JP2007026202A - Setting method and setting program for driver for servomotor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a setting method for a driver, improving convenience by use of respective characteristics of a plurality of driver setting devices to reduce a burden on a worker, in the plurality of driver setting devices to the driver for a servomotor. <P>SOLUTION: The driver 15 is connected with the DD motor 12. The driver 15 performs drive control of the DD motor 12 on the basis of a motor control program. The driver 15 can be connected with a PC 21 having excellent workability or a terminal 25 having excellent portability so as to set the motor control program. The PC 21 can be connected with the terminal 25. The worker creates a motor drive program in the PC 21, and makes a memory 26 of the terminal 25 store the motor drive program via communication. Thereafter, the terminal 25 is connected to the driver 15, and a memory 18 of the driver 15 stores the stored motor drive program. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to setting of a driver that controls the operation of a servo motor such as a direct drive motor (hereinafter referred to as a DD motor).

  Conventionally, as shown in FIG. 7, there is known a rotary table device 30 in which a rotary table 33 is attached to a rotor 32 of a DD motor 31 without using a reduction gear. The rotary table device 30 performs an operation such as rotating the rotary table 33 on which the workpiece W or the like is mounted from the first angular position to the second angular position and then returning to the first angular position.

  The driver 34 that drives and controls the DD motor 31 stores a plurality of types of motor drive programs that include parameters such as an operation sequence, a movement angle, and a movement time for driving the DD motor 31. A plurality of types of motor drive programs are identified and managed by program numbers.

  Furthermore, a sequencer 35 is connected to the driver 34, and a servo motor control system is constructed. The sequencer 35 outputs to the driver 34 a program number, a start signal for instructing start of execution of the motor drive program, and the like. As a result, the driver 34 executes a motor drive program corresponding to the program number designated by the sequencer 35 and causes the rotary table 33 to perform a predetermined rotation operation. On the other hand, the driver 34 outputs, to the sequencer 35, a positioning completion signal indicating completion of the positioning operation, a start input waiting signal indicating that the start signal is being received, and the like (for example, Patent Document 1).

  In general, a handy type terminal 36 and a personal computer (hereinafter referred to as a PC) 37 can be connected to the driver 34. The terminal 36 and the PC 37 are driver setting devices for setting a motor drive program. That is, the operator uses the terminal 36 or the PC 37 to store the motor drive program in the driver 34 and assigns a program number to the motor drive program. On the other hand, the sequence program is incorporated in the sequencer 35 so that the program number of the motor drive program can be designated. In use, the DD motor 31 can be driven by instructing a program number from the sequencer 35 and giving an activation signal.

  The terminal 36 is a handy type driver setting device intended for use in a factory or the like. For this reason, the terminal 36 is small and has excellent portability. However, on the other hand, since the screen is small and there are few input keys, it is not suitable for work such as creating a motor drive program. On the other hand, as is well known, the PC 37 has a relatively wide screen, and an operator can use a general-purpose input device such as a mouse or a keyboard. For this reason, the PC 37 is excellent in workability such as creating a motor drive program. However, the PC 37 is made on the assumption that it is used in an OA environment or the like, and is not sufficiently portable when used in a factory or the like.

It is assumed that many rotary table devices 30 are installed in a factory. In general, one driver 34 is connected to one DD motor 31. That is, when the control mode of the DD motor 31 is changed, it is necessary to carry the work by transporting the terminal 36 or the PC 37 to each driver 34. However, as described above, the terminal 36 and the PC 37 are not compatible with advantages such as portability and workability, and the burden on the operator for setting the driver 34 is not small.
JP-A-10-149218

  The present invention realizes a driver setting method and method capable of improving convenience by using respective features in a plurality of driver setting devices for a servo motor driver and thus reducing the burden on an operator. An object is to provide a setting program suitable for the above.

  Hereinafter, effective means for solving the above-described problems will be described while showing effects and the like as necessary. In the following, in order to facilitate understanding, the corresponding configuration in the embodiment of the invention is appropriately shown in parentheses, but is not limited to the specific configuration shown in parentheses.

Means 1. A driver (control circuit 16) that stores a drive circuit (drive circuit 17) that drives a servo motor (DD motor 12) and a plurality of types of operation control programs (motor drive programs) that control the drive circuit (control circuit 16). A setting method for setting each operation control program for the driver 15),
As a setting device for the driver of each operation control program, a personal computer (PC21) and a portable setting device (terminal 25) having a smaller and smaller screen than the personal computer are used.
An operation control program is created using a personal computer (see FIG. 4), and the created operation control program is transferred to and stored in the portable setting device by communication with the portable setting device (see FIG. 6A). , The processing function of step S108 in the terminal, the processing function of step S304 in the PC), the portable setting device is connected to the driver, and the operation control program stored in the portable setting device is written in the control circuit of the driver (FIG. 6 ( b) Reference, processing function of step S105). Servo motor driver setting method

  According to the means 1, as is well known, an operation control program is created using a personal computer excellent in workability, and the created operation control program is transferred to the driver via a portable setting device excellent in portability. Written. In other words, the operation control program can be set for the driver while utilizing the characteristics of the personal computer and the portable setting device. Therefore, the convenience for setting the driver is improved, and the burden on the operator can be reduced.

Mean 2. A small and small screen portable setting device for setting each operation control program for a driver having a drive circuit for driving a servo motor and a control circuit storing a plurality of types of operation control programs for controlling the drive circuit; A communication processing function (a processing function in step S101) for setting a communicable state;
A program creation processing function (program creation processing function) for creating an operation control program;
A program storage processing function (program storage processing function) for storing the operation control program created by the program creation processing means in the storage means (memory 22);
A transfer processing function (processing function of step S304) for transferring the operation control program stored in the storage means to the portable setting device when communication with the portable setting device is possible by the communication processing function;
Servo motor driver setting program that enables a computer to realize

  According to the means 2, the operator can create the operation control program and store it in the storage means by the computer. Further, when the computer is connected to the portable setting device, the computer can communicate with the portable setting device. At this time, the operation control program created and stored by the computer is transferred to and stored in the portable setting device. Thereafter, when the portable setting device is transported and connected to the driver by the operator, the operation control program stored in the portable setting device is written into the control circuit of the driver by the function of the portable setting device.

  As a result, if this setting program is incorporated into a general-purpose personal computer, an operation control program can be created in a personal computer with excellent workability, as is well known. Further, since the created operation control program is transferred to and stored in the portable setting device, the portable setting device having excellent portability can be transported and the operation control program can be written in the driver. In other words, the operation control program can be written and set to the driver while utilizing the characteristics of the personal computer having excellent workability and the portable setting device having excellent portability. Therefore, the convenience for setting the driver is improved, and the burden on the operator can be reduced.

  Means 3. The second program storage processing function for storing the operation control program transferred from the portable setting device in the storage means in the means 2 when communication with the portable setting device is possible by the communication processing function ( A servo motor driver setting program for causing a computer to realize the processing function of step S302.

  According to the means 3, the computer can receive the operation control program from the portable setting device and store it in the storage means. As a result, the operation control program stored in the portable setting device can be backed up to the computer. Further, by the processing function shown in the above means 2, the backed up operation control program can be edited by a computer having excellent workability and set again in the portable setting device. This becomes particularly effective as the operation control program increases and becomes complicated.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings. The present embodiment is applied to a control device for a direct drive motor (hereinafter referred to as a DD motor) for directly rotating a rotary table.

  As shown in FIGS. 1 and 2, the rotary table device 11 includes a DD motor 12 as a servo motor. A rotary table 14 having a circular planar shape is connected to the rotor 13 constituting the output portion or output shaft portion of the DD motor 12. The rotor 13 has a hollow shaft, and a through-hole 14a penetrating vertically is formed at the center of the rotary table 14 so as to communicate with the hollow portion. A work W is installed on the peripheral edge of the rotary table 14. And the wiring of the sensor for detecting the presence or absence and position of the workpiece | work W, for example can be passed through the hollow part of the rotor 13, and the through-hole 14a.

  For example, as shown in FIG. 2, the rotary table 14 rotates from the first angular position P1 to the second angular position P2, and then returns to the first angular position P1 from the second angular position P2. Done. In order to realize such an operation, a driver 15 is electrically connected to the DD motor 12.

  The driver 15 is a control device that drives the DD motor 12, and one driver 15 is associated with one DD motor 12. The driver 15 includes a control circuit 16 and a drive circuit 17. The control circuit 16 includes a memory 18 in addition to a CPU that executes arithmetic processing. The control circuit 16 outputs a control signal to the drive circuit 17 according to the motor drive program and various parameters stored in the memory 18. The drive circuit 17 outputs a drive current based on the control signal from the control circuit 16 to the DD motor 12 to cause the DD motor 12 to perform a predetermined operation.

  The DD motor 12 includes a resolver 19 as a rotation angle (angular position) detector. The resolver 19 detects the rotation angle of the rotation shaft of the DD motor 12 and outputs a detection signal (resolver signal) to the control circuit 16. The control circuit 16 has an R / D converter (not shown) that converts the detection signal of the resolver 19 into a digital signal, and detects the rotation angle of the DD motor 12 via the R / D converter. And the control circuit 16 performs feedback control based on the detected rotation angle.

  A sequencer 20 is connected to the driver 15 via an I / O port (not shown). As shown in FIG. 1, the sequencer 20 is connected to a plurality of drivers 15 and performs overall management of the operations of the respective DD motors 12. The control circuit 16 outputs a control signal to the drive circuit 17 based on the input signal from the sequencer 20.

  The driver 15 is provided with an RS-232C communication port (not shown). Via this communication port, a personal computer (hereinafter referred to as a PC) 21 or a terminal 25 as a driver setting device can be connected as in the prior art.

  The PC 21 is based on a well-known computer so that a motor drive program can be created and its parameters can be set. The PC 21 includes a memory 22, a keyboard 23, a display 24, and the like. When the PC 21 is connected to the driver 15, RS-232C communication is possible between the PC 21 and the driver 15.

  The terminal 25 is basically a known one so that a motor drive program can be created and its parameters can be set. The terminal 25 includes a memory 26, input keys 27, a simple display 28, and the like. When the terminal 25 is connected to the driver 15, RS-232C communication can be performed between the terminal 25 and the driver 15.

  Here, the terminal 25 is assumed to be used in a factory or the like, and has a length of 140 mm, a width of 86 mm, a thickness of 23 mm, and a weight of about 166 g. For this reason, the terminal 25 is more portable than the PC 21. However, on the other hand, the simple display 28 displays 16 characters × 2 lines, and the input key 27 is a simple one composed of 21 types of input keys for creating a motor drive program and controlling the driver 15. . For this reason, the PC 21 is superior to the terminal 25 in terms of workability and the like related to the creation of the motor drive program.

  In the PC 21 and the terminal 25, a program creation processing function is implemented in order to create a motor drive program, set parameters, and the like. In addition, the motor drive program created by the program saving function can be saved. At this time, the setting contents such as the created motor drive program are stored in the memories 22 and 26, respectively. These setting contents are output via the RS-232C communication and written in the memory 18 of the control circuit 16, so that the DD motor 12 desired by the operator can be controlled. . Further, the motor drive program stored in the memory 18 of the control circuit 16 can be read and stored in the respective memories 22 and 26.

  FIG. 3 is a flowchart showing the procedure of driver setting processing for reading / writing motor drive programs from / to each other when the PC 21 or the terminal 25 is connected to the driver 15. In the case of the PC 21, a driver setting program corresponding to this process is stored in the memory 22 and is realized by being executed by an operator. In the case of the terminal 25, a similar driver setting program is stored in the memory 26, and the processing is automatically started when connected to the driver 15.

  First, in step S101, initialization relating to communication with the driver 15 and initial processing such as reading of various settings are performed. Subsequently, in step S102, guidance screens (not shown) for prompting operation instructions for reading and writing of the motor drive program are displayed on the respective displays 24 and 28. Thereafter, in step S103 and subsequent steps, various processes are performed based on instructions from the operator. When “program write” is instructed, designation of a program number to be written is accepted in step S104. When the program number is designated, the corresponding motor drive program is output from each of the memories 22 and 26 and written to the memory 18 of the control circuit 16 in step S105. On the other hand, when “program read” is instructed, the program number to be read is received in step S107. When the program number is designated, the corresponding motor drive program is output from the memory 18 of the control circuit 16 and read into the respective memories 22 and 26 in step S108. When “end” is instructed, in step S110, an end process related to communication or the like is performed, and the process related to reading and writing of the motor drive program ends. Note that when the motor drive program is read, written, and terminated, a read command, a write command, and a termination command corresponding to each operation are output to the driver 15.

  FIG. 4 shows an example of the motor drive program. This motor drive program rotates the turntable 14 based on a start signal from the sequencer 20. Specifically, as shown in FIG. 2, the first angular position P1 (0 °) is rotated counterclockwise in a time of 1.5 seconds from the second angular position P2 (−90 °). It is. The motor drive program is composed of a program code of all 7 steps, and is sequentially processed in the order of step numbers.

  In the motor drive program, first, in steps S201 and S202, the units of the rotation system and the time system are designated as “degree (°)” and “second”, respectively. Subsequently, in step S203, the rotation system of the DD motor 12 is designated as absolute coordinates. In step S204, as the initial movement, the rotary table 14 is rotationally moved to the first angular position P1 (0 °). In step S205, an activation signal from the sequencer 20 is awaited. Thereafter, when the activation signal from the sequencer 20 is input to the driver 15, the process proceeds to step S206, and the rotary table 14 is rotationally moved to the angular position P2 (−90 °) in a time of 1.5 seconds. After the rotational movement of the turntable 14, the motor drive program is terminated in step S207.

  By the way, the PC 21 and the terminal 25 can be connected to each other via the communication port, and RS-232C communication is possible. At this time, the PC 21 executes a driver communication simulation process that simulates the communication mode of the driver 15. Then, it appears from the terminal 25 as if the connected PC 21 is the driver 15. Therefore, the terminal 25 can read and write the PC 21 and the motor drive program by the same operation as that for the conventional driver 15. The details will be described below.

  FIG. 5 is a flowchart showing driver communication simulation processing in the PC 21. This process is automatically executed in an initial process for initializing communication or the like. Specifically, when the device connected to the PC 21 is recognized as the terminal 25 instead of the driver 15, it is executed instead of step S102 and subsequent steps in FIG. When this process is executed, the PC 21 waits for an operation command from the terminal 25. First, when “program write” is instructed at the terminal 25, an operation command related to “program write” is input to the PC 21. Then, in step S301, the operation command is determined, and in step S302, a process of writing the motor drive program output from the memory 26 of the terminal 25 into the memory 22 is performed. Second, when “read program” is instructed at the terminal 25, an operation command related to “read program” is input. Then, in step S303, the operation command is determined, and in step S304, a process of reading a motor drive program from the memory 22 is performed. Then, the motor drive program is output to the terminal 25 and read into the memory 26 at the terminal 25. When “end” is instructed at the terminal 25, the operation command is determined in step S305. In step S306, an end process related to communication or the like is performed, and the driver communication simulation process ends.

  Hereinafter, an example of a procedure for performing “write” and “read” of the motor drive program to the driver 15 using the PC 21 and the terminal 25 will be described. Here, a control operation is assumed in which the workpiece W at the first angular position P1 as shown in FIG. 2 is rotated counterclockwise and positioned at the second angular position P2. It is assumed that the rotary table device 11 is installed in a factory and the PC 21 is installed in an office different from the factory.

  First, the operator creates a motor drive program as shown in FIG. 3 corresponding to the above operation using the PC 21 and stores it in the memory 22. Subsequently, as shown in FIG. 6A, the terminal 25 is connected to the PC 21 and the driver setting program is executed on the PC 21. By connecting the terminal 25 to the PC 21, the driver communication simulation process is executed in the PC 21, and the PC 21 and the terminal 25 can communicate with each other RS-232C. On the other hand, in the terminal 25, the driver setting program is automatically executed by the connection with the PC 21, and the motor driving program can be read and written. In accordance with the guidance displayed on the simplified display 28 of the terminal 25, the operator instructs “read program” and designates the program number. Then, in the PC 21, the motor drive program stored in the memory 22 is read out, output to the terminal 25, and written in the memory 26. Thereafter, the operator removes the terminal 25 from the PC 21 and transports it to the factory where the rotary table device 11 is installed. Then, the terminal 25 is connected to the driver 15 as shown in FIG. After the terminal 25 becomes communicable with the driver 15, the operator instructs “program writing” according to the guidance displayed on the simple display 28 and designates the program number. Then, the motor drive program stored in the memory 26 of the terminal 25 is output, and the motor drive program is written in the memory 18 of the control circuit 16. Thereafter, when a “program number” or “start signal” is appropriately input from the sequencer 20 to the driver 15, a motor drive program is executed, and the rotary table 14 is moved from the first angular position P1 to the second angular position P2. It is rotated. That is, it is possible to create a motor drive program in the PC 21 having excellent workability and to set the driver 15 via the terminal 25 having excellent portability.

  In addition, after the motor drive program is executed, the movement mode of the rotary table 14 may be changed. At this time, the operator can use the terminal 25 connected to the driver 15 to change the motor drive program stored in the memory 18. For example, it is assumed that the moving time from the first angular position P1 to the second angular position P2 is 1.0 second. The operator uses the input key 27 to change the program code in step S206 to “A90F1.0” and writes the changed motor drive program in the memory 18 of the control circuit 16. Then, the rotary table 14 is rotationally moved from the first angular position P1 to the second angular position P2 in a time of 1.0 seconds. That is, the driver 15 can be set by the driver setting function of the terminal 25 without using the PC 21.

  Furthermore, it is assumed that the motor drive program stored in the driver 15 is edited. In this case, if the motor drive program is complicated, it can be considered that editing is performed by the PC 21 having excellent workability. The operator instructs “read program” in a state where the driver 15 and the terminal 25 can communicate with each other. Then, the motor drive program stored in the memory 18 is read from the memory 18 of the control circuit 16 and written in the memory 26 of the terminal 25. Thereafter, the terminal 25 is removed from the driver 15 and transported to the office where the PC 21 is placed. Then, as shown in FIG. 6A, the terminal 25 and the PC 21 are connected so that they can communicate with each other. In the terminal 25, “program writing” is instructed and a program number is designated. Then, a motor drive program is output from the terminal 25 to the PC 21, and the motor drive program is written in the memory 22 of the PC 21. Thereafter, the motor drive program is edited on the PC 21 and written to the memory 18 of the control circuit 16 via the terminal 25 again. In other words, when the motor drive program is complicated, the terminal 25 can be used to edit using the PC 21 with excellent workability and set it in the driver 15.

  As described above, according to the embodiment described in detail, the following excellent effects can be obtained.

  In setting the motor drive program in the driver 15, the PC 21 and the terminal 25 were connected, and the motor drive program was transferred from the PC 21 to the terminal 25 and stored. For this reason, the operator can create a motor drive program using the PC 21 excellent in workability, and can write the created motor drive program in the driver 15 via the terminal 25 excellent in portability. In addition, the motor drive program stored in the driver 15 can be corrected by the PC 21 having excellent workability through the terminal 25 and set again.

  Note that when the motor drive program stored in the memory 18 of the control circuit 16 is corrected, the driver setting function of the terminal 25 can be used. For this reason, when it is easy to correct the motor drive program, the motor drive program and its parameters can be set without using the PC 21.

  In the PC 21, the communication mode of the driver 15 is simulated in communication with the terminal 25. For this reason, the operator can read and write the motor drive program with the PC 21 by operating the terminal 25 as usual. Further, the PC 21 determines the connected device in the initial processing, and automatically executes processing related to communication with the terminal 25 when the terminal 25 is connected. For this reason, the worker does not need to execute a driver setting program or the like by distinguishing between devices to be connected each time.

  Due to the above advantages, it is possible to perform driver setting with good convenience for the operator by using the characteristics of the PC 21 and the terminal 25 which are driver setting devices. Also, conventional equipment can be used as it is, which is advantageous in terms of cost.

  Note that the present invention is not limited to the embodiment described above, and may be, for example, the following embodiment.

  In the above embodiment, the terminal 25 is used as a driver setting device. However, the terminal 25 may have a function as an operation confirmation device for confirming input / output signals of the driver 15 and the state of the DD motor 12. good.

  In the above embodiment, the driver 15, the PC 21, and the terminal 25 perform RS-232C communication in order to mutually read and write a motor drive program and parameters, but the present invention is not limited to this. As the communication means, USB communication, general-purpose serial communication, general-purpose parallel communication, and other industrial communication standards may be used. Further, not only one-to-one connection, but one-to-many simultaneous communication such as a standard such as RS-485C may be performed.

  In the above embodiment, the work W is arranged on the turntable 14, but a work device may be installed instead of the work W. In this case, wirings and wirings connected to the work equipment can be led out to the outside through the through hole 14 a and the hollow portion of the rotor 13.

  In the above embodiment, the DD motor 12 that directly drives the rotary table 14 to rotate is described. However, the load directly connected to the rotor 13 does not have to be the rotary table 14. Further, the present invention may be carried out for a motor of DD motor 12 or more, for example, a servo motor that requires a reduction gear.

  In the above embodiment, the control device using the rotationally driven DD motor 12 is implemented, but the control device may be implemented in a linear motor that is linearly driven.

It is a block diagram which shows the control system of the rotary table control apparatus in this Embodiment and the motor with which the rotary table apparatus is provided. It is a top view of a rotary table apparatus. It is a flowchart showing the process sequence of a driver setting. This is a motor drive program for rotating the rotary table from the angular position P1 to the angular position P2. It is a flowchart showing the procedure of the driver communication simulation process in PC. It is a figure showing connection with PC, a terminal, and a driver. It is a block diagram which shows the conventional rotary table apparatus and the control system of the motor with which the rotary table is provided.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 12 ... DD motor as a servomotor, 15 ... Driver, 16 ... Control circuit, 17 ... Drive circuit, 21 ... PC as a computer, 22 ... Memory as a memory | storage means, 25 ... Terminal as a portable setting apparatus.

Claims (3)

A setting method for setting each operation control program for a driver having a drive circuit for driving a servo motor and a control circuit storing a plurality of types of operation control programs for controlling the drive circuit,
As a setting device to the driver of each operation control program, using a personal computer and a portable setting device having a smaller and smaller screen than the personal computer,
The operation control program is created using the personal computer, the created operation control program is transferred to and stored in the portable setting device by communication with the portable setting device, and the portable setting device is stored in the portable setting device. A servo motor driver setting method, wherein an operation control program connected to a driver and stored in the portable setting device is written to a control circuit of the driver. Compact and small-screen portable type for writing and setting each operation control program to a driver having a drive circuit for driving a servo motor and a control circuit storing a plurality of types of operation control programs for controlling the drive circuit A communication processing function for enabling communication with the setting device;
A program creation processing function for creating the operation control program;
A program storage processing function for storing the operation control program created by the program creation processing means in a storage means;
A transfer processing function for transferring the operation control program stored in the storage means to the portable setting device when the communication processing function is capable of communicating with the portable setting device;
Servo motor driver setting program that enables a computer to realize   A second program storage processing function for storing, in the storage means, an operation control program transferred from the portable setting device when the communication processing function allows communication with the portable setting device; The servo motor driver setting program according to claim 2, which is realized by a computer.

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