given to the motion command processing unit 5 as individual motion commands through the motion program execution processing unit 3 and the setting parameter area 4. The motion program execution processing unit 3
The command block specified by the motion program is analyzed, divided into motion functions such as an axis movement command and a data setting command, and the motion functions are executed. And rewrite the setting data. The motion command processing unit 5 configures the given motion command as a servo command 8 according to a format defined by the network-type servo amplifier 11 and instructs the network-type servo amplifier 11. Motion command processing unit 5
In this example, the servo command issuance management is performed collectively, and the servo response 9 from the network-type servo amplifier 11 to the issued servo command 8 is constantly monitored to check whether the given command is completed. After issuing one servo command, the motion command processing unit 5 issues the next servo command only after confirming that the command has been normally completed by the servo response 9.

FIG. 6 shows an example of transmission / reception of commands / responses between the network servo compatible motion controller 10 and the network type servo amplifier 11 shown in FIG. After issuing the servo command A, the motion controller 10 waits for the completion of the servo command A, and the servo response A
After the completion of the servo command A is confirmed, the next servo command B is issued.

In another conventional motion controller, as shown in FIG. 7, a moving amount and a speed are calculated by an analyzing unit 30, a moving amount of a payout period is created by an executing unit 31, and a completion checking unit 32 The end condition of the instruction is determined, and the processing from 31 to 32 is repeated until the end condition is satisfied. When the end condition is satisfied, one block ends, and the process proceeds to the next block.

[0006]

In the case of a network type motion controller and a servo amplifier, a response delay due to communication occurs. Therefore, immediately after a new servo command is issued, a servo response to the issued servo command is performed immediately. It can not be determined whether or not. For this reason, in the configuration of FIG. 5 in which the issuance of a servo command and the completion confirmation of the servo response are performed by the same processing unit, it is necessary to mask (read and discard) the response for several scans after issuing a new servo command. Even if the response from the servo amplifier returns immediately,
There is a time lag until the servo command processing unit 5 determines that the operation is completed.

Further, it is not necessary to actually confirm the completion, or even if another command which does not affect the movement is given during the movement by the positioning movement command, the issuance and confirmation are performed in the same processing unit. Because of this, another command could not be given until one command was completed.

In the conventional method shown in FIG. 7, since execution is performed in units of one block, the next axis movement command cannot be executed unless the movement of all designated axes is completed by an axis movement command or the like. Other operation instructions and the like can be executed by pre-read execution, but there are problems such as difficulty in considering the timing and restrictions on the programs that can be executed.

It is an object of the present invention to provide a network servo-compatible motion controller capable of accelerating servo command issuing processing.

Another object of the present invention is to provide a motion controller capable of performing any operation without restrictions, regardless of the type of the next block instruction, even during the execution of a movement instruction with one motion program. is there.

[0011]

In order to achieve the above object, a network servo compatible motion controller using a network type servo amplifier according to the present invention creates servo commands according to a format defined by the network type servo amplifier. A servo command issuance processing unit for issuing to the network type servo amplifier,
A servo response management unit that monitors a response from the network type servo amplifier and notifies the servo command issuance processing unit of completion of the servo command;

By dividing the processing of the motion command processing unit into a servo command issuance processing unit and a servo response management unit, a complex process of issuing another servo command during a certain servo command processing is realized, and the servo command issuance is performed. Realize high-speed processing.

According to the embodiment of the present invention, when it is not necessary to confirm the completion of the servo command, the servo command issuance processing unit issues servo commands one after another in accordance with the instructed motion command, and completes the servo command. When confirmation is required, the next servo command is issued after waiting for the completion of the servo command from the servo response management unit.

In order to achieve the above and other objects, a motion controller according to the present invention comprises a motion instruction execution unit for starting analysis and execution of a motion program, and an instruction capable of setting a start condition of a next block instruction in any combination. It has a completion check unit that performs a process of determining the set end condition.

By dividing the control unit for executing a motion instruction into a motion instruction execution unit and a completion check unit, an arbitrary operation without restrictions can be performed.

According to an embodiment of the present invention, the motion controller has an instruction that can set any combination of the completion conditions of the motion instruction.

By having an instruction that can set any combination of the completion conditions of the motion instruction, it is possible to programmably determine the end condition of the motion instruction.

[0018]

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a motion controller according to an embodiment of the present invention.

In the present embodiment, the motion command processing unit 5 generates and issues a servo command 8 according to a format defined by the network type servo amplifier 11, The servo response management unit 7 monitors and manages responses. When issuing the servo command 8, the servo command issuance processing unit 6 merely confirms whether or not the target network type servo amplifier 11 is in a state in which the servo command 8 can be received. Do not check. On the other hand, the servo response 9 from the network-type servo amplifier 11 is monitored by the servo response management unit 7, and the status is constantly reported.

When it is not necessary to confirm the completion of the servo command, the servo command issuance processing unit 6 issues servo commands 8 one after another according to the commanded motion command. As a result, since the response from the servo amplifier 11 is not waited, the speed of issuing the servo command is increased. In addition, since another servo command can be executed while a certain servo command is being executed, a composite command such as a change in a torque limit value during a positioning operation can be realized.

If it is necessary to confirm the completion of the servo command, the servo command issuance processing unit 6 waits for the completion report from the servo response management unit 7 after issuing the servo command 8, and during that time, issues another servo command. There is no. As a result, although the processing is delayed, the reliability can be improved because the completion of the servo command can be reliably determined.

FIG. 2 shows an example of transmission / reception of commands / responses between the network servo compatible motion controller 10 and the network type servo amplifier 11.

After issuing the servo command A, the motion controller 10 issues the servo command B without waiting for the completion of the servo command A. Although the completion of the servo command A is notified by the servo response A, the servo command B has already been issued at that time.

FIG. 3 is a block diagram showing a configuration of a motion controller according to an embodiment of the present invention, and FIG. 4 is a diagram showing an example of a format and a program of an instruction for determining a termination condition of a motion instruction.

The motion controller according to the present embodiment comprises:
A control unit that executes a motion command is a motion command command unit 21 that starts analysis and execution of a motion program.
And a completion check unit 24 for determining the end condition set by an instruction that can be set by arbitrarily combining the start condition of the next block instruction.

The motion controller performs positioning control and the like based on a motion program. The motion program is first passed to a motion command command unit 21 composed of an analysis unit 22 and an execution unit 23. , The instructed movement amount and speed are calculated, and control is passed to the execution unit 23. Execution unit 23
Then, based on the movement amount and speed data created by the analysis unit 22, the movement amount in the payout cycle is created, the positioning operation is started, and the operation is repeatedly executed until the payout is completed.

The completion check unit 24 separated from the motion command instruction unit 21 is independent of the execution of the axis movement command.
The end condition arbitrarily set in the format shown in (1) is determined, and the next instruction is executed as soon as the condition is met.

As described above, in the present embodiment, the control unit for executing the motion command can be set by arbitrarily combining the motion command instructing unit 21 for starting the analysis and execution of the motion program with the start condition of the next block command. By separately providing the completion check unit 24 that performs the process of determining the end condition set by the instruction, it is possible to describe a motion program that enables an arbitrary operation without constraint conditions.

In addition, by having an instruction which can set any combination of the completion conditions of the motion instruction, the determination of the termination condition of the motion instruction can be changed in a programmable manner.

[0031]

As described above, the present invention has the following effects.

According to the first aspect of the present invention, the processing of the motion command processing section is divided into a servo command issuing processing section and a servo response management section, and each processing is performed independently. It is possible to realize a complex process such as issuing a command, thereby realizing a high-speed servo command issuing process.

According to a third aspect of the present invention, a plurality of axis movement instructions can be simultaneously executed by one motion program without having a complicated parallel execution function or the like, and without requiring a complicated program such as keeping timing with a ladder program. Can significantly reduce the time required to create an application program.

[Brief description of the drawings]

FIG. 1 is a block diagram of a motion controller according to an embodiment of the present invention.

FIG. 2 is a diagram showing an example of data transfer between a motion controller 10 and a servo amplifier 11 in FIG.

FIG. 3 is a block diagram of a motion controller according to another embodiment of the present invention.

FIG. 4 is a diagram showing a format of a command for determining an end condition of a motion command and a program example;

FIG. 5 is a block diagram of a conventional network servo compatible motion controller.

FIG. 6 is a diagram showing an example of data transfer between the motion controller 10 and the servo amplifier 11 of FIG.

FIG. 7 is a block diagram illustrating a configuration example of a motion program execution processing unit in a conventional motion controller.

[Explanation of symbols]

 Reference Signs List 1 motion program 2 user ladder for setting motion command 3 motion program execution processing unit 4 setting parameter area 5 motion command processing unit 6 servo command issue processing unit 7 servo response management unit 8 servo command 9 servo response 10 motion controller 11 network type servo Amplifier 21 Motion command command part 22 Analysis part 23 Execution part 24 Completion check part

Claims (4)

[Claims] 1. A servo command issuing process for creating a servo command according to a format defined by the network type servo amplifier and issuing the servo command to the network type servo amplifier in a network servo compatible motion controller using the network type servo amplifier. Monitoring the response from the network type servo amplifier,
A motion controller corresponding to a network servo, comprising: a servo response management unit that notifies a completion of a servo command to the servo command issuance processing unit. 2. The servo command issuance processing section, when it is not necessary to confirm the completion of the servo command, issues servo commands according to the commanded motion command one after another, and confirms the completion of the servo command. 2. The motion controller according to claim 1, wherein in the case, the next servo command is issued after waiting for the completion of the servo command from the servo response management unit. 3. A motion controller, wherein a motion instruction execution unit for starting analysis and execution of a motion program and a process for determining an end condition set by an instruction capable of setting start conditions of a next block instruction in any combination are performed. A motion controller comprising a completion check unit. 4. The motion controller according to claim 3, further comprising an instruction capable of setting any combination of the completion conditions of the motion instruction.