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WO2016002898A1 - Method for setting synchronous control of positioning control device; program; and control setting device for positioning control device - Google Patents

Method for setting synchronous control of positioning control device; program; and control setting device for positioning control device Download PDF

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Publication number
WO2016002898A1
WO2016002898A1 PCT/JP2015/069177 JP2015069177W WO2016002898A1 WO 2016002898 A1 WO2016002898 A1 WO 2016002898A1 JP 2015069177 W JP2015069177 W JP 2015069177W WO 2016002898 A1 WO2016002898 A1 WO 2016002898A1
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WIPO (PCT)
Prior art keywords
control device
control
positioning control
program
positioning
Prior art date
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Ceased
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PCT/JP2015/069177
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French (fr)
Japanese (ja)
Inventor
真充 服部
恭平 鈴木
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP2016510885A priority Critical patent/JP6075908B2/en
Priority to KR1020167036874A priority patent/KR101748547B1/en
Priority to CN201580036689.6A priority patent/CN106662855B/en
Priority to TW104121626A priority patent/TWI578129B/en
Publication of WO2016002898A1 publication Critical patent/WO2016002898A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23136—Display all subsystems, select one and display screen corresponding to subsystem
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23258—GUI graphical user interface, icon, function bloc editor, labview

Definitions

  • the present invention relates to a synchronous control setting method for a positioning control device, a program for causing a computer to execute the synchronous control setting method, and a control setting device for the positioning control device.
  • a positioning control device in which a user controls operations (functions) of a plurality of mechanical parts by using a GUI (Graphical User Interface) is known.
  • Patent Document 1 aims to “obtain a positioning device that can be programmed by simulating a mechanical mechanism as it is”, and “a motor that drives a control target and the motor that positions the control target in synchronization with each other”.
  • a controller for driving control is provided. The controller generates and outputs position information as a reference for driving control in synchronization with the motor, calculates input information, and outputs the result as transmission information.
  • a positioning device having a transmission software module, an output software module that calculates input information and outputs the result as a drive control command for the motor, and arbitrarily combines the software modules. ing. According to the technique disclosed in Patent Document 1, by disposing each operation software module of the positioning device configured by combining operation software modules corresponding to the mechanically displayed mechanical parts and setting each parameter, Setting of the synchronous control mechanism between the axes can be realized with a simple configuration.
  • the present invention has been made in view of the above, and provides a control setting device, a synchronous control setting method, and a synchronous control setting method for a positioning control device capable of realizing high functionality and high operability with a simple configuration.
  • the object is to obtain a program to be executed by a computer.
  • the present invention provides a connection relationship between a plurality of operation software modules constituting a control program of a positioning control device based on an input from the outside, and a screen.
  • a control setting device for a positioning control device, a synchronous control setting method, and a program for causing a computer to execute the synchronous control setting method according to the present invention are a positioning control device capable of realizing high functionality and high operability with a simple configuration. Can be realized.
  • achieve the synchronous control setting method of the positioning control apparatus concerning embodiment The figure which shows an example of the screen which displays the connection relation of the several operation
  • movement software module corresponding to a machine part in the synchronous control setting method of the positioning control apparatus concerning embodiment The figure which shows the example of customization by the programming language corresponding to the operation
  • FIG. 1 is a diagram illustrating a hardware configuration that realizes a synchronous control setting method of the positioning control device according to the present embodiment.
  • a positioning control device 10 shown in FIG. 1 can set the connection relation based on an external input, and includes a motion controller 12 and servo amplifiers 13a, 13b, 13c, and 13d, and servo amplifiers 13a, 13b, 13c, This is a positioning control device that positions the control target X axis 15a, the control target Y axis 15b, and the control target Z axis 15c by synchronously controlling the servo motors 14a, 14b, 14c, and 14d connected to 13d.
  • a tool for creating and editing a control program of the positioning control device 10 is installed in the control setting device 11 used for performing the synchronous control setting of the positioning control device 10, and a CPU (Central Processing Unit) that processes data is installed. 17, a memory 18 that stores data, a display unit 19 that can graphically display a connection relationship between a plurality of operation software modules that constitute a control program of the positioning control device 10, and a mouse or keyboard connected to input data Input interface 20 and a communication interface 16 for inputting / outputting data to / from the motion controller 12.
  • a general-purpose personal computer is generally used as the control setting device 11.
  • FIG. 2 is a diagram showing an example of a screen that displays the connection relationship of a plurality of operation software modules that constitute the control program of the control setting device of the positioning control device according to the present embodiment.
  • the positioning control apparatus according to the present embodiment controls the operation of the controlled object via a drive mechanism in which operation software modules corresponding to a plurality of machine parts are combined.
  • the display unit included in the control setting device or the display device wired or wirelessly connected to the positioning control device is compatible with a plurality of mechanical parts included in the drive mechanism.
  • the drive software modules 21 and 24, the transmission software modules 22 and 23, the output software module 25, and the connected software module 26, which are operation software modules to be displayed, are displayed graphically.
  • driving software modules 21 and 24 corresponding to driving machine parts, transmission software modules 22 and 23 corresponding to transmission machine parts, output software module 25 corresponding to output machine parts, and linked software corresponding to linked machine parts A module 26 is displayed, and the connection relationship of these operating software modules can be set graphically.
  • FIG. 3 is a diagram showing a definition example in a programming language corresponding to an operation software module corresponding to a machine part in the synchronous control setting method of the positioning control device according to the present embodiment.
  • the operation software is displayed on a different screen or window from the screen displaying the connection relationship of the plurality of operation software modules constituting the control program shown in FIG. 2, or the corresponding operation software is displayed on the same screen or window. Displayed for each operation software module using a balloon provided near the module.
  • FIG. 4 is a diagram illustrating a customization example corresponding to the definition example of FIG.
  • the output is defined as shown in FIG. 3 by a variable “VirtualServoMotor [1]” that indicates the current value of the axis.
  • “[1]” represents an axis number and indicates that the drive software module axis 1 which is one of a plurality of drive software modules is selected.
  • the smoothing function Smoothing is a predefined function, and an example thereof is a function that takes a time average of parameters. In the conventional method using only the GUI, when a function is applied to an input and output, a graphic corresponding to the applied function is required. However, if an operation software module corresponding to each machine part is defined in a program language, The function can be easily applied.
  • the transmission software module 22 shown in FIG. 2 corresponds to a gear.
  • the pulse Input from the input shaft side is multiplied by a variable “GearNumerator [1]” indicating a gear ratio numerator, and the variable “GearDenominator [1]” indicating a gear ratio denominator is divided into FIG. 3.
  • Output is defined as shown.
  • the gear ratio numerator and the gear ratio denominator are assigned to each gear, and “[1]” is a number specifying the gear.
  • the smoothing function Smoothing is applied to the variable “gear”, the output is smoothed against the variation of the gear ratio. Can be changed.
  • the transmission software module 23 shown in FIG. 2 corresponds to a differential gear.
  • the transmission software module 23 subtracts the pulse input Input [2] on the auxiliary input side on the left side in the figure from the pulse input Input [1] on the upper main input side in the figure, and takes these differences to obtain the result shown in FIG. Output is defined as shown.
  • customization is performed by multiplying the pulse input Input [2] from the auxiliary input side by the variable ratio [1] and adding it to the pulse input Input [1] input from the main input side. I do.
  • the drive software module 24 shown in FIG. 2 generates an input pulse corresponding to the input from the synchronous encoder.
  • the drive software module 24 defines an output as shown in FIG. 3 by a variable “SynchronousEncoder [1]” indicating a synchronous encoder.
  • “[1]” represents the number of the synchronous encoder connected to the drive software module 24, and indicates that the first synchronous encoder is selected from among a plurality of synchronous encoders. As shown in FIG.
  • the output software module 25 shown in FIG. 2 corresponds to a cam.
  • the output software module 25 defines an output as shown in FIG. 3 by “Cam” defining a cam, a variable “CamSelect [1]” representing a cam, and an input “Input”.
  • “[1]” represents a cam number, indicating that the first cam is selected from a plurality of cams.
  • an input value that is an average value (a value obtained by dividing the sum by 2) of the input value “Input” in the current cycle and the input value “PrevInput” in the previous cycle is used to output. When calculated, fluctuations in output due to fluctuations in input values can be suppressed.
  • connection software module 26 shown in FIG. 2 corresponds to a clutch.
  • the connection software module 26 defines an output as shown in FIG. 3 by “DirectClutch” that defines clutch engagement, a variable “signal [1]”, and an input “Input”, and the variable “signal [1]”. To determine whether to connect.
  • DirectClutch an output as shown in FIG. 3 by “DirectClutch” that defines clutch engagement, a variable “signal [1]”, and an input “Input”, and the variable “signal [1]”.
  • the operation of the linked software module 26 may be customized.
  • the synchronous control setting method of the positioning control device defines the operation software module corresponding to each machine part in the program language represented by the ST language, and each defined operation software module Can be appropriately changed (customized) by the user, and high operability can be realized while adding a high function to the positioning control device. That is, by making it possible to change the settings of the operation definitions of the drive software modules 21 and 24, the transmission software modules 22 and 23, and the output software module 25 in the program language, convenience on the user side can be improved.
  • the positioning control device can be further enhanced in function.
  • customized operation software modules can be used as templates. Further, by increasing the number of functions defined by the program language, it becomes possible to realize more functions. Further, by using both the GUI and the programming language, positioning control can be performed with high operability by taking advantage of both advantages.
  • the program language setting screen on the display screen is displayed. Only the control screen by GUI may be displayed. Thus, when the program language is not used for control of the control target, the display screen to be operated can be prevented from becoming complicated and the operability can be prevented from being lowered by not displaying the program language.
  • connection software module corresponding to the connection part of each machine part can also be defined in the program language, high operability while adding high functionality to the synchronous control setting of the entire drive mechanism composed of a combination of multiple machine parts Can be realized. Also, it becomes possible to distribute and divert the control program for the entire drive mechanism shown in FIG.
  • FIG. FIG. 5 is a diagram illustrating an example of a display screen in the control setting device of the positioning control device according to the present embodiment.
  • FIG. 5 shows a model of a control program corresponding to the winding / unwinding device.
  • FIG. 5 shows an unwinding software module 27 corresponding to the roll of the unwinding unit and a unwinding software module 28 corresponding to the roll of the unwinding unit, which are operation software modules.
  • Each pulse input from the transmission software module is multiplied by the set gear ratio RollGearNumerator [i] / RollGearDenominator [i], and further multiplied by the changing roll diameter RollDiameter [i] and the circumference ratio pi ().
  • the set gear ratio RollGearNumerator [i] / RollGearDenominator [i] and further multiplied by the changing roll diameter RollDiameter [i] and the circumference ratio pi ().
  • the customization described in the first and second embodiments is an example, and the present invention is not limited to this, and other functions or program syntax may be used.
  • the present invention is not limited to the synchronous control setting method of the positioning control device described in the first and second embodiments, but the synchronous control setting method of the positioning control device described in the present embodiment.
  • a control program to be executed by a computer and a control setting device for creating and editing the control program are also included in the present invention.
  • the present invention is not limited to these, and the positioning control device according to the present invention is not limited thereto.
  • a program for causing a computer to execute the synchronization control setting method is also included in the present invention.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
  • the positioning control device is useful for a drive mechanism that requires a complicated operation.
  • control setting device 12 motion controller, 13a, 13b, 13c, 13d servo amplifier, 14a, 14b, 14c, 14d servo motor, 15a control target X axis, 15b control target Y axis, 15c control target Z axis, 16 communication interface , 17 CPU, 18 memory, 19 display unit, 20 input interface, 21, 24 drive software module, 22, 23 transmission software module, 25 output software module, 26 linked software module, 27 unwind software module, 28 unwind software module .

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Programmable Controllers (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Control Of Multiple Motors (AREA)
  • Stored Programmes (AREA)

Abstract

　The objective of the present invention is to obtain a method for setting the synchronous control of a positioning control device with which it is possible to achieve excellent performance and ease of use in a simple configuration. The present invention is a method for setting the synchronous control of a positioning control device in which the connectivity relationship among a plurality of operation software modules constituting the control program of the positioning control device is set on the basis of input from the outside and is graphically displayed on a display screen, at least one of the plurality of operation software modules being able to be changed using a program language.

Description

位置決め制御装置の同期制御設定方法、プログラム及び位置決め制御装置の制御設定装置Positioning control device synchronous control setting method, program, and positioning control device control setting device

　本発明は、位置決め制御装置の同期制御設定方法、この同期制御設定方法をコンピュータに実行させるプログラム及び位置決め制御装置の制御設定装置に関する。 The present invention relates to a synchronous control setting method for a positioning control device, a program for causing a computer to execute the synchronous control setting method, and a control setting device for the positioning control device.

　従来、ＧＵＩ（Ｇｒａｐｈｉｃａｌ　Ｕｓｅｒ　Ｉｎｔｅｒｆａｃｅ）によりユーザが複数の機械部品の動作（機能）を制御する位置決め制御装置が知られている。 Conventionally, a positioning control device in which a user controls operations (functions) of a plurality of mechanical parts by using a GUI (Graphical User Interface) is known.

　例えば、特許文献１には、「機械的機構をそのまま模擬してプログラムできる位置決め装置を得る」ことを目的とし、「制御対象を駆動するモータと、上記制御対象を同期させて位置決めする上記モータを駆動制御するコントローラを備え、上記コントローラは上記モータと同期をとって駆動制御する基準となる位置情報を生成、出力する駆動ソフトウェアモジュールと、入力情報を演算して、その結果を伝達情報として出力する伝達ソフトウェアモジュールと、入力情報を演算して、その結果を上記モータの駆動制御指令として出力する出力ソフトウェアモジュールを有し、上記ソフトウェアモジュールを任意に組み合せる」位置決め装置及びそのプログラム表示方法が開示されている。特許文献１に開示された技術によれば、グラフィック表示された機械部品に対応する動作ソフトウェアモジュールを組み合わせて構成された位置決め装置の各動作ソフトウェアモジュールを配置して各々のパラメータを設定することで、軸間の同期制御機構の設定を簡単な構成で実現することができる。 For example, Patent Document 1 aims to “obtain a positioning device that can be programmed by simulating a mechanical mechanism as it is”, and “a motor that drives a control target and the motor that positions the control target in synchronization with each other”. A controller for driving control is provided. The controller generates and outputs position information as a reference for driving control in synchronization with the motor, calculates input information, and outputs the result as transmission information. Disclosed is a positioning device having a transmission software module, an output software module that calculates input information and outputs the result as a drive control command for the motor, and arbitrarily combines the software modules. ing. According to the technique disclosed in Patent Document 1, by disposing each operation software module of the positioning device configured by combining operation software modules corresponding to the mechanically displayed mechanical parts and setting each parameter, Setting of the synchronous control mechanism between the axes can be realized with a simple configuration.

特開平５－７３１４７号公報JP-A-5-73147

　しかしながら、上記従来の技術によれば、複雑な機能を実現し、または複雑な動作を行わせるためには膨大な数のパラメータを要し、実現する機能と同数の機械部品に対応する動作ソフトウェアモジュールを要する。また、ユーザの要求によっては機械部品に対応する動作ソフトウェアモジュールをカスタマイズして出荷することを要する場合もある。そのため、複雑な動作を行わせることが困難である、という問題があった。 However, according to the above-described conventional technology, in order to realize a complicated function or to perform a complicated operation, an enormous number of parameters are required, and an operation software module corresponding to the same number of machine parts as the function to be realized. Cost. Further, depending on the user's request, it may be necessary to customize and ship the operation software module corresponding to the machine part. Therefore, there is a problem that it is difficult to perform a complicated operation.

　本発明は、上記に鑑みてなされたものであって、簡易な構成で高機能と高い操作性を実現可能な位置決め制御装置の制御設定装置、同期制御設定方法、及び、この同期制御設定方法をコンピュータに実行させるプログラムを得ることを目的とする。 The present invention has been made in view of the above, and provides a control setting device, a synchronous control setting method, and a synchronous control setting method for a positioning control device capable of realizing high functionality and high operability with a simple configuration. The object is to obtain a program to be executed by a computer.

　上述した課題を解決し、目的を達成するために、本発明は、位置決め制御装置の制御プログラムを構成する複数の動作ソフトウェアモジュールの接続関係が、外部からの入力に基づいて設定され、かつ、画面上にグラフィカルに表示される位置決め制御装置の同期制御設定方法であって、前記複数の動作ソフトウェアモジュールの少なくとも１つは、プログラム言語により変更可能であることを特徴とする。 In order to solve the above-described problems and achieve the object, the present invention provides a connection relationship between a plurality of operation software modules constituting a control program of a positioning control device based on an input from the outside, and a screen. A method for synchronous control setting of a positioning control apparatus graphically displayed above, wherein at least one of the plurality of operation software modules can be changed by a program language.

　本発明にかかる位置決め制御装置の制御設定装置、同期制御設定方法、及び、この同期制御設定方法をコンピュータに実行させるプログラムは、簡易な構成で高機能と高い操作性を実現可能な位置決め制御装置を実現することができる。 A control setting device for a positioning control device, a synchronous control setting method, and a program for causing a computer to execute the synchronous control setting method according to the present invention are a positioning control device capable of realizing high functionality and high operability with a simple configuration. Can be realized.

実施の形態にかかる位置決め制御装置の同期制御設定方法を実現するハードウェア構成を示す図The figure which shows the hardware constitutions which implement | achieve the synchronous control setting method of the positioning control apparatus concerning embodiment 実施の形態にかかる位置決め制御装置の制御設定装置における、制御プログラムを構成する複数の動作ソフトウェアモジュールの接続関係を表示する画面の一例を示す図The figure which shows an example of the screen which displays the connection relation of the several operation | movement software module which comprises a control program in the control setting apparatus of the positioning control apparatus concerning embodiment. 実施の形態にかかる位置決め制御装置の同期制御設定方法において、機械部品に対応する動作ソフトウェアモジュールに対応するプログラミング言語による定義例を示す図The figure which shows the example of a definition by the programming language corresponding to the operation | movement software module corresponding to a machine part in the synchronous control setting method of the positioning control apparatus concerning embodiment 実施の形態にかかる位置決め制御装置の同期制御設定方法において、機械部品に対応する動作ソフトウェアモジュールに対応するプログラミング言語によるカスタマイズ例を示す図The figure which shows the example of customization by the programming language corresponding to the operation | movement software module corresponding to a machine part in the synchronous control setting method of the positioning control apparatus concerning embodiment 実施の形態にかかる位置決め制御装置の制御設定装置における、制御プログラムを構成する複数の動作ソフトウェアモジュールの接続関係を表示する表示画面の一例を示す図The figure which shows an example of the display screen which displays the connection relation of the several operation | movement software module which comprises a control program in the control setting apparatus of the positioning control apparatus concerning embodiment.

　以下に、本発明の実施の形態にかかる位置決め制御装置の同期制御設定方法、プログラム及び位置決め制御装置の制御設定装置を図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, a synchronous control setting method for a positioning control device, a program, and a control setting device for a positioning control device according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

実施の形態１．
　図１は、本実施の形態にかかる位置決め制御装置の同期制御設定方法を実現するハードウェア構成を示す図である。図１に示す位置決め制御装置１０は、外部からの入力に基づいて前記接続関係を設定可能であり、モーションコントローラ１２、サーボアンプ１３ａ，１３ｂ，１３ｃ，１３ｄを備え、サーボアンプ１３ａ，１３ｂ，１３ｃ，１３ｄに各々接続されたサーボモータ１４ａ，１４ｂ，１４ｃ，１４ｄを同期制御させることで、制御対象Ｘ軸１５ａ、制御対象Ｙ軸１５ｂ及び制御対象Ｚ軸１５ｃの位置決めを行う位置決め制御装置である。位置決め制御装置１０の同期制御設定を行うために用いられる制御設定装置１１は、位置決め制御装置１０の制御プログラムの作成及び編集を行うツールがインストールされており、データを処理するＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）１７と、データを格納するメモリ１８と、位置決め制御装置１０の制御プログラムを構成する複数の動作ソフトウェアモジュールの接続関係をグラフィカルに表示可能な表示部１９と、マウスまたはキーボードに接続されてデータが入力される入力インターフェイス２０と、モーションコントローラ１２へのデータの入出力を行う通信インターフェイス１６とを備える。制御設定装置１１には、一般には汎用パソコンが用いられる。 Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a hardware configuration that realizes a synchronous control setting method of the positioning control device according to the present embodiment. A positioning control device 10 shown in FIG. 1 can set the connection relation based on an external input, and includes a motion controller 12 and servo amplifiers 13a, 13b, 13c, and 13d, and servo amplifiers 13a, 13b, 13c, This is a positioning control device that positions the control target X axis 15a, the control target Y axis 15b, and the control target Z axis 15c by synchronously controlling the servo motors 14a, 14b, 14c, and 14d connected to 13d. A tool for creating and editing a control program of the positioning control device 10 is installed in the control setting device 11 used for performing the synchronous control setting of the positioning control device 10, and a CPU (Central Processing Unit) that processes data is installed. 17, a memory 18 that stores data, a display unit 19 that can graphically display a connection relationship between a plurality of operation software modules that constitute a control program of the positioning control device 10, and a mouse or keyboard connected to input data Input interface 20 and a communication interface 16 for inputting / outputting data to / from the motion controller 12. As the control setting device 11, a general-purpose personal computer is generally used.

　図２は、本実施の形態にかかる位置決め制御装置の制御設定装置の、制御プログラムを構成する複数の動作ソフトウェアモジュールの接続関係を表示する画面の一例を示す図である。本実施の形態にかかる位置決め制御装置は、複数の機械部品に対応する動作ソフトウェアモジュールが組み合わせられた駆動機構を介して制御対象の動作を制御する。 FIG. 2 is a diagram showing an example of a screen that displays the connection relationship of a plurality of operation software modules that constitute the control program of the control setting device of the positioning control device according to the present embodiment. The positioning control apparatus according to the present embodiment controls the operation of the controlled object via a drive mechanism in which operation software modules corresponding to a plurality of machine parts are combined.

　また、図２に示すように、本実施の形態においては、制御設定装置が備える表示部または位置決め制御装置に有線若しくは無線接続された表示装置に対し、駆動機構に含まれる複数の機械部品に対応する動作ソフトウェアモジュールである駆動ソフトウェアモジュール２１，２４、伝達ソフトウェアモジュール２２，２３、出力ソフトウェアモジュール２５及び連結ソフトウェアモジュール２６がグラフィック表示される。制御設定装置により、駆動機械部品に相当する駆動ソフトウェアモジュール２１，２４、伝達機械部品に相当する伝達ソフトウェアモジュール２２，２３、出力機械部品に相当する出力ソフトウェアモジュール２５及び連結機械部品に相当する連結ソフトウェアモジュール２６が表示され、これらの動作ソフトウェアモジュールの接続関係をグラフィカルに設定可能である。 In addition, as shown in FIG. 2, in the present embodiment, the display unit included in the control setting device or the display device wired or wirelessly connected to the positioning control device is compatible with a plurality of mechanical parts included in the drive mechanism. The drive software modules 21 and 24, the transmission software modules 22 and 23, the output software module 25, and the connected software module 26, which are operation software modules to be displayed, are displayed graphically. By the control setting device, driving software modules 21 and 24 corresponding to driving machine parts, transmission software modules 22 and 23 corresponding to transmission machine parts, output software module 25 corresponding to output machine parts, and linked software corresponding to linked machine parts A module 26 is displayed, and the connection relationship of these operating software modules can be set graphically.

　図３は、本実施の形態にかかる位置決め制御装置の同期制御設定方法において、機械部品に対応する動作ソフトウェアモジュールに対応するプログラミング言語による定義例を示す図であり、位置決め制御装置の制御設定装置の表示部において、図２に示された制御プログラムを構成する複数の動作ソフトウェアモジュールの接続関係を表示する画面とは異なる画面もしくはウィンドウに表示され、又は、同一画面もしくはウィンドウにて、対応する動作ソフトウェアモジュールの近くに設けられた吹き出しなどを用いて動作ソフトウェアモジュール毎に表示される。図４は、図３の定義例に対応するカスタマイズ例を示す図である。 FIG. 3 is a diagram showing a definition example in a programming language corresponding to an operation software module corresponding to a machine part in the synchronous control setting method of the positioning control device according to the present embodiment. In the display unit, the operation software is displayed on a different screen or window from the screen displaying the connection relationship of the plurality of operation software modules constituting the control program shown in FIG. 2, or the corresponding operation software is displayed on the same screen or window. Displayed for each operation software module using a balloon provided near the module. FIG. 4 is a diagram illustrating a customization example corresponding to the definition example of FIG.

　図２に示す駆動ソフトウェアモジュール２１においては、標準的には軸の現在値を示す変数“ＶｉｒｔｕａｌＳｅｒｖｏＭｏｔｏｒ［１］”により図３に示すように出力が定義される。ここで“［１］”は軸番号を表し、複数存在する駆動ソフトウェアモジュールの１つである駆動ソフトウェアモジュール軸１を選択していることを示す。図４に示すように、スムージング関数Ｓｍｏｏｔｈｉｎｇを適用すると、入力“ＶｉｒｔｕａｌＳｅｒｖｏＭｏｔｏｒ［１］”の変動に対して出力を滑らかに変化させることができる。なお、スムージング関数Ｓｍｏｏｔｈｉｎｇは、予め定義された関数であり、その一例はパラメータの時間平均をとる関数である。従来のようにＧＵＩのみを用いる方法では、入力に対して関数を適用して出力する場合、適用する関数に対応するグラフィックを要するが、各機械部品に対応する動作ソフトウェアモジュールをプログラム言語で定義すると、関数の適用を容易に行うことができる。 In the drive software module 21 shown in FIG. 2, the output is defined as shown in FIG. 3 by a variable “VirtualServoMotor [1]” that indicates the current value of the axis. Here, “[1]” represents an axis number and indicates that the drive software module axis 1 which is one of a plurality of drive software modules is selected. As shown in FIG. 4, when the smoothing function Smoothing is applied, the output can be smoothly changed with respect to the fluctuation of the input “VirtualServoMotor [1]”. The smoothing function Smoothing is a predefined function, and an example thereof is a function that takes a time average of parameters. In the conventional method using only the GUI, when a function is applied to an input and output, a graphic corresponding to the applied function is required. However, if an operation software module corresponding to each machine part is defined in a program language, The function can be easily applied.

　図２に示す伝達ソフトウェアモジュール２２は、ギヤに相当する。伝達ソフトウェアモジュール２２においては、入力軸側からのパルスＩｎｐｕｔにギヤ比分子を示す変数“ＧｅａｒＮｕｍｅｒａｔｏｒ［１］”を乗じ、ギヤ比分母を示す変数“ＧｅａｒＤｅｎｏｍｉｎａｔｏｒ［１］”を除することで図３に示すように出力が定義される。ここで、ギヤ比分子及びギヤ比分母はギヤごとに割付けられ、“［１］”はギヤを特定する数字である。図４に示すように、変数“ｇｅａｒ”に一時的にギヤ比の結果を代入し、変数“ｇｅａｒ”にスムージング関数Ｓｍｏｏｔｈｉｎｇを適用するカスタマイズを行うと、ギヤ比の変動に対して出力を滑らかに変化させることができる。 The transmission software module 22 shown in FIG. 2 corresponds to a gear. In the transmission software module 22, the pulse Input from the input shaft side is multiplied by a variable “GearNumerator [1]” indicating a gear ratio numerator, and the variable “GearDenominator [1]” indicating a gear ratio denominator is divided into FIG. 3. Output is defined as shown. Here, the gear ratio numerator and the gear ratio denominator are assigned to each gear, and “[1]” is a number specifying the gear. As shown in FIG. 4, if the result of the gear ratio is temporarily substituted for the variable “gear” and the smoothing function Smoothing is applied to the variable “gear”, the output is smoothed against the variation of the gear ratio. Can be changed.

　図２に示す伝達ソフトウェアモジュール２３は、ディファレンシャルギヤに相当する。伝達ソフトウェアモジュール２３は、図中上方の主入力側のパルス入力Ｉｎｐｕｔ［１］から図中左方の補助入力側のパルス入力Ｉｎｐｕｔ［２］を減算し、これらの差分をとることにより図３に示すように出力が定義される。ここでは、図４に示すように、補助入力側からのパルス入力Ｉｎｐｕｔ［２］に対して変数ｒａｔｉｏ［１］を乗じて、主入力側から入力されるパルス入力Ｉｎｐｕｔ［１］に加算させるカスタマイズを行う。 The transmission software module 23 shown in FIG. 2 corresponds to a differential gear. The transmission software module 23 subtracts the pulse input Input [2] on the auxiliary input side on the left side in the figure from the pulse input Input [1] on the upper main input side in the figure, and takes these differences to obtain the result shown in FIG. Output is defined as shown. Here, as shown in FIG. 4, customization is performed by multiplying the pulse input Input [2] from the auxiliary input side by the variable ratio [1] and adding it to the pulse input Input [1] input from the main input side. I do.

　図２に示す駆動ソフトウェアモジュール２４は、同期エンコーダからの入力に対応する入力パルスを発生させる。駆動ソフトウェアモジュール２４は、同期エンコーダを示す変数“ＳｙｎｃｈｒｏｎｏｕｓＥｎｃｏｄｅｒ［１］”により図３に示すように出力が定義される。ここで“［１］”は駆動ソフトウェアモジュール２４に接続された同期エンコーダの番号を表し、複数ある同期エンコーダのうち、第１番目の同期エンコーダを選択していることが示されている。図４に示すように、選択分岐を示すプログラム構文“ＩＦ”“ＥＬＳＥ”及び変数“ｓｅｌｅｃｔｓｉｇｎａｌ”によって使用する同期エンコーダを“ＳｙｎｃｈｒｏｎｏｕｓＥｎｃｏｄｅｒ［１］”または“ＳｙｎｃｈｒｏｎｏｕｓＥｎｃｏｄｅｒ［２］”選択可能にカスタマイズすると、変数“ｓｅｌｅｃｔｓｉｇｎａｌ”によって使用する同期エンコーダを選択することができる。 The drive software module 24 shown in FIG. 2 generates an input pulse corresponding to the input from the synchronous encoder. The drive software module 24 defines an output as shown in FIG. 3 by a variable “SynchronousEncoder [1]” indicating a synchronous encoder. Here, “[1]” represents the number of the synchronous encoder connected to the drive software module 24, and indicates that the first synchronous encoder is selected from among a plurality of synchronous encoders. As shown in FIG. 4, when the synchronous encoder used by the program syntax “IF” “ELSE” indicating the selection branch and the variable “selectsignal” is customized so that “SynchronousEncoder [1]” or “SynchronousEncoder [2]” can be selected, the variable A synchronous encoder to be used can be selected by “selectsignal”.

　図２に示す出力ソフトウェアモジュール２５は、カムに相当する。出力ソフトウェアモジュール２５は、カムを定義する“Ｃａｍ”と、カムを表す変数“ＣａｍＳｅｌｅｃｔ［１］”と、入力“Ｉｎｐｕｔ”とにより図３に示すように出力が定義される。ここで“［１］”はカム番号を表し、複数のカムの中から第１番目のカムを選択していることが表されている。図４に示すように、現周期における入力値“Ｉｎｐｕｔ”と一つ前の周期での入力値“ＰｒｅｖＩｎｐｕｔ”の平均値（和を２で除した値）である入力値を採用して出力を算出すると、入力値の変動による出力の変動を抑えることができる。 The output software module 25 shown in FIG. 2 corresponds to a cam. The output software module 25 defines an output as shown in FIG. 3 by “Cam” defining a cam, a variable “CamSelect [1]” representing a cam, and an input “Input”. Here, “[1]” represents a cam number, indicating that the first cam is selected from a plurality of cams. As shown in FIG. 4, an input value that is an average value (a value obtained by dividing the sum by 2) of the input value “Input” in the current cycle and the input value “PrevInput” in the previous cycle is used to output. When calculated, fluctuations in output due to fluctuations in input values can be suppressed.

　図２に示す連結ソフトウェアモジュール２６は、クラッチに相当する。連結ソフトウェアモジュール２６は、クラッチの連結を定義する“ＤｉｒｅｃｔＣｌｕｔｃｈ”と、変数“ｓｉｇｎａｌ［１］”と、入力“Ｉｎｐｕｔ”とにより図３に示すように出力が定義され、変数“ｓｉｇｎａｌ［１］”によって連結するか否かを決定する。なお、ここでは連結ソフトウェアモジュール２６の動作はカスタマイズされていないが、連結ソフトウェアモジュール２６の動作についてもカスタマイズを行ってもよい。 The connection software module 26 shown in FIG. 2 corresponds to a clutch. The connection software module 26 defines an output as shown in FIG. 3 by “DirectClutch” that defines clutch engagement, a variable “signal [1]”, and an input “Input”, and the variable “signal [1]”. To determine whether to connect. Although the operation of the linked software module 26 is not customized here, the operation of the linked software module 26 may be customized.

　以上説明したように、本実施の形態の位置決め制御装置の同期制御設定方法は、各機械部品に対応する動作ソフトウェアモジュールをＳＴ言語に代表されるプログラム言語で定義し、定義された各動作ソフトウェアモジュールをユーザにより適宜変更（カスタマイズ）可能とすることで、位置決め制御装置に高機能を付加しつつ高い操作性を実現することができる。すなわち、プログラム言語による駆動ソフトウェアモジュール２１，２４、伝達ソフトウェアモジュール２２，２３及び出力ソフトウェアモジュール２５の動作の定義を設定変更可能とすることで、ユーザ側における利便性を向上させることができる。 As described above, the synchronous control setting method of the positioning control device according to the present embodiment defines the operation software module corresponding to each machine part in the program language represented by the ST language, and each defined operation software module Can be appropriately changed (customized) by the user, and high operability can be realized while adding a high function to the positioning control device. That is, by making it possible to change the settings of the operation definitions of the drive software modules 21 and 24, the transmission software modules 22 and 23, and the output software module 25 in the program language, convenience on the user side can be improved.

　また、機械部品に対応する動作ソフトウェアモジュールに対し、各機械部品の機能をプログラム言語で定義して提供し、また、プログラム言語における通常の汎用的な関数の他に専用の関数を提供することで、位置決め制御装置をさらに高機能とすることができる。 In addition, by providing the operation software module corresponding to the machine part by defining the function of each machine part in the program language, and providing a dedicated function in addition to the general general function in the program language. The positioning control device can be further enhanced in function.

　また、カスタマイズした動作ソフトウェアモジュールを雛形として流用することも可能である。又、プログラム言語により定義された関数を増やすことにより、さらに多数の機能を実現させることが可能となる。また、ＧＵＩとプログラム言語を併用することで、双方の利点を活かして高い操作性で位置決め制御を行うことができる。 Also, customized operation software modules can be used as templates. Further, by increasing the number of functions defined by the program language, it becomes possible to realize more functions. Further, by using both the GUI and the programming language, positioning control can be performed with high operability by taking advantage of both advantages.

　尚、言語による駆動ソフトウェアモジュール２１，２４、伝達ソフトウェアモジュール２２，２３、出力ソフトウェアモジュール２５及び連結ソフトウェアモジュール２６の動作の定義を設定変更しない場合には、表示画面上のプログラム言語設定画面を表示させずＧＵＩによる制御画面のみを表示させてもよい。このように制御対象の制御にプログラム言語を利用しない場合には非表示とすることで、操作する表示画面が煩雑になることを防止し、操作性の低下を防止することができる。 If the operation definitions of the drive software modules 21 and 24, the transmission software modules 22 and 23, the output software module 25, and the linked software module 26 are not changed, the program language setting screen on the display screen is displayed. Only the control screen by GUI may be displayed. Thus, when the program language is not used for control of the control target, the display screen to be operated can be prevented from becoming complicated and the operability can be prevented from being lowered by not displaying the program language.

　また、各機械部品の連結部分に対応する連結ソフトウェアモジュールもプログラム言語で定義可能とすると、複数の機械部品の組み合わせにより構成された駆動機構全体の同期制御設定に高機能を付加しつつ高い操作性を実現することができる。また、図２に示す駆動機構全体の制御プログラムの配布及び流用が可能となる。 In addition, if the connection software module corresponding to the connection part of each machine part can also be defined in the program language, high operability while adding high functionality to the synchronous control setting of the entire drive mechanism composed of a combination of multiple machine parts Can be realized. Also, it becomes possible to distribute and divert the control program for the entire drive mechanism shown in FIG.

実施の形態２．
　図５は、本実施の形態にかかる位置決め制御装置の制御設定装置における表示画面の一例を示す図である。図５には巻取り巻出し装置に対応する制御プログラムの雛形が示されている。図５には、動作ソフトウェアモジュールである、巻出し部のロールに相当する巻出しソフトウェアモジュール２７及び巻取り部のロールに相当する巻取りソフトウェアモジュール２８が示されている。各々伝達ソフトウェアモジュールから入力されたパルス入力に対して、設定されたギヤ比ＲｏｌｌＧｅａｒＮｕｍｅｒａｔｏｒ［ｉ］／ＲｏｌｌＧｅａｒＤｅｎｏｍｉｎａｔｏｒ［ｉ］を乗じ、更に変化するロール直径ＲｏｌｌＤｉａｍｅｔｅｒ［ｉ］と円周率ｐｉ（）を乗じることによりロール周長を考慮して制御することができる。 Embodiment 2. FIG.
FIG. 5 is a diagram illustrating an example of a display screen in the control setting device of the positioning control device according to the present embodiment. FIG. 5 shows a model of a control program corresponding to the winding / unwinding device. FIG. 5 shows an unwinding software module 27 corresponding to the roll of the unwinding unit and a unwinding software module 28 corresponding to the roll of the unwinding unit, which are operation software modules. Each pulse input from the transmission software module is multiplied by the set gear ratio RollGearNumerator [i] / RollGearDenominator [i], and further multiplied by the changing roll diameter RollDiameter [i] and the circumference ratio pi (). Thus, it is possible to control in consideration of the roll circumference.

　本実施の形態にて説明したように、装置立ち上げ時に必要となる同期制御機構の設定を雛形として選択可能とすることで、ユーザの装置立ち上げ効率を向上させることができる。また、本実施の形態にて説明したように、定義された位置決め制御装置のプログラム定義を配布可能とすることで、ユーザは、装置立ち上げ時間を従来よりも短縮することができる。 As described in the present embodiment, by making it possible to select the setting of the synchronization control mechanism required when starting up the apparatus as a template, it is possible to improve the apparatus startup efficiency of the user. Further, as described in the present embodiment, by making it possible to distribute the program definition of the defined positioning control apparatus, the user can shorten the apparatus start-up time as compared with the prior art.

　なお、これらの実施の形態１，２にて説明したカスタマイズは一例であり、本発明はこれに限定されるものではなく、その他の関数またはプログラム構文を用いてもよい。 The customization described in the first and second embodiments is an example, and the present invention is not limited to this, and other functions or program syntax may be used.

　なお、本発明はこれらの実施の形態１，２にて説明した位置決め制御装置の同期制御設定方法に限定されるものではなく、本実施の形態にて説明した位置決め制御装置の同期制御設定方法をコンピュータに実行させる制御プログラム、及び、この制御プログラムを作成及び編集を行う制御設定装置も本発明に含まれるものである。 The present invention is not limited to the synchronous control setting method of the positioning control device described in the first and second embodiments, but the synchronous control setting method of the positioning control device described in the present embodiment. A control program to be executed by a computer and a control setting device for creating and editing the control program are also included in the present invention.

　なお、これらの実施の形態１，２においては位置決め制御装置の同期制御設定方法及び位置決め制御装置の制御設定装置について説明したが、本発明はこれらに限定されず、本発明にかかる位置決め制御装置の同期制御設定方法をコンピュータに実行させるプログラムも本発明に含まれるものである。 In the first and second embodiments, the synchronous control setting method of the positioning control device and the control setting device of the positioning control device have been described. However, the present invention is not limited to these, and the positioning control device according to the present invention is not limited thereto. A program for causing a computer to execute the synchronization control setting method is also included in the present invention.

　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

　以上のように、本発明にかかる位置決め制御装置は、複雑な動作が要求される駆動機構に有用である。 As described above, the positioning control device according to the present invention is useful for a drive mechanism that requires a complicated operation.

　１１　制御設定装置、１２　モーションコントローラ、１３ａ，１３ｂ，１３ｃ，１３ｄ　サーボアンプ、１４ａ，１４ｂ，１４ｃ，１４ｄ　サーボモータ、１５ａ　制御対象Ｘ軸、１５ｂ　制御対象Ｙ軸、１５ｃ　制御対象Ｚ軸、１６　通信インターフェイス、１７　ＣＰＵ、１８　メモリ、１９　表示部、２０　入力インターフェイス、２１，２４　駆動ソフトウェアモジュール、２２，２３　伝達ソフトウェアモジュール、２５　出力ソフトウェアモジュール、２６　連結ソフトウェアモジュール、２７　巻出しソフトウェアモジュール、２８　巻取りソフトウェアモジュール。 11 control setting device, 12 motion controller, 13a, 13b, 13c, 13d servo amplifier, 14a, 14b, 14c, 14d servo motor, 15a control target X axis, 15b control target Y axis, 15c control target Z axis, 16 communication interface , 17 CPU, 18 memory, 19 display unit, 20 input interface, 21, 24 drive software module, 22, 23 transmission software module, 25 output software module, 26 linked software module, 27 unwind software module, 28 unwind software module .

Claims (7)

　位置決め制御装置の制御プログラムを構成する複数の動作ソフトウェアモジュールの接続関係が、外部からの入力に基づいて設定され、かつ、画面上にグラフィカルに表示される位置決め制御装置の同期制御設定方法であって、
　前記複数の動作ソフトウェアモジュールの少なくとも１つは、プログラム言語により変更可能であることを特徴とする位置決め制御装置の同期制御設定方法。 A synchronization control setting method for a positioning control device in which a connection relation of a plurality of operation software modules constituting a control program of the positioning control device is set based on an external input and is graphically displayed on a screen. ,
At least one of the plurality of operation software modules can be changed by a program language. 　前記プログラム言語による前記動作ソフトウェアモジュールの変更を行なわない場合には、前記プログラム言語による前記動作ソフトウェアモジュールの変更を行う画面を非表示とすることを特徴とする請求項１に記載の位置決め制御装置の同期制御設定方法。 2. The positioning control device according to claim 1, wherein when the operation software module is not changed in the program language, a screen for changing the operation software module in the program language is hidden. Synchronous control setting method. 　請求項１または２に記載の位置決め制御装置の同期制御設定方法を用いて作成された制御プログラムを、雛形として選択可能なことを特徴とする位置決め制御装置の同期制御設定方法。 A synchronous control setting method for a positioning control device, wherein a control program created using the synchronous control setting method for the positioning control device according to claim 1 or 2 can be selected as a template. 　請求項１から請求項３のいずれか１項に記載の位置決め制御装置の同期制御設定方法をコンピュータに実行させることを特徴とするプログラム。 A program for causing a computer to execute the synchronous control setting method of the positioning control device according to any one of claims 1 to 3. 　位置決め制御装置の制御プログラムを構成する複数の動作ソフトウェアモジュールの接続関係をグラフィカルに表示可能な表示部を有し、外部からの入力に基づいて前記接続関係を設定可能な位置決め制御装置の制御設定装置であって、
　前記複数の動作ソフトウェアモジュールの少なくとも１つをプログラム言語により変更可能とすることを特徴とする位置決め制御装置の制御設定装置。 A control setting device for a positioning control device having a display unit capable of graphically displaying a connection relationship of a plurality of operation software modules constituting a control program of the positioning control device and capable of setting the connection relationship based on an external input Because
A control setting device for a positioning control device, wherein at least one of the plurality of operation software modules can be changed by a program language. 　前記プログラム言語による前記動作ソフトウェアモジュールの変更が行なわれない場合には、前記表示部における前記プログラム言語による前記動作ソフトウェアモジュールの変更を行う画面を非表示とすることを特徴とする請求項５に記載の位置決め制御装置の制御設定装置。 6. The screen for changing the operation software module according to the program language in the display unit is not displayed when the operation software module is not changed according to the program language. Control setting device of the positioning control device. 　請求項５または６に記載の位置決め制御装置の制御設定装置を用いて設定された制御プログラムを、雛形として選択可能とすることを特徴とする位置決め制御装置の制御設定装置。 A control setting device for a positioning control device, wherein a control program set using the control setting device for the positioning control device according to claim 5 or 6 can be selected as a template.
PCT/JP2015/069177 2014-07-04 2015-07-02 Method for setting synchronous control of positioning control device; program; and control setting device for positioning control device Ceased WO2016002898A1 (en)

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