JPH07114402A - Parameter automatic setting system for servo motor - Google Patents

Abstract

PURPOSE:To send and identification code to a software servo circuit without provision of an exclusive signal line for the identification code and to eliminate the need for interconnection between the software servo circuit and an identification code storage means for each setting of a parameter in a parameter automatic setting system for servo motor. CONSTITUTION:The control system for servo motor by software is made up of an identification code output means 61 provided to a coupling section 70 between a servo motor 50 and a pulse coder 60 and outputting an identification code representing kind of the servo motor, a communication means provided in the pulse coder 60 and sending the identification code of the servo motor 50 from the pulse coder 60 to a controller 10 through a feedback signal line, and a storage means 31 provided at the controller 10 and storing various parameters required for controlling each servo motor. And, the identification code read through the interfacing between the servo motor 50 and the pulse coder 60 is used to read a parameter corresponding to the connected servo motor 50 from parameters stored in a storage device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo control system for controlling a servo motor by a numerical controller or the like, and more particularly to a software servo control system for performing servo control by a processor.

[0002]

2. Description of the Related Art In a software servo (digital servo) in which a processor controls a servo motor, each servo motor has an appropriate value in rated current, peak current, etc. according to the type of servo motor. Optimum drive control by setting many parameter values such as current loop proportional, integral, differential gain, speed loop proportional, integral, differential gain current dead zone correction, reverse voltage correction, torque limit overload protection coefficient Therefore, various parameters required for servo control must be set in advance according to the type of servo motor used.

Conventionally, as one of the methods for setting the above-mentioned various parameters for a servo motor to be used, parameter values are stored and used for each servo motor in a control device for controlling the servo motor of a numerical control device. A method of setting a stored corresponding parameter value by setting and inputting a servo motor is known. Figure 6
FIG. 4 is a diagram for explaining this conventional parameter setting method. In the servo motor control system including the NC 1, the shared RAM 2, the software servo circuit 3, the servo amplifier 4, the servo motor 5, and the encoder 6 shown in FIG. The parameter value setting in the wear servo circuit 3 is
This is performed by inputting the servo motor type from an input / output device (not shown).

In the conventional method of inputting the type of the servo motor to be used and selectively setting the parameter values stored in the control device, when each axis of a machine tool or robot is driven by the servo motor, If the number of servo motors connected to the controller increases, the type of servo motor used for each axis must be set without error, and the more servo motors to control, the more time it takes to assemble the servo motors. As a result, the possibility of setting error increases. Moreover, after setting, there is no means to confirm the properness of the setting, and by using the wrong setting,
There is a possibility that the servo motor may be damaged or that the servo may not be properly started up, resulting in insufficient servo control.

As one method for solving such a problem, the servo motor is provided with identification code storage means for indicating its type, the identification code from the identification code storage means is read, and various parameters corresponding to the identification code are read. A parameter automatic setting method for setting is proposed. Figure 7
Is a diagram for explaining this parameter automatic setting method,
In the control system of the servo motor shown in the figure, the parameter value setting in the software servo circuit 3 is performed by using the identification code signal from the identification code storage means 5a provided in the servo motor 5 via the identification code signal line. The parameters are input to the wear servo circuit 3 and various parameters corresponding to the identification code are read out and set.

[0006]

However, in the above-mentioned conventional automatic parameter setting method, an identification code dedicated for transmitting the identification code signal from the identification code storage means provided in the servo motor to the software servo circuit is used. It is necessary to provide a signal line separately from the feedback signal line used for the control signal of the control system of the servo motor. Also, in order to set various parameters associated with the change of the servo motor, the software servo should be changed every time. There is a problem that the circuit and the identification code storage means must be connected.

Therefore, the present invention solves the above-mentioned problems in the conventional servo motor parameter automatic setting system, and transmits the identification code to the software servo circuit without providing a dedicated signal line for the identification code. It is also an object of the present invention to provide a servo motor parameter automatic setting system that does not require connection between a software servo circuit for each parameter setting and an identification code storage means.

[0008]

SUMMARY OF THE INVENTION The present invention relates to a servo motor control system using software, and an identification code output means which is provided at a connecting portion between a servo motor and a pulse coder and which outputs an identification code indicating the type of the servo motor. ,
Communication means installed in the pulse coder for transmitting the servo motor identification code to the control device that controls the servo motor from the pulse coder through the feedback signal line from the pulse coder to the servo motor, and for the control of each servo motor provided in the control device. A plurality of stored parameter values corresponding to the connected servo motors are stored in the storage device by using the identification code read by the combination of the servo motor and the pulse coder. The object is achieved by reading and setting from individual parameter values.

The identification code output means of the present invention can be composed of a plurality of coded contacts formed on the servomotor and the pulse coder, and outputs the identification code by coupling to the contacts.

Further, the communication means of the present invention can transmit the identification code indicating the type of the pulse coder and the identification code indicating the type of the servo motor to the control device through the feedback signal line.

[0011]

According to the present invention, the identification code output means provided at the connecting portion of the servo motor and the pulse coder outputs the identification code indicating the type of the servo motor by the connection of the connecting portion, and the identification code is stored in the pulse coder. A memory for storing various parameter values necessary for control of each servo motor by using the communication code provided from the pulse coder to the servo motor controller through the feedback signal line provided between them and using the transferred identification code. The parameter value corresponding to the connected servo motor is read from the means and set, and the servo motor is controlled by software according to the parameter value.

Further, the coupling portion formed by a plurality of coded contacts formed on the servomotor and the pulse coder outputs the identification code as a coded signal by coupling the contacts.

The feedback signal line is a signal line used for transmitting a normal position / speed signal of the pulse coder. In the present invention, the feedback signal line is used for the position / position of the pulse coder.
The speed signal and the identification code signal are transmitted.

[0014]

Embodiments of the present invention will now be described in detail with reference to the drawings, but the present invention is not limited to the embodiments.

(Structure of Embodiment) FIG. 1 is a block diagram of a main part of a control system of a servo motor for carrying out an embodiment of the present invention.

In FIG. 1, 10 is the NC 1, the shared RAM 2 and the software servo circuit 3 of FIGS. 6 and 7.
A numerical control device including a processor (hereinafter, CPU)
I have 11). The CPU 11 stores an RO that stores a control program for controlling the numerical controller 10.
M12, RAM13 used for temporary storage of data,
A ROM 31 that stores all types of servo parameters of the servo motor 50 used together with an identification code, and a RAM 3 that holds the servo parameters of the connected servo motors.
2. The servo motor 5 is connected to the servo motor position / speed detection circuit 33, which receives the feedback signal from the pulse coder 60 to detect the position and speed of the servo motor, and the servo amplifier 40.
A servo motor position / speed control circuit 34 that outputs a command signal for controlling the position and speed of 0 is connected to the bus 14.

The servo amplifier 40 receives a command signal from the servo motor position / speed control circuit 34 of the numerical controller 10 and outputs a power signal to the servo motor 50 so that the position and speed set by the program are obtained. Then, the servo motor 50 is controlled. Reference numeral 60 denotes a pulse coder connected to the servomotor 50, which detects the rotational position and rotational speed of the servomotor 50 and sends the detection signal as a feedback signal to the servomotor position / speed detection circuit 33 through a feedback signal line 80. To do. Further, the connection between the servo motor 50 and the pulse coder 60 is made via the coupling connector 70. An identification code indicating the type of the servo motor 50 is formed on the servo motor 50 side of the coupling connector 70, and is provided on the pulse coder 60 side by connecting the servo motor 50 and the pulse coder 60 by the coupling connector 70. The identification code detection circuit 61 can read the identification code on the servo motor 50 side of the coupling connector 70. The identification code detected by the identification code detection circuit 61 is input to the servo motor position / speed detection circuit 33 through the same signal line as the feedback signal line used for transmitting the feedback signal.

FIG. 2 is a block diagram of the pulse coder. In FIG. 2, the servomotor 50 and the pulse coder 60 are connected by a coupling connector 70, and the identification code of the servomotor 50 can be detected on the pulse coder 50 side by the coupling connector 70.

The pulse coder 60 outputs a signal indicating the rotational position and rotational speed of the servo motor 50 and an identification code signal indicating the type of the servo motor 50 through the communication circuit 65. The rotation position and rotation speed signals of the servo motor 50 are detected by the rotation signal detection unit 66 of the pulse coder 60 and sent to the communication circuit 65, while the identification code signal is detected by the identification code detection circuit 61. Is sent to the same communication circuit 65. The position / velocity signal and the identification code signal sent to the communication circuit 65 are connected to the pulse coder 60 and the numerical control device 10 through the communication circuit 65 by a normal feedback signal line 80 for the servomotor of the numerical control device 10. It is input to the position / speed detection circuit 33. In this transmission, the position / speed signal and the identification code signal are
The signals are switched by the communication circuit 65 and sent separately.
It should be noted that the rotation signal detecting section 66 can be configured by a normal rotation signal detecting means provided in the pulse coder 60.

Next, the configuration of the coupling connector and the pulse coder will be described in more detail with reference to the configuration block diagram for outputting the identification code of FIG. In FIG. 3, a coupling connector 70 for coupling the servomotor 50 and the pulse coder 60 is composed of a coupling portion 71 on the servomotor 50 side and a coupling portion 72 on the pulse coder 60 side. Each coupling part 71, 72 is composed of, for example, a plurality of contacts 51, 62, and each contact is a servo motor 50 and a pulse coder 6.
It is formed at a position where they come into contact with each other when they are connected to 0.

Among the plurality of contacts 51 formed on the coupling portion 71 on the servo motor 50 side, some of the contacts are grounded and the remaining contacts are not grounded but in an insulated state. The identification code can be formed by encoding with a combination of. For example, servo motor 5
The identification code of 0 can be set by selecting a contact to be grounded from the plurality of contacts 51 of the coupling portion 71. FIG. 3 shows the case where the number of contacts of the coupling portion 71 is four, and the second contact and the fourth contact from the top of the four contacts are grounded. Here, for example, when the grounded contact is represented by "0" and the non-grounded contact is represented by "1", the identification code of the servo motor 50 becomes (1,0,1,0). . The identification code detection circuit 61 on the side of the pulse coder 60 detects the identification code (1, 0, 1,
0) is read and output as an identification code signal.

On the other hand, the contact 62 formed on the coupling portion 72 on the side of the pulse coder 60 is formed at a position corresponding to the contact 51, and by connecting the servo motor 50 and the pulse coder 60, the contact 51 is connected. . Further, each contact 62 is applied with a voltage of 5 V, for example, and is connected to the gate 63 to form an identification code detection circuit 61. The output terminal of the gate 63 is connected to the parallel / serial conversion circuit 64, and the voltage of the contact 62 side is input to the parallel / serial conversion circuit 64 in a parallel state by opening the gate in response to the identification code read request signal.

In FIG. 3, when the joint 71 and the joint 72 are joined, the voltage of the contact connected to the grounded contact 51 becomes 0 V, and the voltage of the contact connected to the non-grounded contact 51 is applied as described above. The voltage is output. Therefore, depending on the voltage state of the contact 62, the servo motor 5
An identification code of 0 can be detected.

The parallel / serial conversion circuit 64 converts the input parallel signal into a serial signal at the timing of the identification code read request signal and inputs the serial signal to the communication circuit 65.

The communication circuit 65 outputs the identification code of the servo motor 50 input from the parallel / serial conversion circuit 64 in the form of a serial signal to the servo motor position / speed detection circuit 33 of the numerical controller 10. In FIG. 3, the serial signal is "1,0,1,0". Further, a counter 67 that counts the rotation signal of the servo motor from the rotation signal detection unit 66 is connected to the communication circuit 65, and the count value of the counter 67 is used as a rotation position signal for the servo motor of the numerical controller 10. Output to the position / speed detection circuit 33. This rotational position signal is a function of a normal pulse coder. The identification code and rotation signal are
Since it is usually done through a signal line that transmits a rotation signal,
In the communication circuit 65, mutual signal switching is performed. The identification code is transmitted at the time of setting the parameters of the servo motor, and the rotation signal is transmitted at a normal time other than the time of setting the parameters.

Further, from the communication circuit 65, the identification code for identifying the servo motor and the identification code for identifying the pulse coder 60 can be transmitted to the numerical controller 10. The identification code of the pulse coder 60 can be set by an encoded contact in the coupling connector 70, like the identification code of the servo motor, for example.
Alternatively, it may be stored in a storage device (not shown). When transmitting the identification code of the servo motor and the identification code of the pulse coder to the numerical controller 10 through the feedback signal line 80, both identification codes are converted into one identification code and are transmitted at the same time.

FIG. 4 is a diagram for explaining a table for storing various parameter values for the servo motor, and the contents of this table are stored in the ROM 31 of FIG. The table shows the types of servo motors M1, M2, M3, ...
For each, the current loop proportional, integral, differential gain, speed loop proportional, integral, differential gain, current dead zone correction value, back electromotive voltage correction value, torque limit suitable for servo detection when using the servo motor Values, overload protection coefficients, and many other parameter values P1 to Pn are stored in association with the types M1, M2, M3, ... Of servo motors. For example, the servo motor Mi (i = 1, 2, 3, ...
.), Parameters P1, P2, P3, ...
As the value of Pn, P1i, P2i, P3i, ... Pn
i is stored.

Similarly, a table (not shown) for storing various parameter values can be set for the pulse coder and stored in the ROM 31 of FIG.

(Operation of Embodiment) Next, the operation of the embodiment of the present invention will be described with reference to the flowchart of FIG. Hereinafter, description will be given using the reference numeral of step S.

Step S1: First, it is determined whether or not the parameter setting process is performed.

When the servo motor is driven, the servo motor is controlled using various parameters of the servo motor stored in the RAM 32 shown in FIG. Therefore,
If the parameter value is already set in the RAM 32, the servo motor can be controlled by the parameter value.

The parameter setting process is performed in the following step S
If the parameter setting process is not performed by performing the process of 2 to step S9, the parameter changing process is performed as necessary by the following process of step S10 to step S13. First, the parameter setting process will be described.

Step S2: The power is turned on when the servo motor is operating.

Step S3: CPU of numerical controller 10
11 outputs a parameter setting command to the RAM 13.
Upon receiving the parameter setting command, the RAM 13 sends the identification code read request signal to the servo motor position / speed detection circuit 3
3 and the feedback line 80 to output to the communication circuit 65 on the pulse coder 60 side. The communication circuit 65 outputs the transmitted identification code read request signal to the parallel / serial conversion circuit 64 and the gate 63.

When the parameter setting command is output, the transmission of the rotational position signal from the pulse coder 60 to the numerical controller 10 through the feedback signal line is stopped.

Step S4: The identification code of the servo motor is read by the identification code read request signal.
The gate 63 is read in parallel with the contact 62 in response to the identification code read request signal.
A contact 62 which is connected to the serial conversion circuit 64 and is connected to the grounded contact 51 on the servo motor 50 side.
Is output to the parallel / serial conversion circuit 64, and the contact 51 on the side of the servomotor 50 not grounded
With respect to the contact 62 connected to, the voltage of 5 V is output to the parallel / serial conversion circuit 64. The parallel signal input to the parallel / serial conversion circuit 64 represents the identification code of the servo motor.

This identification code is output to the numerical controller 10 side through the feedback line via the communication circuit 65. Even during the transmission of this identification code, the transmission of the rotational position signal from the pulse coder 60 to the numerical controller 10 through the feedback line signal is stopped.

It is also possible to read out the identification code of the pulse coder together with the identification code of the servo motor, and to transmit both identification codes at the same time to the numerical controller 10 via the feedback signal line in the communication circuit 65.

Step S5: The identification code read in the above step is input to the servo motor position / speed detection circuit 33 via the feedback signal line 80. CPU11 is R
Read the parameter corresponding to the identification code from the servo motor parameters stored in OM31, and
Write to AM32.

Step S6: When the writing of the parameters to the RAM 32 is completed, the CPU 11 outputs a parameter end signal.

The CPU 1 forms a command signal for controlling the servo motor 50 based on the parameters written in the RAM 32, and sends the command signal to the servo motor 40 via the servo motor position / speed control circuit 34. A power signal is formed in accordance with the command signal to drive the servomotor 50.

Step S7: The parameter written in the RAM 32 is a value preset in the ROM 31, is a standard value of the servo motor, and may need to be changed according to the usage condition of the servo motor. . Therefore, in this step, the necessity of changing the parameter is determined.

If there is a need to change the parameter, the process proceeds to step S8 to perform the parameter changing process, and if there is no need to change the parameter, the parameter setting process is ended.

Step S8: In the above process, if it is necessary to change the parameter, the parameter to be changed is input from an input device (not shown).

Step S9: The CPU 11 rewrites the parameter value in the RAM 32 with the input change parameter to change the parameter, and returns to step S7.

Next, the case where the parameter setting process is not performed will be described.

Step S10: The power is turned on when the servo motor is operating. After that, the CPU 1 has already
A command signal for controlling the servo motor 50 is formed by the parameter written in the AM 32, and the servo motor position /
It is transmitted to the servo motor 40 via the speed control circuit 34,
Further, the servo motor 40 forms a power signal according to the command signal and drives the servo motor 50.

Thereafter, as shown in steps S7 to S9, the parameter stored in the RAM 32 is changed. Since this parameter changing process is the same as steps S7 to S9, the description thereof is omitted here.

(Effect of the embodiment) When the stored values of the RAM for storing the parameters of the servo motor to be used are held by the battery backup, the set parameters are kept even after the power is turned off. Therefore, it is not necessary to perform the parameter setting process every time the power is turned on, and the fine adjustment of the set parameters becomes easy.

Further, by reading the identification code of the pulse coder together with the identification code of the servo motor and sending it together with the identification code of the servo motor to the numerical controller, it is possible to automatically set parameters such as the resolution of the pulse coder.

(Modification of the embodiment) Even when the parameters representing the characteristics of the servo amplifier are set, various parameters of the servo amplifier are stored in the ROM in the numerical control device so that the servo motor of the above embodiment can be stored. In the same manner as the identification code, the identification code of the servo amplifier is transmitted from the servo amplifier side to the numerical controller, and the ROM is read by the identification code.
You can also read the parameters in The transmission of the identification code of the identification code of the servo amplifier to the numerical control device is the same as the transmission of the identification code by the existing signal line of the above-described embodiment. It can be performed by using a signal line.

[0052]

As described above, according to the present invention,
In the automatic parameter setting of the servo motor, the identification code can be transmitted to the servo control circuit without providing a dedicated signal line for the identification code, and the servo control circuit and the identification code storage means for each parameter setting can be It can be done without a connection.

[Brief description of drawings]

FIG. 1 is a block diagram of a main part of a control system of a servo motor that implements an embodiment of the present invention.

FIG. 2 is a block configuration diagram of a pulse coder of the embodiment.

FIG. 3 is a configuration block diagram for outputting an identification code according to the embodiment.

FIG. 4 is a diagram illustrating a table that stores various parameter values for the servo motor of the embodiment.

FIG. 5 is a flowchart of automatic parameter setting according to the embodiment.

FIG. 6 is a diagram illustrating a conventional parameter setting method.

FIG. 7 is a diagram illustrating a conventional parameter automatic setting method.

[Explanation of symbols]

 10 Numerical Control Device 11 CPU 12, 31 ROM 13, 32 RAM 33 Servo Motor Position / Speed Detection Circuit 34 Servo Motor Position / Speed Control Circuit 40 Servo Amplifier 50 Servo Motor 51, 62 Contacts 60 Pulse Coder 61 Identification Code Detection Circuit 63 Gate 64 Parallel / serial conversion circuit 65 Communication circuit 70 Coupling connector 80 Feedback signal line

Claims (3)

[Claims] 1. In a servomotor control system using software, identification code output means for outputting an identification code indicating the type of the servomotor is provided at a joint portion between the servomotor and the pulse coder, and the identification code is fed back from the pulse coder. Communication means for transmitting to the control device for controlling the servo motor through the pulse coder, and storage means for storing various parameter values necessary for control of each servo motor are provided in the control device and read by combining the servo motor and the pulse coder. An automatic parameter setting method for a servo motor, characterized in that a parameter value corresponding to the connected servo motor is read from the storage device and set using the identification code. 2. The automatic parameter setting method for a servo motor according to claim 1, wherein the identification code output means is a plurality of encoded contacts formed on the servo motor and the pulse coder. 3. The automatic parameter setting method for a servo motor according to claim 1, wherein the communication unit outputs an identification code indicating a type of the pulse coder together with an identification code indicating a type of the servo motor.