KR0158394B1 - Index axis motor driving method with multi step speed - Google Patents

Abstract

The present invention relates to a method for driving an index shaft motor in multiple speeds.

The present invention is to drive the index shaft motor in multiple stages with one drive profile according to the instruction to accelerate or decelerate the drive of the index shaft motor to divide the drive speed of the index shaft motor in multiple stages according to the characteristics of the mounting component in the component mounting machine. To do that.

Description

Multi-speed Index Shaft Motor Driving Method

1 is a block diagram of an index shaft motor control apparatus for carrying out the present invention.

2 is a profile view having a multi-stage drive path required for explaining the index shaft motor driving method according to the present invention.

3 is a flowchart for explaining an index shaft motor driving method according to the present invention.

* Explanation of symbols for main parts of the drawings

1: Main control part 2: Motor control part

3: motor drive part

The present invention relates to a method for driving an index shaft motor in multiple stages of speed. In particular, the drive shaft of the index shaft motor is divided into multiple stages according to the characteristics of the mounting component in the component mounter, and the driving of the index shaft motor is accelerated or decelerated. The present invention relates to a speed multi-stage index shaft motor driving method for driving an index shaft motor in multiple stages according to a command.

In general, motors are essential for specific control purposes in systems such as devices, automation devices, and industrial robots in which electronic and mechanical technologies are combined. Such a control motor is driven by a control unit and a driving unit. When a driving pulse is applied from the control unit to the driving unit, the motor rotates by a given angle at a given speed. Therefore, in the case of continuously supplying driving pulses from the control unit to the driving unit, it is well known that the driving speed of the motor is proportional to the frequency of the supplied pulse, and the moving distance according to the rotation of the motor is proportional to the number of supplied pulses. Is true.

In the method of driving such an index shaft motor, the conventional method instructs the driving of the motor from the control unit, and accordingly, the driving unit uniforms the motor in a single pattern fixed by one driving profile by a driving pulse having a constant frequency. In this regard, it is impossible to precisely control the position of each component by driving the motor at an average speed for a plurality of components without considering the characteristics of each component mounted on the printed circuit board.

The present invention has been made to solve the above-mentioned conventional problems.

Accordingly, an object of the present invention is to divide the drive speed of the index shaft motor in multiple stages according to the characteristics of the mounting component in the component mounting machine, and to index the motor with one drive profile according to the instruction to accelerate or decelerate the driving of the index shaft motor. To provide a multi-stage index shaft motor driving method for driving in a multi-stage.

As a means for achieving the above object, the multi-stage motor driving method according to the present invention includes a first step of driving a motor at a low speed, and gradually increases the driving speed in a motor driving method in a motor control system; A second step of determining whether there is a speed change command after the first step and continuing to drive up to a maximum speed if there is no command; After the second step, if it is determined whether there is a speed change command or not, it is determined whether the maximum speed and the current speed are the same, and if it is the same, the motor is driven at a constant speed, and if not, the third step proceeds to the second step. step; A fourth step of determining whether there is a speed change command after the third step, and if not, proceeding to the third step; If there is a speed change command in the second step and the third step and the fourth step, it is determined whether the current speed and the change speed are the same, and if it is the same, the process proceeds to the constant speed drive of the third step. A fifth step of determining whether it is a low speed driving command than the speed; A sixth step of decelerating and driving to the required speed level until the speed change is completed when the speed change command is lower than the current speed as a result of the determination of the fifth step; and proceeding to the next step if the speed change is completed; A seventh step of decelerating and driving until the required speed change reaches a completion level if the low speed drive command is not determined as the result of the fifth step; When the speed change is completed as a result of the determination of the sixth step and the seventh step, the eighth step proceeds to the constant speed until there is a speed change command, and proceeds to the fifth step if there is a speed change command. It features.

Hereinafter, the present invention will be described with reference to FIG. 1.

1 is a block diagram of a motor control apparatus for carrying out the present invention.

Referring to FIG. 1, an index axis motor control system for carrying out the present invention includes a main controller 1 for commanding driving commands such as deceleration, constant speed, acceleration, and speed change of a motor, and the main controller 1; The motor control unit 2 outputs a motor drive pulse including data corresponding to a speed change, etc. to the motor drive unit 3 in accordance with a built-in program based on the drive command from the motor control unit 2, and a drive pulse from the motor control unit 2. It consists of the motor drive part 3 which drives an index shaft motor directly by this.

2 is a profile view having a multi-stage drive path required for explaining the index shaft motor driving method according to the present invention, and FIG. 3 is a flowchart for explaining the index shaft motor driving method according to the present invention.

Hereinafter, with reference to Figures 1, 2 and 3 attached to the operation and effect of the present invention will be described in detail.

According to the present invention, in the component mounting apparatus, the index shaft motor driving method includes the apparatus shown in FIG. 1 in which the speed of the index shaft motor is multistage as shown in FIG. 3 according to the flowchart shown in FIG. The drive is driven by a profile, which is programmed in advance in the multi-step speed profile as shown in FIG. 2 and stored in the internal memory of the motor control unit 2 shown in FIG.

In the first step 11 of the operation according to the present invention as described above, after the motor control unit 2 drives the index shaft motor at a low speed according to the motor driving command from the main control unit 1, the driving speed is gradually increased. To increase.

In the second steps 12 and 21, after the first step 11, it is determined whether there is a speed change command, and if not, the drive continues to the maximum speed set in advance. In the third step (22, 23, 24), after the second step (12, 21), it is determined whether there is a speed change command. It drives at a constant speed, and if it is not the same, it progresses to the 2nd step 12.

In the fourth step (25), after the third step (22, 23, 24), it is determined whether there is a speed change command, and if not, the process proceeds to the third step (24). . In the fifth step (31, 32), if there is a speed change command in the second step (12, 21), the third step (22, 23, 24) and the fourth step (25), the present speed and the change speed If it is the same, if it is the same, and if it is the same, it advances to the constant speed drive of the 3rd steps 22, 23, and 24, and if it is not the same, it determines whether it is a low speed drive command rather than the present speed.

In the sixth step (41, 42), when the low speed drive command is lower than the current speed as a result of the determination in the fifth step (31, 32), the drive is decelerated to the required speed level until the speed change is completed, and the speed change is completed. Proceed to the next step. In the seventh step (51, 52), if it is not the low-speed drive command as a result of the determination in the fifth step (31, 32), the deceleration drive is performed until the required speed change reaches the completion level.

In the eighth step (53, 54), if the speed change is completed as a result of the determination of the sixth step (41, 42) and the seventh step (51, 52), it is driven at constant speed until a speed change command is received. If there is a change instruction, the process proceeds to the fifth step (31, 32).

The above description is only a description of one embodiment of the present invention, the present invention is capable of various changes and modifications within the scope of the invention.

According to the present invention as described above, in order to divide the drive speed of the index shaft motor in multiple stages according to the characteristics of the mounting component in the component mounting machine, the index shaft motor is divided into one drive profile according to a command for accelerating or decelerating the driving of the index shaft motor. There is a unique effect to drive in multiple stages.

Claims (1)

A motor driving method in a motor control system, comprising: a first step of driving a motor at a low speed and gradually increasing a driving speed; A second step (12, 21) of continuously driving to a maximum speed if there is no speed change command after the first step (11); After the second steps 12 and 21, it is determined whether there is a speed change command, and if there is no speed change, it is determined whether the maximum speed and the current speed are the same, and if it is the same, the motor is driven at a constant speed. A third step 22, 23, 24 proceeding to 12; A fourth step (25) of determining whether there is a speed change command after the third step (22, 23, 24), and if not, proceeding to the third step (24); If there is a speed change command in the second step and the third step and the fourth step, it is determined whether the current speed and the change speed are the same, and if it is the same, the process proceeds to the constant speed drive of the third step. Fifth steps (31, 32) for determining whether the drive command is lower than the speed; A sixth step of decelerating and driving to the required speed level until the speed change is completed when the low speed drive command is less than the current speed as a result of the determination of the fifth step (31, 32). (41,42); A seventh step (51, 52) for decelerating and driving until the required speed change reaches a completion level if the low speed drive command is not determined as the determination result of the fifth step (31, 32); If the speed change is completed as a result of the discrimination of the sixth step (41, 42) and the seventh step (51, 52), the speed is driven until a speed change command is issued, and if there is a speed change command, the fifth A multi-stage index shaft motor driving method comprising an eighth step (53, 54) proceeding to step (31, 32).