JPS6366609A - Numerical controller - Google Patents

Abstract

PURPOSE:To eliminate the influence due to the voltage drop and the mixture of noises without receiving no limitation for installation of a numerical controller, by separating a shift command part from a servo amplifying part and having transmission of digital data between said command part and amplifying part for transfer of necessary signals. CONSTITUTION:A shift command part 100 is completely separated from a servo amplifying part 200 in a numerical controller. The part 100 includes a shift command output circuit 1, a command data converter 2 and a bidirectional bus line driver/receiver 3. The position command signal received from the circuit 1 is converted into the digital shift command data by the converter 2 and sent serially to the part 200. This command data is received by an arithmetic circuit 5 and the difference between this data and the data received via an interface circuit 11 is calculated together with the deviation with the data on a speed detector 8 supplied via an A/D converter 10. This calculated deviation is supplied to a power amplifier 6. Then the necessary signals are transferred in the form of the digital data. In such a way, the constitution of a numerical controller is simplified.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a numerical control device, and more specifically, to a movement command unit that instructs the position to which the controlled object should move, and a movement command unit that instructs the controlled object to move according to instructions from the movement command unit. This invention relates to a numerical control device with improved connection to a driving servo amplifier section.

[Prior Art] FIG. 2 is a block diagram of a conventional numerical control device. Second
In the figure, (100) is a movement command section, (200) is a servo amplifier connected to the movement command section (100), (
7) is a drive motor that drives a controlled object (not shown);
(8) is a speed detector that is directly connected to the anti-load side of the drive motor (7), detects the rotation speed of the drive motor (7), and outputs a speed signal corresponding to the detected rotation speed; (9)
is a rotation angle detector which outputs two signals corresponding to the detected rotation angle of the drive motor.

The movement command unit (100) includes a movement command output circuit (1) that outputs a position command signal corresponding to the position of the controlled object, a position command signal of the movement command output circuit (1), and a gA shift motor that drives the controlled object. An error calculation circuit (12) that calculates the deviation from the position signal that is the output signal of the rotation angle detector (9) that detects the rotation of (7), and a digital that converts the output of the error calculation circuit (12) into an analog voltage. Analog converter (13
).

Further, the servo amplifier (200) multiplies the deviation between the output of the digital-to-analog converter (13) and the speed signal output by the speed detector (8) by i11, and uses the power to drive the drive motor (7). It is composed of an amplifier circuit (14) that amplifies the power.

Next, the operation of the conventional numerical control device will be explained. First, when the rotation command output circuit (1) outputs a position command signal, the digital-to-analog converter (13) converts the position command signal into an analog signal and outputs it, and the amplifier circuit (14) converts the position command signal into an analog signal. The position command signal is amplified and the drive motor (7) is driven to move the controlled object to a predetermined position.

Further, a rotation angle detector (9) detects the rotation angle of the drive motor (7) and outputs a position signal. This position signal is fed back to the movement command section (100), and the amplifier circuit (14)
The drive motor (7) is rotated until the deviation between the position command signal and the position signal becomes ;.

Note that the amplifier circuit (14) is a digital-to-analog converter (1
3) The control system is stabilized by making sure that the deviation between the deviation converted into an analog signal and the speed signal becomes ;.

Further, such feedback control of a controlled object is described in "Automation Technology (Vol. 16, No. 9 (1984') J, etc.).

[Problem to be solved by the invention j] However, in the conventional numerical control device having the above configuration, the output of the digital-to-analog converter (13) is an analog voltage, and the position signal of the rotation angle detector (9) is Movement command unit (1
00), the movement command unit (
Considering the voltage drop and noise intrusion between the servo amplification section (200) and the servo amplification section (200), it is preferable to arrange the movement command section (100) and the servo amplification section (200) as close as possible. The cable wiring between the movement command section (100) and the servo amplifier section (200), noise countermeasures, etc. are extremely complicated, and there are many cases where taking countermeasures can cause trouble. .

However, since the numerical control device may have restrictions on the installation location of the movement command unit (IO (1), servo amplifier unit (200), and drive motor (7)), there is a problem that they may not always be placed close to each other. there were.

The present invention has been made to solve the above problems,
The purpose is to rent a numerical control device in which the connection between the 8-auxiliary command unit (100) and the servo amplifier unit (200) is not restricted by installation location, and is not affected by voltage drop or noise intrusion. .

[Means for solving the problem] Therefore, the present invention includes a movement command output circuit that outputs a position command signal corresponding to the position of a controlled object, a position data converter, and a first data transmission that transmits a digital signal. a second data transmission means that receives a position command signal converted into a digital signal; Numerical value from the servo amplification unit consisting of a moving means that makes it difficult! Configure II control device.

[Function] The numerical control device with the above configuration has a movement command output circuit that receives $+
J outputs a position command signal corresponding to the position of the target, a command data converter converts this position command signal into a digital signal, and the first data transmission means converts the position command signal converted into a digital signal into a second Transmit to data transmission means. Further, based on the position command signal received by the servo amplification section by the second data transmission means, the moving means moves the controlled object to a position indicated by the position command signal.

[Example] Explain in detail.

FIG. 1 is a block diagram of a numerical control device according to the present invention. In FIG. 1, (100) is a movement command unit, (200
) is a servo amplifier connected to the movement command unit (100), (7) is a drive motor whose drive is controlled by pulse width modulation and drives a controlled object (not shown), and (8) is a drive motor ( 7) a speed detector that detects the rotational speed and outputs a speed signal corresponding to the detected rotational speed; (9) detects the rotational angle of the drive motor (7) and a position signal that corresponds to the detected rotational angle; This is a rotation angle detector that outputs .

The movement command unit (100) includes a movement command output circuit (1) that outputs a position command signal corresponding to the position of the controlled object, and a command data converter (2) that converts the position command signal into a binary signal.
) and the servo amplifier (200), a bidirectional pass line driver/receiver (3) that exchanges data with the servo amplifier (200).
It consists of Further, the servo amplification unit (200) receives movement command data from the movement command unit and outputs the servo amplification unit (200).
a bidirectional pass line driver/receiver (4) of the servo amplifier (200) that sends data in the state of 0), an arithmetic circuit 28 (5) consisting of a microprocessor, and an arithmetic circuit (5).
A power amplifier (6) that amplifies the output of the drive motor (A) and converts the speed signal output from the speed detector (8) into an analog-to-digital converter (l).
0) and an interface circuit (11) that converts the position signal output from the rotation angle detector (9) from analog to digital so that the arithmetic circuit (5) can take in the position signal as data.

Next, the operation of the numerical control device according to the present invention will be explained. First, when the movement command output circuit (1) outputs a position command signal, the command data converter (2) converts it into movement command data, and then the bidirectional pass line driver/receiver (3) outputs the B shift command signal. Servo amplifier section (200
).

Next, the arithmetic circuit (5) calculates the deviation between the movement command data transmitted to the servo amplifier (200) and the data input manually from the rotation angle detector (9) via the interface circuit (11). Then, the deviation between the calculated deviation and the data of the speed detector (8) which has been digitally converted via the analog-to-digital converter (10) is calculated and outputted to the power amplifier (6). Next, a power amplifier (6) amplifies the power of the pulse width modulation output as a result of the calculation, and outputs power to the drive motor (7).
) to drive.

In the numerical control device according to the present invention, the speed signal of the speed detector (8) and the position signal of the rotation angle detector (9) are not directly fed back to the movement command section (100), but are all sent to the servo amplifier section (200). Since it is input to the drive motor (7)
Machine side and servo amplification unit (200) where is installed
Most of the cable wiring is completed between the servo amplifier section (200) and the movement command section (100), and only data transfer is required.

Note that although data is transmitted serially in this embodiment, it may be transmitted in parallel to speed up data transmission.

Also, a movement command section (100) and a servo amplifier section (200)
Bidirectional pass line driver/receiver (
3) The data transmission according to (4) is optically transmitted using an optical fiber cable, and the noise resistance is improved.
! + Shichi, l-(2iiJ+ e5
M# /I/l/II i 6+1
You may also be able to write 10, ↓fi CC), w p;'%.

Also, bidirectional pass line driver/receiver (3),
Since (4) is used, all the various status signals such as the current value of the servo amplifier (200) and the servo tracking error may be managed and monitored on the movement command unit (100) side.

Further, even in a multi-axis numerical control system having two or more driving motors (7), transmission using bidirectional pass lines can be easily supported.

[Effects of the Invention] As explained above, according to the present invention, the 13th shift command section and the servo amplifier section are completely separated, and the exchange of necessary signals between the movement command section and the servo amplifier section is performed using digital data. Since it is performed as a transmission, there are no restrictions on machine installation.
A numerical control device can be constructed at low cost without complicating cable wiring.

In addition, since digital data is transmitted, the problems caused by conventional analog data transmission can be solved, and (a high number of X condylarities/'! i Uri 1 wholesale w dish total 9 dishes) is possible.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a numerical control device according to the present invention, and FIG.
The figure is a block diagram of a conventional numerical control device. In each figure, 1 is a 6-motion command output circuit, 2 is a command data converter, 3.4 is a bidirectional pass line driver/receiver, and 5
1 is an arithmetic circuit, 6 is a power amplifier, 7 is a drive motor, 8 is a speed detector, 9 is a rotation angle detector, 10 is an analog-to-digital converter, and 11 is an ink. 100 is a 6th shift command section, and 200 is a servo amplification section. In each figure, the same reference numerals indicate the same or corresponding parts. Agent: Masaru Sato, Patent Attorney 7 City Procedures (Method) November 28, 1986

Claims (3)

[Claims] (1) A movement command output circuit that outputs a position command signal corresponding to the position of the controlled object, a command data converter that converts the position command signal into a digital signal and outputs it, and a first circuit that transmits the digital signal. a movement command section configured of a data transmission means; a second data transmission means for receiving the position command signal converted into the digital signal; and a position designated by the position command signal based on the received position command signal. and a servo amplification section constituted by a moving means for moving the controlled object. (2) The numerical control device according to claim 1, wherein the servo amplification section has means for feeding back the position and speed of the controlled object, and performs feedback control of the controlled object. (3) The numerical control device according to claim 1, wherein the first data transmission means and the second data transmission means are bidirectional bus line drivers/receivers.