442385 經濟部中央標準局員工消費合作社印裝 A7 五、發明説明（ί ) 〔技術領域〕 本發明係關於需要多工程衝壓力口工之工件所適合之多 段動作控制裝置及其控制方法^ 〔技術背景〕 作爲衝壓機械，習知有機械式壓機與直動型壓機，而 被廣泛使用'5機械式壓機，係上下驅動以曲軸轉動電動機 連結於曲軸之滑塊。直動型壓機，係例如油壓缸（油壓床 時）或直線驅動型電動機（伺服壓機時）等，以直線動作 上下方向之驅動裝置’上下驅動滑塊。而，機械式壓機時 從上死點至下死點重複動作，直動型壓機時從上限位置至 下限位置重複動作，以實施衝壓加工作業。 以此衝壓機械所加工之工件中，有對一個工件需要多 工程之衝壓加工之情形。例如，有於圓盤狀之材料外周部 以所定角度間隔環狀打孔，或，實施交替衝壓加工與其他 工程（以冲孔等打孔等）等之複合加工之情形。 如此’爲實施多工程加工或複合加工，於從來之機械 式壓機，每一行程別將滑塊停止所定時間於上死點，在此 期間實施其他工程之複合加工。又，於直動型壓機，與機 械式壓機同樣，每一行程別將滑塊停止於上限位匱，在此 停止中實施較多其他工程。 然，於習知之衝壓加工，爲實施多工程之工件加工或 複合加工，如上述因將滑塊於每一行程別上昇至上死點或 上限位置而停止，滑塊移動距離之浪費則大。從而，由於 從上死點（直動型壓床時上限位置）經過下死點〔直動型 I 11 装 訂 It κ I ..a (请先閱讀背面之注意事項再填寫本I) 本紙張足度適用中國國家標率（CNS ) A4規格（210 X 297公釐） 442385 A7 B7 五、發明説明（> ) 壓機時下限位置）至上死點、滑塊重複下降及上昇，產生 多工程加工或複合加工等所需之時間非常長之問題，因此 ，降低生產效率。 又，於直動型壓機中使用電動機之伺服壓機，多工程 加工或複合加工之各工程之加壓條件（加壓力）被控制爲 所定之一定値，故多段變更此加壓條件而加工則困難。此 結果，加壓條件之變更未能適合於必要而複雜之複合加工 等，因此作業性非常不佳，使多工程加工或複合加工時之 自動化爲困難。 〔發明之詳細說明〕 本發明著眼於上述問題點而爲，提供多工程加工或複 合加工時以多段變更加工條件，可提高生産效率之伺服壓 機之多段動作控制裝置及其控制方法爲目的。 本發明之伺服壓機之多段動作控制裝置，具有：將滑 塊直線驅動之伺服電動機、輸出驅動伺服電動機之控制指 令之控制器，接受來自控制器之控制指令而控制伺服電動 機之電流之伺服放大器，接受來自控制器之控制指令而控 制伺服電動機之電流之伺服放大器，及測出滑塊位置之滑 塊位置測出手段，根據滑塊位置測出手段所測出之滑動位 置以伺服放大器控制伺服電動機，將滑塊於上限位置與下 限位置間控制位置具備之伺服壓床之多段動作控制裝置， 其特徵係： 於設在上限位置與下限位置間之各段之加壓位置、加 壓保持時間、待機位置、待機時間並加壓力之動作資料中 _ 5_ 本紙張尺度適用中國國家標率（CNS ) A4規格（210X297公釐） ---------士 K - - I___ τ (请先閲讀背面之注意事項再填寫本頁) 經濟部令央標準局員工消費合作社印製 442385 A7 B7_ 五、發明説明（j ) 於至少一項資料各段別相異之多段動作，設定至少一項之 各段別之動作資料及最大段數資料，及/或於動作資料各 段相同之多段動作，設定至少一項之每一段之動作資料之 多段動作設定手段*控制器根據所設定之動作資料，一邊 監視所測出之滑塊位置，一邊輸出速度指令或轉矩指令於 伺服放大器，以控制伺服電動機之速度成轉矩、及滑塊位 匱或停止時間。 依此構成，於伺服壓機壓可設定滑塊自動重複驅動所 定次數之多段動作，而可設定其重複次數（最大段數）、 各段之加壓位置1加壓保持時間、待機位置、待機時間及 加壓力等之動作資料。此時，加壓力因應輸出轉矩而控制 伺服電動機之驅動電流値以被自動控制，故根據前述所設 定之動作資料可自動變更各段之加壓力。由此，多工程加 工或複合加工之自動化成爲可能，可提高生產力。又，將 待機位置設定於比上限位置低之位置（例如，在工件近傍 ，且待機時不妨礙其他工程之作業之位置），於加壓後由 於將滑塊待機於此位置，不必回至上位置亦可進行多工程 加工或複合加工。因此，因以短時間可下降至各段之加壓 位置，加壓後以短時間可上昇，縮短多工程下降或複合下 降之總合加工時間，提高生產力β 又，多段動作設定手段，更，可將動作資料以複數之 動作曲線各別設定，且將所設定之動作曲線各別之動作資 料記憶於控制器，於控制器中，附設所記憶之動作曲線各 別之動作資料中，選擇任何一項動作曲線之動作資料之多 --------，:裝-- (請先閲讀背面之注意事項再填寫本頁；> 、1Τ 經濟部中央標準局員工消費合作社印製 本紙張尺度適用中國國家標準（CNS ) Α4規格{ 210Χ297公釐） 442385 Α7 Β7 經濟部中央標準局員工消費合作社印裝 五、發明説明（小） 段動作選擇手段亦可。 依如上構成，因記憶對應各加工對象工件之複數多段 動作資料而可選擇，能以短時間實施換镆時之資料設定β 因此，可提高生產力。 本發明之伺服壓機之多段動作控制方法，其特徵爲： 於將滑動從上限位置下降後，於所定位置加壓，再將滑塊 上昇至上限位匱之伺服壓機之多段動作控制方法，從上限 位置回至次上位置之中間，於比上限位置低之所定待機位 置，與比待機位置低之所定下限位置間，重複驅動滑塊所 定次數，以實施多段動作加工。 依此構成，可重複驅動滑塊次數而自動實施多段動作 加工。此時，將待機位置設定於工件近傍，且待機時不妨 礙其他工程之作業之位匱，加壓後將滑塊待機於此位置， 故不回至上限位置亦可進行多工程加工或複合加工。從而 ，能以短時間下降至多段之加壓位置，加壓後以短時間上 昇，可縮短多工程加工或複合加工之總加工時間，提高生 產力。 又，加壓於下限位置之加壓時間及停止於待機位置之 待機時間中至少一項時間，以重複之各段分別設定爲一定 値，或設定爲相異値亦可。 依此構成，因各段分別可設定加壓時間及/或待機時 間爲所定値，可將加工條件設爲適合對象工件之最適條件 。例如，因能以適合工件材質或板厚等之加壓時間保持加 壓力’可提高加工後之形狀凍結性（即，加壓後之工件成 __7 ____ 本紙蒗尺度適用中國國家標率（CNS )八4規格（210X297公釐） (請先閲讀背面之注意事項再填寫本頁) 裝· 訂· ^42385 A7 B7 經濟部中央標準局—工消費合作社印製 五、發明説明（b ) 形形狀恢復童小）。又，因可調整待機時間，不使衝壓後 之其他加工工程被待機時間左右而可成爲最適方法《因此 ，多工程加工或複合加工時之作業變爲容易。 又，下限位置及待機位置之至少一項位置，以重複之 各段分別設定爲一定位置或設定爲相異位置亦可。 依此構成，因各段分別設定下限位置及/台待機位置 爲所定値，以適合對象工件之最適加工條件，且短時間可 實施多工程加工或複合加工。例如，因調整下限位置而實 施適合工件材質或板厚等之加工成彤，可提高加工後之製 品精度，又，因能調整待機位置，可將滑塊待機於適合衝 壓後之其他加工工程之位置β從而，多工程加工或複合加 工時之作業變爲容易。 又，將滑塊向下限位置下降時，於加壓力到達加壓力 設定値之情形，雖滑塊未到達下限位置，立即移至加壓工 程*以保持加壓力設定値亦可。 然而，一般加壓工程之控制例，以下限位置決定控制 或加壓力控制中之任何一項實施。實施下限位置決定控制 時，設定下限於所望位置，同時，設定加壓力設定値爲所 定之大値，例如設定爲加壓能力最大値。另，實施加壓力 控制時，設定加壓力設定値爲所望之加壓力値，同時，設 定下位置於到達不可能之位葚，例如設定爲Omm (承塊 之上面位置）。 對此，依上述本發明，不僅以位置，亦可以壓力決定 加壓工程。即，於壓力控制因與位置無關而以一定壓力加 ___8_ 本紙張尺度適用中國國家標準（CNS ) Λ4規格（210X297公釐）442385 Printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs, printed A7 V. Description of the Invention (Technical Field) The present invention relates to a multi-segment motion control device and a control method suitable for workpieces requiring multi-engine punching work ^ [Technology Background] As press machines, mechanical presses and direct-acting presses are known, and the '5 mechanical presses are widely used, and they are driven by a crankshaft to rotate the motor to a slider connected to the crankshaft. The direct-acting presses are, for example, hydraulic cylinders (for hydraulic presses) or linear drive motors (for servo presses), which act linearly in the up-and-down driving device 'to drive the slider up and down. In the case of a mechanical press, the operation is repeated from the top dead center to the bottom dead point, and in the case of a direct-acting press, the operation is repeated from the upper limit position to the lower limit position to perform a stamping operation. Among the workpieces processed by this stamping machine, there are cases where a multi-engineering stamping process is required for one workpiece. For example, there may be a case where a circular hole is punched at a predetermined angular interval on the outer periphery of a disc-shaped material, or a combination of alternate punching and other processes (such as punching, etc.) is performed. In this way, in order to implement multi-engineering processing or composite processing, in the conventional mechanical press, do not stop the slider for a predetermined time at the top dead center for each stroke, and perform composite processing of other projects during this period. Also, in the case of a direct-acting press, as with a mechanical press, the slider must not be stopped at the upper limit for each stroke, and many other projects are performed during this stop. However, in the conventional stamping processing, in order to implement multi-engineering workpiece processing or composite processing, as described above, the slider is stopped because it is raised to the top dead center or the upper limit position at each stroke, and the waste of the slider's moving distance is large. Therefore, since the top dead point (the upper limit position of the direct-acting press) passes through the bottom dead point [direct-acting I 11 binding It κ I ..a (please read the precautions on the back before filling in this I) Applicable to China's national standard rate (CNS) A4 specification (210 X 297 mm) 442385 A7 B7 V. Description of the invention (>) The lower limit position of the press) to the top dead center, the slider repeatedly descends and rises, resulting in multiple projects A problem that takes a long time for processing or compound processing, etc., therefore, production efficiency is reduced. In addition, the servo press using a motor in a direct-acting press is used to control the pressurization conditions (pressurization pressure) of each process of multi-engineering or composite processing to a predetermined level. Therefore, the pressurization conditions are changed in multiple stages for processing. It is difficult. As a result, the change of the pressurization conditions is not suitable for necessary and complicated complex processing, etc., so the workability is very poor, making automation in multi-engineering processing or complex processing difficult. [Detailed description of the invention] The present invention focuses on the above-mentioned problems, and aims to provide a multi-stage motion control device and a control method for a servo press that can change production conditions in multiple stages during multi-engineering or compound processing to improve production efficiency. The multi-stage motion control device of the servo press according to the present invention includes a servo motor that drives the slider linearly, a controller that outputs a control command that drives the servo motor, and a servo amplifier that receives the control command from the controller to control the current of the servo motor. ， Servo amplifier that accepts the control command from the controller to control the current of the servo motor, and the slider position measurement method to detect the slider position, and the servo amplifier to control the servo according to the sliding position measured by the slider position measurement method. Motor, a multi-stage motion control device of a servo press equipped with a slider at a control position between the upper limit position and the lower limit position, which is characterized by: a pressurizing position and a pressure holding time at each step provided between the upper limit position and the lower limit position , Standby position, Standby time and pressure action data _ 5_ This paper size is applicable to China National Standard (CNS) A4 specification (210X297 mm) --------- Shi K--I___ τ (Please (Please read the precautions on the back before filling this page) Printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 442385 A7 B7_ Explanation (j) Set at least one piece of action with different pieces of action data and maximum number of pieces of data, and / or set at least one piece of action with the same number of pieces of action data, and set at least Multi-segment action setting means for each piece of action data * The controller outputs the speed command or torque command to the servo amplifier while monitoring the measured slider position according to the set action data to control the servo motor. Speed becomes torque, and slider position is short or stop time. According to this structure, in the servo press, the slider can be set to automatically repeat the drive for a predetermined number of steps, and the number of repetitions (maximum number of steps), the pressure position of each step, the pressure holding time, the standby position, and standby can be set. Time and pressure action data. At this time, the pressure of the servo motor is controlled automatically according to the output torque in response to the output torque, so the pressure of each stage can be automatically changed according to the previously set action data. This makes it possible to automate multi-engineering or compound processing, which can increase productivity. In addition, the standby position is set to a position lower than the upper limit position (for example, a position near the workpiece and a position that does not hinder the work of other projects during standby). Since the slider is held in this position after pressurization, it is not necessary to return to the upper position. Multi-engineering or composite processing is also available. Therefore, because it can be lowered to the pressing position of each stage in a short time, it can be raised in a short time after pressing, shortening the total processing time of multi-project descent or compound descent, improving productivity β, multi-stage action setting means, and more, The action data can be set separately by plural action curves, and the set action data of the set action curves can be stored in the controller. In the controller, the action data of the action curves can be stored in the controller. A lot of action data for an action curve -------- ,: installed-(Please read the precautions on the back before filling out this page; >, 1T Printed by the Staff Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs The paper size applies the Chinese National Standard (CNS) A4 specification {210 × 297 mm) 442385 Α7 Β7 Printing by the staff consumer cooperative of the Central Standards Bureau of the Ministry of Economy According to the above structure, it can be selected by memorizing a plurality of pieces of motion data corresponding to each workpiece of the processing object, and the data setting β can be implemented in a short time. Therefore, productivity can be improved. The multi-stage motion control method of the servo press of the present invention is characterized in that: after the slide is lowered from the upper limit position, the multi-stage motion control method of the servo press is pressurized at a predetermined position, and then the slider is raised to the upper limit position. From the upper limit position to the middle of the next upper position, the slider is repeatedly driven a predetermined number of times between a predetermined standby position lower than the upper limit position and a predetermined lower limit position lower than the standby position to implement a multi-stage motion processing. With this configuration, the slider can be repeatedly driven to automatically perform multi-stage machining. At this time, the standby position is set near the workpiece, and it does not hinder the work of other projects during standby. After pressing, the slider is standby at this position, so multi-engineering or composite processing can be performed without returning to the upper limit position. . Therefore, it can be lowered to a multi-stage pressing position in a short time and raised in a short time after pressing, which can shorten the total processing time of multi-engineering or composite processing and improve productivity. In addition, at least one of the pressing time for pressing at the lower limit position and the waiting time for stopping at the standby position may be set to a fixed value or a different value for each of the repeated steps. According to this structure, since the pressing time and / or standby time can be set for each stage, the processing conditions can be set to the optimal conditions suitable for the target workpiece. For example, because the pressing force can be maintained at a pressing time suitable for the material of the workpiece or the thickness of the workpiece, the shape freezing after processing can be improved (that is, the workpiece after pressing becomes __7 ____ This paper's dimensions apply to the Chinese national standard (CNS ) 8 4 specifications (210X297 mm) (Please read the precautions on the back before filling out this page) Binding · Binding · ^ 42385 A7 B7 Printed by the Central Standards Bureau of the Ministry of Economic Affairs-Industrial and Consumer Cooperatives 5. Description of the invention (b) Recovering Tong Xiao). In addition, the standby time can be adjusted, so that other processing processes after punching can not be controlled by the standby time, which can be the most suitable method. Therefore, the work during multi-engineering or composite processing becomes easy. In addition, at least one of the lower limit position and the standby position may be set to a fixed position or a different position by repeating each segment. According to this structure, since the lower limit position and the / standby position of each stage are set as predetermined, the optimum processing conditions suitable for the target workpiece are suitable, and multiple engineering processing or composite processing can be implemented in a short time. For example, because the lower limit position is adjusted and the processing is suitable for the material or thickness of the workpiece, the accuracy of the processed product can be improved, and because the standby position can be adjusted, the slider can be standby for other processing projects suitable for stamping. The position β thus facilitates work during multi-engineering or multi-processing. In addition, when the slider is lowered to the lower limit position, when the pressure reaches the lower limit position, although the slider does not reach the lower limit position, immediately move to the pressurizing process * to maintain the pressure setting 値. However, in the control example of a general pressurization process, either the lower limit position determination control or the pressure control is implemented. When the lower limit position determination control is implemented, the lower setting is limited to the desired position, and at the same time, the setting pressure setting is set to a predetermined value, for example, the maximum pressurization capacity is set. In addition, when performing the pressure control, set the pressure setting 値 to the desired pressure, and at the same time, set the lower position to the impossible position, such as Omm (the upper position of the block). In view of this, according to the present invention described above, the pressurizing process can be determined not only by the position but also by the pressure. That is, the pressure control is applied at a certain pressure because it has nothing to do with the position. _8_ This paper size applies the Chinese National Standard (CNS) Λ4 specification (210X297 mm)
In ^^^1 ^^^1 ^^^1 ^^^1 ^^^1 H. ^^^1 ^^^1 ^^^1 ^^^1 II ΐj. 0¾-5 (請先聞讀背面之注意事項再填寫本頁) f 442385 經濟部中央標準局員工消費合作杜印裝 A 7 B7 五、發明説明（W ) 壓製品，例如實刻印時等，板厚雖有偏差可保持刻印深度 爲一定。又，樹脂系非金屬之壓著加工時*因能與板厚無 關而以一定壓力壓著樹脂，可使加工品之品質精度安定化 σ 又，加壓力設定値，所重複之各段分別設定爲一定値 ，或設定爲相異値亦可。 依此構成，各段分別設定加壓工程之加壓力爲所定値 *可選擇下限位置決定控制或壓力控制，故能以合對象工 件之最適加工條件，且，短時間實施多工程加工或複合加 工。例如，因可保持適合工件材質或板厚、加工方法等之 加壓力，提高加工後之成形形狀凍結性。從而，多工程加 工或複合加工時之作業變爲容易。 〔圖面之簡單說明〕 圖1係表示本發明之伺服壓機一例的要部側面圖。 圖2係表示本發明之多段動作曲線一例的圖。 圖3係表示本發明之多段動作曲線其他一例（重複加 工）的圖。 圖4係本發明之多段動作控制的控制回路方塊圖° 圖5係說明本發明之多段動作資料之設定方法的設定 畫面一例w 圖6係本發明之多段動作設定手段及多段動作選擇手 段之一例的說明圖。 圖7係說明本發明之多段動作資料之設定方法之其他 例（重複動作用）的設定畫面。 9 (請先閲讀背面之注意事項再填寫本頁) 裝·In ^^^ 1 ^^^ 1 ^^^ 1 ^^^ 1 ^^^ 1 H. ^^^ 1 ^^^ 1 ^^^ 1 ^^^ 1 II ΐj. 0¾-5 (Please read first Note on the back, please fill in this page again) f 442385 Consumer cooperation of the Central Bureau of Standards of the Ministry of Economic Affairs of the People's Republic of China Du printed A 7 B7 5. Description of the invention (W) Pressed products, such as the actual marking, can maintain the depth of the marking despite deviations For sure. In addition, when resin-based non-metals are pressed, the resin can be pressed with a certain pressure irrespective of the thickness of the plate, which can stabilize the quality accuracy of the processed product. Also, the pressure setting is 値, and the repeated sections are set separately. It can be fixed or different. According to this structure, the pressure of the pressurizing process is set to a predetermined value in each section. * The lower limit position determination control or pressure control can be selected. Therefore, the optimal processing conditions for the target workpiece can be selected, and multiple engineering or composite processing can be implemented in a short time. . For example, it is possible to maintain the applied pressure suitable for the material of the workpiece, the thickness of the plate, and the processing method, thereby improving the freezeability of the formed shape after processing. As a result, operations during multi-engineering or compound processing become easy. [Brief Description of Drawings] FIG. 1 is a side view of a main part showing an example of a servo press according to the present invention. FIG. 2 is a diagram showing an example of a multi-stage operation curve of the present invention. Fig. 3 is a diagram showing another example (repetitive processing) of the multi-stage operation curve of the present invention. Fig. 4 is a block diagram of the control circuit of the multi-stage motion control of the present invention. Fig. 5 is an example of a setting screen illustrating the method of setting the multi-stage motion data of the present invention. W Fig. 6 is an example of the multi-stage motion setting means and multi-stage motion selection means of the present invention. Illustration. Fig. 7 is a setting screen illustrating another example (for repetitive operation) of a method for setting multi-stage motion data according to the present invention. 9 (Please read the notes on the back before filling this page)
'1T 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐） A7 B7 142385 五、發明說明（7) 圖8係表示本發明之多段動作控制方法的控制流程圖 之一例。 〔發明之較佳實施形態〕 以下參照圖面詳細說明實施形態。 於圖1，在伺服壓機1本體之機架1 〇前面下部設有 床台9 ’在床台9上部設置承塊1 6。又，在機架1 0上 部’配設將轉動變換上下方向直動；例如以球螺系等所構 成之動力變換裝置1 4。在動力變換裝置1 4之直動部（ 例如’球螺系裝置之螺帽部）之下端，且，面對承塊1 6 之位置，配設滑塊1 5可上下動自在。動力變換裝置1 4 之轉動部（例如，球螺絲裝置之球螺絲部）之上端部，介 以轉動傳達部件12連結於伺服電動機11之輸出轉動軸 1 1 b。於本實施形態使用如圖示之皮帶（以後，稱爲板 帶1 2 )爲轉動傳達部件1 2之一例。在動力變換裝置1 4之前述轉動部上端部及伺服電動機11之前述輸出轉動 軸1 1 b，各裝配繫合此皮帶1 2之皮帶輪1 2 a及皮帶 輪1 2 b。如此，滑塊1 5則依伺服電動機1 1之轉動上 下驅動。隨伴此滑塊1 5之上下驅動，在設於前述承塊1 6上面之下模（未圖示），與設定前述滑塊15下面之上 模（未圖示）間實施衝壓加工。 在與伺服電動機之輸出轉動軸1 1 b反對側，且，與 轉動軸1 1 b同軸上，例如脈衝產生器等之速度測感器1 1 a被安裝，發自此速度測感器1 1 a之速度信號輸入於 後述之伺服放大器。又，伺服電動機1 1，以A C伺服電 本紙張尺度適用中國國家標丰（CNS)A4規格（210 X 297公釐） (锖先閲讀背面之ΪΪ.ΦΗ1*.項再填寫本頁) --------訂·-------*玲 經濟部智慧財產局員工消费合作社印製 442 3 8 5 Α7 Α7 Β7 五、發明説明（名） 動機或D C伺服電動機中之任一種所構成亦可。 又，承塊1 6後端部與滑動1 5後端部之間，配設例 如直線尺度等線性測感器所形成之滑塊位置測出手段17 。此滑塊位置測出手段1 7，於本實施形態，以上端支持 於滑塊1 5後部，且安裝於軸心方向與滑塊1 5之移動方 向（在此，係上下方向）平行之細長桿1 7 c下端部之測 出頭1 7 b，及舆此測出頭1 7 b保持所定距離而繫合如 摺動可能之直線尺度1 7 a所成《而伴隨滑塊1 5之上下 動，測出頭1 7 b對直線尺度1 7 a上下動。依此上下動 ，以測出頭1 7 b之光信號，將直線尺度1 7 a內部之位 置測出部至滑塊1 5之位置，測出爲自承塊1 6上靣之高 度。此滑塊位置測出手段1 7所測此之滑塊1 5之位置信 號輸入於後述之控制器，此控制器根據此位置信號驅動前 述伺服電動機11而控制滑塊15之位置順沿所定之動作 曲線。 經濟部中央標準局員工消費合作社印製 (请先閲讀背面之注意事項再填寫本頁) 上述動作曲線如圖2所示，以滑塊1 5之位置表示縱 軸，又，以從滑塊1 5之上限位置U起動之經過時間t表 示橫軸。爲實施多工程加工或複合加工，伺服壓機1，於 滑動1 5從上限位置U下降而回至次上限位置U之間，重 複動作所定次數η，以實施重複加工》在此，稱呼此重複 次數爲段數，將各段之加工工程從初次依序名稱爲1段、 2段、.........η段（η係自然數）。於圖2，表不η = 4 之情形之例》此時，依伺服壓機1之衝壓加工工程’由以 下之各工程及領域組成。即，可以滑塊1 5從上限位置ϋ 11 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐> 經濟部中央標準局員工消費合作社印$1 442 3 8 5 A7 A7 B7 五、發明説明（/) 至第1段加工工程之開始位置高速移動之高速下降領域， 重複所定段數η之各段加工工程、及從最終段加工工程之 終了位置高速移動至上位置U之高速上昇領域表示。 又，各段加工工程，以下列工程與領域表示。 Π)從前段之終了位置（第1段，係上述高速下降領 域之終了位置）至各段之下限位置L η ( η對應前述段數 )低速下降之低速下降領域， (U)於各段之下限位置L η將滑塊1 5之位置及加 壓力保持預先設定之所定時間之加壓工程， (Ui)從各段之下限位置L η，至先設定於比上限位 置U低之位置之各段待機位置Μ η以低速上昇之低速上昇 領域， (iv)於此各段之待機位置Μη將保持滑塊1 5之位 置預先設定之所定時間以待機至次段之加工工程開始之待 機工程。 依此，次段之低速下降領域，從前段之待機位置Μ η 開始下降。又，本實施彤態，於最終段取消待機工程而於 低速上昇領域之終了時點從待機位置Μη進入高速上昇領 域，然不限於此，設匱最終段之待機工程亦可。 又·在各段之低速下降領域途中設各段之加壓開始位 置Κ η，從前段之終了位置（待機位置Μ η )以所定之低 速度（比加壓速度快）下降至此加壓開始位置Κ η後，亦 能以加壓速度下至下限位置L η。此時，將前述加壓開始 位置Κ η設定爲與前段之終了位置一致（待機位置M n， 12 03- (請先閱讀背面之注意事項再填寫本頁) -d'1T This paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) A7 B7 142385 V. Description of the invention (7) Figure 8 shows an example of a control flowchart of the multi-stage motion control method of the present invention. [Preferred Embodiments of the Invention] Hereinafter, embodiments will be described in detail with reference to the drawings. In Fig. 1, a bed 9 'is provided on the lower part of the front of the frame 10 of the main body of the servo press 1, and a bearing block 16 is provided on the upper part of the bed 9. Further, a top portion 10 of the frame 10 is provided with a direct-moving up-and-down motion; for example, a power conversion device 14 composed of a ball screw system. At the lower end of the direct-moving part of the power conversion device 14 (for example, the nut portion of the 'ball screw system'), and at a position facing the bearing block 16, a slider 15 is provided to move up and down freely. An upper end portion of a rotating portion (for example, a ball screw portion of a ball screw device) of the power conversion device 14 is connected to an output rotating shaft 1 1 b of the servo motor 11 via a rotation transmitting member 12. In this embodiment, a belt (hereinafter referred to as a belt 12) as an example is used as an example of the rotation transmitting member 12. At the upper end of the aforementioned rotating portion of the power conversion device 14 and the aforementioned output rotating shaft 1 1 b of the servo motor 11, each assembly is engaged with the pulley 12a and the pulley 12b of this belt 12. Thus, the slider 15 is driven up and down in accordance with the rotation of the servo motor 11. Accompanying this slider 15 driving up and down, press processing is performed between the upper and lower molds (not shown) provided on the aforementioned bearing block 16 and the upper and lower molds (not shown) provided on the aforementioned slider 15. On the opposite side to the output shaft 1 1 b of the servo motor, and on the same axis as the rotation shaft 1 1 b, a speed sensor 1 1 a such as a pulse generator is installed, and the speed sensor 1 1 is sent from this The speed signal of a is input to a servo amplifier described later. In addition, the servo motor 11 applies the paper size of AC servo electric paper (CNS) A4 specification (210 X 297 mm) (锖 Read the ΪΪ.ΦΗ1 *. Item on the back before filling this page)- ------ Order · ------- * Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 442 3 8 5 Α7 Α7 Β7 V. Description of Invention (Name) Either the motive or the DC servo motor The composition is also possible. In addition, between the rear end portion of the bearing block 16 and the rear end portion of the sliding block 15, a slider position detecting means 17 formed by a linear sensor such as a linear scale is provided. This slider position measuring means 17 is, in this embodiment, the upper end supported on the rear of the slider 15 and mounted on a slender shaft whose axis is parallel to the movement direction of the slider 15 (here, the up-down direction). The measuring head 1 7 b at the lower end of the rod 17 c and the measuring head 1 7 b maintain a predetermined distance to fit a linear scale 1 7 a that is possible to move, and the slider 15 moves up and down. The measuring head 17b moves up and down to the linear scale 17a. Move up and down to measure the light signal of the head 17 b, and position the detection part inside the linear scale 17 a to the position of the slider 15 to measure the height of the upper part of the self-supporting block 16. The position signal of the slider position measuring means 17 measures the position signal of the slider 15 which is input to a controller described later. This controller drives the servo motor 11 and controls the position of the slider 15 in accordance with the position signal. Action curve. Printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page) The above action curve is shown in Figure 2 and the vertical axis is represented by the position of slider 15 and The elapsed time t at the start of the upper limit position U of 5 represents the horizontal axis. In order to implement multi-engineering processing or composite processing, the servo press 1 moves between the upper limit position U and the lower limit position U and slides 15 and repeats the movement a predetermined number of times η to implement the repeated processing. The number of times is the number of stages, and the processing engineering of each stage is sequentially named from the first stage to stage 1, stage 2, ... stage η (η is a natural number). In Fig. 2, an example of the case where η = 4 is shown. At this time, the pressing process of the servo press 1 is composed of the following processes and fields. That is, the slider 1 5 can be used from the upper limit position ϋ 11 This paper size applies the Chinese National Standard (CNS) Α4 specification (210X297 mm > printed by the Consumer Consumers Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs $ 1 442 3 8 5 A7 A7 B7 V. Invention Explanation (/) The high-speed descent area that moves at a high speed to the start position of the first stage of the processing project, repeats each stage of the predetermined number of stages η, and indicates the high-speed rise field that moves from the end of the final stage of the process to the upper position U at high speed In addition, the processing engineering of each segment is represented by the following projects and fields. Π) From the end position of the previous segment (the first segment, which is the end position of the above-mentioned high-speed descent region) to the lower limit position of each segment L η (η corresponds to the number of the foregoing segments) ) Low-speed descent in the low-speed descent area, (U) Pressurization project that maintains the position of the slider 15 and the pressing force for a predetermined time at the lower limit position L of each segment, (Ui) from the lower limit position L of each segment η, the standby position M of each segment that is set to a position lower than the upper limit position U at a low speed at a low speed, (iv) the standby position Mη of each segment will maintain the position of the slider 15 in advance The set time is from standby to the start of processing in the next stage. Based on this, the low-speed descending area in the second stage starts to descend from the standby position M η in the previous stage. In addition, in this implementation, the standby project is canceled at the final stage and the high-speed rise field is entered from the standby position Mn at the end of the low-speed rise field. However, it is not limited to this. Also, set the pressure start position κ η of each segment in the low-speed descent area of each segment, and descend from the end position of the previous segment (standby position M η) to this compression start position at a predetermined low speed (faster than the compression speed). After K η, it can also be lowered to the lower limit position L η at a pressurizing speed. At this time, set the aforementioned press start position κ η to be consistent with the end position of the previous section (standby position M n, 12 03- (Please read the precautions on the back before filling this page) -d
T 本紙張尺度適用中國國家標準（CNS ) Α4規格（21〇Χ 297公嫠) 經濟部中央標準局員工消費合作社印製 I 442385 A7 ___B7___ 五、發明説明) 或第1段之高速下降領域終了位置）亦可。 又，各種之加壓開始位置Κ η、下限位置L η '待機 位置Μ η、低速下降速度、低速上昇速度、加壓保持時間 (加壓工程之保持時間）、加壓力，或待機時間（待機工 程之待機時間）等，根據多工程加工或複合加工之加工條 件，可設定爲各段分別相異之値。於圖2，表示將各段之 上述設定設定爲相異値之例，但不限於此，例如圖3所示 ，取各段之上述設定値爲相等亦可能》在此情形*成爲以 與初段之加工條件同一條件複數次重複加工之所謂重複動 作。以後，將如上述複數段之衝壓加工之動作稱爲多段動 作。 圖4，表示設定上述多段動作之各條件，且，根據所 設定之條件控制滑塊1 5之多段動作控制裝®之控制回路 方塊圖，以下根據圖4加以說明》 滑塊位置測出手段1 7，如前述測出從承塊1 6上面 至滑塊1 5之高度，輸出此位置信號給控制器2 0 〇滑塊 位置測出手段1 7，於本實施形態如前述例如以直線尺度 等線性測感器構成，然不限定於此，能測出滑塊1 5之位 置即可’例如以編碼器等構成亦可。又，滑塊位置測出手 段1 7，例如在與伺服電動機1 1之主軸1 1 a對面側而 與轉動軸同軸上安裝亦可。 多段動作設定手段2 1，能輸入多段動作各段之下限 位置L η、待機位置Μ η、低速下降速度、低速上昇速度 、加壓保持時間（加壓工程之保持時間）、加壓力、或待 _ 13 本紙張尺度適用中國國家標準（CMS ) Α4規格（210Χ297公嫠） (請先閱讀背面之注意事項再填寫本頁) 裝. 經濟部中央標準局員工消费合作社印製 4 4 2 3 8 5 A7 五、發明説明（（1 ) 機時間（待機工程之待機時間）等資料，將所輸入之設定 資料輸出給控制器2 0。設定資料依對應加工工件種類之 動作模式別可設定及記憶，而此動作模式例如以動作號碼 識別。此時，作業者以設定用開關等輸入設定資料亦可， 例如從自動控制衝壓加工生產線之其他控制器等以通訊等 輸入亦可。此等設定資料，記憶於控制器2 0內之記憶體 0 又，多段動作選擇手段2 2，係實施衝壓作業時，從 控制器2 0之記憶體所記憶之上述多段動作之複數模式選 擇對應加工對象工件之模式，將此選擇信號輪出給控器2 ◦。此選擇例如以動作號碼等指定，與上述同樣，作業者 以選擇用開關等選擇亦可，從生產線自動控制用之其他控 制器等以通訊等輸入亦可。 控制器2 0例如以微電腦爲主體之電腦裝置所構成， 內藏可讀寫之記憶（例如，半導體R AM、軟碟、硬碟等 )。控制器20,將從多段動作設定手段21所輸入之各 設定資料記憶於此記憶體，根據前述多段動作選擇手段2 2所輸入之選擇信號讀出對應上述記憶體內之多段動作各 設定資料。根據此設定資料作所定之處理，又從測出伺服 電動機1 1之驅動電之電流測出手段2 4輸入電動機電流 信號’而向驅動前述伺服電動機1 1之伺服放大器2 3輸 出控制指令。依此，控制滑塊1 5之位置與速度、停止時 間、或加壓力（電動機轉矩〕等。 伺服放大器2 3，輸入前述控制指以控制伺服電動機 14 I i裝ί ί 訂 {請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐） A7 B7 ,r 442 38 5 、發明説明（,. 1 1 $轉動。伺服放大器2 3，因應控制目的，將伺服電 1 1之速度與驅動電流中任—項，根據前述控制指令 所定値。即，輸入速度指令時，伺服放大器2 3， ’间服電動機1 1之驅動電流（即，電動機轉矩），使 度測感器1 1 a之伺服電動機1 1之速度信號與此 指令·値之偏差縮小β又，輸入轉矩指令時，伺服放大 ^ 2 3 ’控制伺服電動機1 1之驅動電流，使依電流測出 4所測出之電動機電流値與此電流指令値之偏差縮 + °來自電流測出手段2 4之電動機電流信號，作爲電動 輸出轉矩信號反饋於控制器2 0。而控制器2 0根據 乍設資料，控制滑塊1 5之位置及速度時則向伺服 放大器2 3輸出速度指令，又，控制加壓力時則向伺服放 大器2 3輸出轉矩指令。依此，控制各滑塊1 5之位匱及 速度或加壓力。 電^測出手段2 4，輸出對應電動機驅動電流之大小 及方向之電動機電流信號。電流測出手段2 4，例如根據 電動機電流所流通之並聯電阻兩端之電位差，測出電流之 大小及方向而構成 又’顯示器2 5連接於控制器2 0，顯示器2 5於設 定多段動作之各資料時顯示必要之情報，或其他控制所必 要之情報等。顯示器2 5，例如圖形顯示器（E L顯示器 、等離子體顯示器、液晶顯示器等）或數値顯示器等，能 顯示數字及文字即可=> 其次’說明多段動作之各條件設定方法。在本實施形 15 本紙張尺度適用中國國家標隼（CNS ) Α4規格（210Χ297公釐） (請先閱讀背面之注意事項再填寫本頁) -裝 訂· 經濟部中央標準局員工消費合作社印裝 經濟部中央標準局員工消费合作社印製 ? 442 38 5 A? B7 五、發明説明） 態，表示使用圖形顯示器爲顯示器2 5 ’監視顯示器2 5 之顯示資訊以操作多段動作設定手段21及多段動作選擇 手段2 2而設定之方法。在此，圖5表示顯示器2 5之多 段動作資料設定畫面之一側，表示設定如圖2所示各段別 之加工條件所相異之多段動作之畫面例。又，在圖6，表 示多段動作設定手段2 1及多段動作選擇手段2 2之一例 。以下根據圖5及圖6加以說明。_ 在多段動作資料設定畫面，有各設定各段分別加壓開 始點、下限位置、待機位置、低速下降速度、低速上昇速 度、加壓保持時間、待機時間及加壓力等之資料輸入框， 又設置動作號碼、段數資料、上限位置U及上限位置停止 時間等之資料輸入框。而在此設定畫靣，顯示選擇此等資 料輸入框之游標5 1。游標5 1，以游標移動鍵5 2〜5 5上下或左右移動》以游標移動鍵5 2、5 3可移動游標 上下方向，又游標移動鍵5 4、5 5可移動左右方向。又 ，爲輸入資料，設置個位數鍵5 6、小數點鍵5 7、C L 鍵C取消鍵）5 8與ΕΝ丁鍵（輸入鍵）5 9。 於此設定畫面設定多段動作之各資料時，以游標移動 鍵5 2〜5 5將游標移至所定之輸入框，以個位數鍵5 6 及小數點鍵5 7輸入對應該輸入框之所欲資料後，輸入Ε Ν Τ鍵5 9。依此*將上述輸入資料寫入於控制器2 0內 之記憶體領域。具體而言，依各資料別加以說明，先輸入 所欲之動作號碼於動作號碼輸入框6 1，可將以該多段動 作所加工之工件之工件號碼等輸入於工件號碼輸入框6 2 16 (請先閣讀背面之注意事項再填寫本頁) 丁 本紙張尺度適用中國國家榡準（CNS ) A4規格（210X297公釐） 經濟部智慧財產局貝JL消费合作社印製 f, 442 3 8 5 五、發明說明（丨4) 。其次，同樣’輸入該多段動作之最大段數資料（例如， 4段動作時爲4 )於段數輸入框6 3，又，輸入上限位置 及上限位置停止時間（停止於上限位置，而再進入多段動 作爲止之時間）資料=而’各段分別輸入各所欲之設定資 料於各條件之資料輸入框，以E N T鍵5 9寫入。在此， 上述加壓保持時間、待機時間或上限位置停止時間等，可 設定0以上之資料。又’ C L鍵5 8 ’可使用於輸入資料 之修正時。 如此，設定應該動作號碼之多段動作之全資料時，將 模式切換開關例如改爲生產模式。此模式切換開關，於本 實施形態’在指令鍵6 5中，以對應設置於設定畫面之畫 面切換指令6 4之鍵5 6 a所構成。以此模式切換操作， 寫入於上述所定之儲器領域之多段動作資料，記憶於對應 所設定之動作號碼之記憶體領域。又，此模式切換開關（ 鍵6 4 a )，以其他手段，例如通常之選擇開關等構成亦 可。 又，於圖5所示之設定畫面，可在一畫面內設定最大 1 0段之條件。在此情形，若欲設定1 1段以上之多段動 作時，則在指令鍵6 5中，以對應設於畫面之次頁指令6 6之鍵6 6 a，切換爲次頁之設定畫面（未圖示）後，以 與以上同樣之操作可設定。 其次，於生產模式畫面（未圖示），輸入對應欲加工 之工件之動作號碼，選擇所欲之動作資料。此時，與前同 樣，將游標移動鍵5 2〜5 5、個位數鍵5 6、C L鍵5 17 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公贫） 裝------訂--In —---竣 (請先閱讀背面之注意事項再填寫本頁) 經濟部中央標準局員工消費合作社印製 t 442 38 5 A7 ____B7 五、發明説明（ί <) 8及Ε Ν Τ鍵5 9等可使用爲多段動作選擇手段2 2。根 據所選擇之多段動作資料，控制伺服電動機1 1。 又’設定如圖3所示之重複動作之資料時，將上述之 各段設定資料視所有之段爲同一，亦可設定。然而，因增 加設定資料之輸入次數，有輸入操作麻煩之傾向3因此， 準備例如圖7所示之重複動作設定闬之設定畫面。在同畫 面設匱加壓次數輸入框6 7 ’以與前述同樣使用游標移動 鍵5 2〜5 5或個位數鍵5 6等之資料輸入方法，可設定 加麼次數資料。因在同畫面內亦設置每1段之各條件（加 壓開始點〜待機時間）之輸入框，僅輸入第1段之設定資 料即可。而生產時選擇該動作號碼時，根據此設定條件， 將伺服電動機1 1重複控制上述加壓次數，而實施重複加 工。 又’於上述說明，表示以數値輸入多段動作之各設定 資料而設定之方法，但本發明不限定於此，使用其他設定 方法亦可。例如，預先準備各條件別所定種類之設定資料 ，從此資料中選擇一項亦可。 其次，根據圖8說明本發明之控制方法流程。在此， 加S表示各處理步驟。又，開始以下控制之前，以多段動 作選擇手段2 2已選擇妥對應對象工件之動作資料- 先於步驟S 1，段數計値η設定爲1。而於步驟S 2 ，向伺服放大器2 3輸出速度指令，使以預先所記憶之高 速下降速度下降滑塊1 5至所選擇之動作資料中第1段之 加壓開始位置。其次，於步驟S 3，向伺服放大器2 3輸 18 ^^^適用中^家辟（。奶）八4規格（210父297公釐) ~ ---------^------ΐτ------^ (請先閱讀背面之注意事項再填寫本頁) f 442385 A7 _Β7_____ 五、發明說明（β) 出速度指令，使第1段時滑塊1 5以第1段之加工速度（ 低速下降速度）下降至下限位置L 1，又第2 η段時以所 定速度從前段之終了位置至第η段之加工開始位置κ η下 降後，第η段之加工速度（低速下降速度）下降至下限位 置L η。 此後，於步驟S 4，判定是否到達第η段之下限位置 L η，或是否到達前述所設定之第η段之設定加壓力，任 一判定爲是時，（到達下限位置L η，或，到達設定加壓 力時）移至步驟S 5處理。判定均爲否時，回到步驟S 3 而重複以上之處理◊而，於步驟S 5，將對應前述第η段 之設定加壓力之轉矩指令輸出於伺服放大器2 3後，所設 定之加壓保持時間停止位置以保持加壓力。其次，於步驟 S 6，輸出速度指令於伺服放大器2 3，將滑塊1 5以低 速上昇速度上昇至第η段之待機位置，於步驟S 7，停止 第η段之待機時間。此時，若爲最終段時，上述待機時間 爲0亦可。 其次，於步驟S 8，核對所設定之最大段數Ν是否等 於η，不相等時，於步驟S 9將η加算1後，回至步驟S 3，以後重複步驟S 3〜步驟S 8。又，於步驟S 8若η 等於最大段數Ν時，移至步驟S 1 0，輸出速度指令於伺 服放大器2 3，將滑塊1 5以預先所記億之高速上昇速度 上昇至上限位置U，其次於步驟S 1 1，所設定之停止時 間停止滑塊1 5，等待至下次之下降行程。其次，回至步 驟S 1，重複以上之處理。 本紙張尺度適用t國國家標準<CNS)A4規格（210 X 297公釐） (請先閱讀背面之注意事項再填寫本頁> 裝------- - 訂- - ------^ 經濟部智慧財產局員工消費合作社印製 經濟部中央榡準局員工消費合作社印製 丨442385 Α7 Β7 五、發明説明（) 依以上之構成，從上限位置ϋ下降滑塊1 5，再上昇 至上限位置U之間，在下限位置與待機位置間重複驅動滑 塊1 5，而可自動實施重複加工。多段動作之重複次數（ 最大段數），或各段之加壓位置、加壓保持時間、待機位 置、待機時間及加壓力等之動作資料因能預先設定，多工 程加工或複合加工之自動化爲可能，故可提高生產力。又 ，將上述待機位置設定於比上限位匿低之位匱，例如工件 近傍，且待機時不妨礙複合加工等之其他工程作業之位置 ，加壓後將滑塊1 5待機於此待機位置，故雖不回至上限 位置U亦可多工程加工或複合加工◊從而，能以短時間下 降至各段之加壓位置，更於加壓後能以短時間上昇，縮短 多工程加工或複合加工之總加工時間，提高生產力。 又，根據多段動作資料之各段加壓力設定資料，能自 動控制低速下降領域及加壓工程之塊1 5之加壓力》因此 ，可自動變更各段之加壓力，此結果多段動作之加工之自 動化變爲可能，提高生產力。又，因可保持適合於工件材 質或板厚、加工方法等之加壓力，可提高加工後之形狀凍 結性》因此，能以適合於對象工件之最適加工等件，且以 短時間，實施多工程或複合加工，作業變爲容易。 又，因能各段分別設定加壓時間、待機時間、下限位 置或待機位置爲所定値，以適合對象工件之最適加工條件 ，且以短時間，可實施多工程加工或複合加工。例如，因 能以適合於工件材質或板厚等之加壓時間保持加壓力，可 提高加工後之形狀凍結性，又因能調整待機時間，將衝壓 20 {請先閱讀背面之注意事項再填寫本頁) ： •言 本纸張尺度適用中國國家榡準（CNS > Α4規格（210Χ297公釐) 經濟部智慧財產局員工消费合作社印製 t 442385 A7 ^ __B7____ 五、發明說明（j) 後之其他加工工程不被待機時間左右而可使用最適方法。 又，因能調整下限位置而實施適合於工件材質或板厚等之 加壓成形，可提骨加工後之製品精度*更因能s周整待機位 置，可將滑塊1 5待機於適合衝壓後之其他加工工程之位 置。從而，多工程加工或複合加工時之作業變爲容易。 〔產業上之利用可能性〕 本發明，於多工程加工或複合加工時以多段變更加工 條件，可提高生產效率之伺服壓機之多段動作控制裝置及 其控制方法。 〔元件符號說明〕 1 伺服壓機 9 床台 10 機架 11 伺服電動機 12 轉動傳達部件 12a ' 12b 皮帶輪 14 動力變換裝置 15 滑塊 16 承塊 17 滑塊位置測出手段 20 控制器 21 多段動作設定手段 22 多段動作選擇手段 23 伺服放大器 21 本纸張尺度適用令國國家標準（CNS)A4規格（210 X 297公釐） ^ - - ------#!---# (請先閱讀背面之注意事項再填寫本頁) f 442385 抑π 五、發明說明（ι6ί) A7 經濟部智慧財產局員工消費合作社印製 24 電流測出手段 25 顯示器 51 游標 52- -55 游標移動鍵 56 個位數鍵 57 小數點鍵 58 C L鍵 59 Ε Ν Τ鍵 61 動作號碼輸入框 62 工件號碼輸入框 63 段數輸入框 64 畫面切換指令 65 指令鍵 66 次頁指令 67 加壓次數輸入框 U 上限位置 L、 Ln 下限位置 Μ、 Μη 待機位置 2 7- 1 t---------- --------訂----— If--嗓 <請先閱讀背面之沒意事項再填寫本頁) 本紙張尺度適用_國國家標準（CNS)A4規格（210 X 297公笼）T This paper size applies to Chinese National Standard (CNS) A4 specification (21〇 × 297 gong) Printed by the Consumer Cooperatives of the Central Bureau of Standards of the Ministry of Economic Affairs I 442385 A7 ___B7___ 5. Explanation of the invention) or the end of the high-speed descent field in paragraph 1 ) Yes. In addition, various pressurization start positions κ η, lower limit position L η 'standby position M η, low-speed descent speed, low-speed rise speed, pressurization holding time (holding time of pressurization process), pressurization time, or standby time (standby Engineering standby time), etc., can be set to be different for each segment according to the processing conditions of multi-engineering processing or composite processing. In FIG. 2, an example is shown in which the above settings of each paragraph are set to be different, but is not limited to this. For example, as shown in FIG. 3, it is also possible to take the above settings of each paragraph to be equal. In this case, * The processing conditions are the same as the so-called repetitive actions that are repeated several times under the same conditions. Hereinafter, the operation of pressing in a plurality of stages as described above will be referred to as a multi-stage operation. Fig. 4 shows the conditions for setting the above-mentioned multi-stage motions, and the control circuit block diagram of the multi-stage motion control device 5 which controls the slider 15 according to the set conditions. The following description will be based on Fig. 4 "Slider position measuring means 1 7. As described above, the height from the top of the bearing block 16 to the slider 15 is measured, and this position signal is output to the controller 2 0. The slider position detection means 17 is used in this embodiment as described above, for example, on a linear scale, etc. The configuration of the linear sensor is not limited to this, and the position of the slider 15 can be detected. For example, it may be configured by an encoder or the like. The slider position measurement means 17 may be mounted on the side opposite to the main shaft 1 1 a of the servo motor 11 and coaxially with the rotation axis. Multi-stage action setting means 21, which can input the lower limit position L η, standby position M η, low-speed descent speed, low-speed ascent speed, pressurization holding time (holding time of pressurization process), pressurization, or wait _ 13 This paper size applies the Chinese National Standard (CMS) A4 specification (210 × 297 cm) (Please read the precautions on the back before filling out this page). Packing. Printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs 4 4 2 3 8 5 A7 V. Invention description ((1) Machine time (standby time of standby project) and other data, output the input setting data to the controller 2 0. The setting data can be set and memorized according to the action mode corresponding to the type of processing workpiece. And this operation mode is identified by, for example, the operation number. At this time, the operator may input the setting data with a setting switch or the like, for example, it may be inputted through communication or the like from other controllers that automatically control the press processing production line. Such setting data, The memory 0 stored in the controller 20 and the multi-stage action selection means 22 are recorded in the memory of the controller 20 when the stamping operation is performed. For the above-mentioned multi-stage multiple mode, select the mode corresponding to the workpiece to be processed, and turn this selection signal out to the controller 2. This selection is specified, for example, by the action number, etc. As above, the operator can also select by a selection switch or the like. It is also possible to input from communication and other controllers used for automatic control of the production line. The controller 20 is composed of a microcomputer-based computer device, and contains readable and writable memory (for example, semiconductor RAM, floppy disk, Hard disk, etc.). The controller 20 stores the setting data input from the multi-segment action setting means 21 in this memory, and reads out the multi-segment actions corresponding to the above-mentioned memory according to the selection signal input by the aforementioned multi-segment action selection means 22. Each setting data. Based on this setting data, a predetermined process is performed, and a current measurement means 2 4 for measuring the driving power of the servo motor 11 is inputted to the motor current signal ', and then output to the servo amplifier 2 3 for driving the aforementioned servo motor 1 1 Control instructions. According to this, control the position and speed of slider 15, stop time, or pressure (motor torque), etc. Servo amplifier Device 2 3, input the aforementioned control finger to control the servo motor 14 I i 装 ί Order {Please read the precautions on the back before filling this page) This paper size applies the Chinese National Standard (CNS) Α4 size (210X297 mm) A7 B7, r 442 38 5. Description of the invention (,. 1 1 $ rotation. The servo amplifier 23, according to the control purpose, selects any one of the speed of the servo power 1 and the drive current according to the control command. That is, When a speed command is input, the drive current of the servo amplifier 2 3, 'the motor 1 1 (ie, the motor torque) causes the speed signal of the servo motor 11 1 of the degree sensor 1 1 a to deviate from this command. Reduce β and servo amplification when inputting torque command ^ 2 3 'Control the drive current of servo motor 1 1 so that the deviation of the motor current measured by current measurement 4 from this current command 缩 + ° comes from the current The motor current signal of the measuring means 24 is fed back to the controller 20 as an electric output torque signal. The controller 20 outputs the speed command to the servo amplifier 23 when controlling the position and speed of the slider 15 according to the initial data, and outputs the torque command to the servo amplifier 23 when controlling the pressure. Based on this, the position and speed or pressure of each slider 15 is controlled. The electric measuring means 24 outputs a motor current signal corresponding to the magnitude and direction of the motor drive current. Current measuring means 24, for example, based on the potential difference between the two ends of the parallel resistance flowing through the motor current, and measuring the magnitude and direction of the current, and the display 25 is connected to the controller 20, and the display 25 is set to set a multi-stage action. Each piece of information displays necessary information, or other information necessary for control. The display 25, such as a graphic display (EL display, plasma display, liquid crystal display, etc.) or a digital display, etc., can display numbers and characters = > Secondly, the method of setting each condition of the multi-stage operation will be described. In this embodiment, the paper size of this paper applies the Chinese National Standard (CNS) A4 specification (210 × 297 mm) (please read the precautions on the back before filling this page)-Binding · Ministry of Economic Affairs, Central Standards Bureau, Employee Consumer Cooperatives, Printing Economy Printed by the Consumer Standards Cooperative of the Ministry of Standards of the People's Republic of China? 442 38 5 A? B7 V. Description of the invention) means the use of a graphic display as the display 2 5 'monitoring display 2 5 to operate the multi-stage action setting means 21 and multi-stage action selection Means 2 2 and set the method. Here, FIG. 5 shows one side of the multi-stage motion data setting screen of the display 25, and shows an example of a screen for setting multi-stage motions in which the processing conditions of the stages shown in FIG. 2 are different. FIG. 6 shows an example of the multi-stage action setting means 21 and the multi-stage action selection means 22. This will be described below with reference to FIGS. 5 and 6. _ In the multi-segment action data setting screen, there are data input boxes for each setting and each step of the pressure starting point, lower limit position, standby position, low-speed descending speed, low-speed rising speed, pressurizing holding time, standby time, and pressure, etc. Set data input boxes for action number, segment number data, upper limit position U, and upper limit stop time. In this setting screen, cursor 5 1 for selecting these data input boxes is displayed. Cursor 51 1. Use cursor movement keys 5 2 ~ 5 5 to move up and down or to the left or right.> Use cursor movement keys 5 2, 5 3 to move the cursor up and down, and cursor movement keys 5 4, 5 5 to move left and right. In addition, for inputting data, set the single digit key 5 6, decimal point key 5 7, C L key (C cancel key) 5 8 and EN D key (enter key) 5 9. When setting each piece of data for multiple actions on this setting screen, use the cursor move keys 5 2 ~ 5 5 to move the cursor to the specified input box, and use the single digit keys 5 6 and the decimal point key 5 7 to enter the corresponding input box. For information, enter E N Τ key 5 9. According to this *, the above input data is written into the memory area in the controller 20. Specifically, according to the description of each data type, first enter the desired action number in the action number input box 61, and the workpiece number of the workpiece processed by the multi-stage action can be entered in the workpiece number input box 6 2 16 ( Please read the notes on the back before filling in this page.) The size of this paper is applicable to China National Standards (CNS) A4 (210X297 mm). Printed by the Intellectual Property Bureau of the Ministry of Economic Affairs, JL Consumer Cooperative, f, 442 3 8 5 5 Description of the invention (丨 4). Secondly, similarly, input the maximum segment data of the multi-segment action (for example, 4 for 4-segment actions) in the number-of-segments input box 6 3, and enter the upper limit position and the upper limit stop time (stop at the upper limit position, and then enter Time until multi-segment action) Data = and 'Each segment enters each desired setting data in the data input box of each condition, write with ENT key 5 9. Here, the above-mentioned pressure holding time, standby time, or upper limit stop time can be set to data of 0 or more. Also, the "C L key 5 8" can be used for correction of input data. In this way, when setting all the data of the multi-segment actions of the action number, the mode switch is changed to the production mode, for example. This mode switching switch is constituted by the command key 6 5 of the present embodiment with a key 5 6 a corresponding to the screen switching command 64 provided on the setting screen. In this mode switching operation, a plurality of pieces of action data written in the memory area defined above are stored in the memory area corresponding to the set action number. In addition, this mode changeover switch (key 6 4 a) may be constructed by other means, such as a normal selection switch. In addition, in the setting screen shown in FIG. 5, the conditions of a maximum of 10 steps can be set in one screen. In this case, if you want to set more than 11 steps, you can use the command key 6 5 to switch to the next page setting command 6 6 key 6 6 a. (Pictured), you can set it by the same operation as above. Next, on the production mode screen (not shown), enter the action number corresponding to the workpiece to be processed, and select the desired action data. At this time, as before, the cursor movement key 5 2 ~ 5 5, single digit key 5 6, CL key 5 17 This paper size applies to China National Standard (CNS) A4 specification (210 X 297 public poverty). ---- Order --In ----- End (please read the notes on the back before filling out this page) Printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs t 442 38 5 A7 ____B7 V. Description of the invention (ί < ) 8 and E N T key 5 9 etc. can be used as a multi-segment action selection means 2 2. According to the selected multi-stage motion data, the servo motor 11 is controlled. In addition, when setting the data of the repetitive action as shown in FIG. 3, the above-mentioned sections of setting data are regarded as all the same, and can also be set. However, since the number of times of inputting the setting data is increased, there is a tendency that the input operation is troublesome. Therefore, a setting screen such as the repeat operation setting screen shown in FIG. 7 is prepared. On the same screen, a number of times of pressurization input box 6 7 ′ is set in the same way as the data input method using the cursor movement keys 5 2 to 5 5 or the single digit key 56 to set the number of times to be added. Because the input box for each condition (press start point to standby time) is also set in the same screen, only the setting data of the first paragraph can be entered. When the operation number is selected during production, the servo motor 11 is repeatedly controlled to perform the above-mentioned pressurization times according to the setting conditions, and the repeated processing is performed. In addition, in the above description, the method of setting each input data of a plurality of stages of operations by numbers is shown, but the present invention is not limited to this, and other setting methods may be used. For example, it is possible to prepare setting data of a kind determined by each condition in advance, and it is also possible to select one of the data. Next, the control method flow of the present invention will be described with reference to FIG. 8. Here, S is added to each processing step. In addition, before starting the following control, the motion data corresponding to the target workpiece has been selected by the multi-stage motion selection means 2 2-before step S1, the stage number 値 η is set to 1. At step S2, a speed command is output to the servo amplifier 23, so that the slider 15 is lowered at the high-speed descending speed memorized in advance to the pressure start position of the first stage in the selected action data. Next, in step S 3, input 18 to the servo amplifier 2 3 ^^^ Applicable ^ Jiapi (.milk) 8 4 specifications (210 parent 297 mm) ~ --------- ^ --- --- ΐτ ------ ^ (Please read the precautions on the back before filling in this page) f 442385 A7 _Β7 _____ V. Description of the invention (β) The speed command is issued so that the slider 15 in the first stage will be in the order of 5 The processing speed (low-speed descending speed) of the first stage is lowered to the lower limit position L 1, and the second η stage is lowered at a predetermined speed from the end position of the previous stage to the processing start position of the η stage. (Low-speed descending speed) Lowers to the lower limit position L η. Thereafter, in step S4, it is determined whether the lower limit position η of the nth stage has been reached, or whether the set pressing force of the previously set nth stage has been reached, and if any of the determinations are yes, (the lower limit position L η has been reached, or, When the set pressure is reached, the process proceeds to step S5. When the judgment is no, return to step S 3 and repeat the above processing. Then, in step S 5, output the torque command corresponding to the aforementioned setting pressure of the n-th stage to the servo amplifier 2 3 and then set the added torque. Press the hold time stop position to maintain the pressure. Next, at step S6, the speed command is output to the servo amplifier 23, the slider 15 is raised at a low speed to the standby position of the n-th stage, and at step S7, the standby time of the n-th stage is stopped. In this case, if it is the final stage, the standby time may be zero. Next, in step S8, it is checked whether the set maximum number of segments N is equal to η, and if they are not equal, after adding η to 1 in step S9, the process returns to step S3, and steps S3 to S8 are repeated thereafter. In addition, if η is equal to the maximum number of segments N in step S8, the process moves to step S10, the speed command is output to the servo amplifier 23, and the slider 15 is raised to the upper limit position U at a high-speed rising speed recorded in advance of 100 million. , Followed by step S 1 1, the set stop time stops the slider 15 and waits for the next descending stroke. Next, return to step S1 and repeat the above processing. This paper size applies to the national standard of the country < CNS) A4 specification (210 X 297 mm) (Please read the precautions on the back before filling out this page > Packing --------Order------- --- ^ Printed by the Employees 'Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs Printed by the Consumers' Cooperatives of the Central Government Procurement Bureau of the Ministry of Economy 丨 442385 Α7 Β7 5. Description of the invention It then rises to the upper limit position U, and repeatedly drives the slider 15 between the lower limit position and the standby position to automatically perform the repetitive processing. The number of repetitions of the multi-stage action (the maximum number of stages), or the pressurized position of each stage, plus Since the action data such as pressure holding time, standby position, standby time, and pressure can be set in advance, automation of multi-engineering or composite processing is possible, so productivity can be improved. Moreover, the above-mentioned standby position is set lower than the upper limit. The position is short, for example, the position of the workpiece is near, and it does not hinder other engineering operations such as composite processing during standby. After pressing, the slider 15 is standby at this standby position, so it can be multi-engineered even if it does not return to the upper limit position U. or Therefore, it can be lowered to the pressing position of each stage in a short time, and can be raised in a short time after pressing, which shortens the total processing time of multi-engineering or composite processing and improves productivity. According to multi-stage action data The pressure setting data of each stage can automatically control the pressure of the low-speed descent area and the pressure of the block 15 of the pressurization project. Therefore, the pressure of each stage can be automatically changed. As a result, the automation of processing of multiple stages of action becomes possible, improving Productivity. In addition, because it can maintain the pressure suitable for the workpiece material, plate thickness, processing method, etc., it can improve the shape freezing after processing. Therefore, it is possible to use the most suitable processing parts suitable for the target workpiece, and in a short time, Multi-engineering or composite machining is implemented, and the work becomes easy. In addition, since the pressing time, standby time, lower limit position or standby position can be set for each stage, the optimum processing conditions suitable for the target workpiece can be set in a short time. Multi-engineering or composite machining can be implemented. For example, because the pressing force can be maintained for a pressing time suitable for the material of the workpiece or the thickness of the plate, Improving the freezing of the shape after processing, and because of the adjustable standby time, stamping 20 {Please read the precautions on the back before filling this page): • The paper size is applicable to China National Standards (CNS > Α4 specifications ( 210 × 297 mm) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs t 442385 A7 ^ __B7____ V. Other processing processes after the invention description (j) are not affected by the standby time and the most suitable method can be used. Also, because the lower limit position can be adjusted, The pressure forming suitable for the workpiece material or plate thickness can be implemented, which can improve the precision of the product after the bone processing *. It can also be in the standby position, and the slider 15 can be standby at the position suitable for other processing projects after punching. Therefore, the work at the time of multi-engineering processing or compound processing becomes easy. [Industrial Applicability] In the present invention, a multi-stage motion control device and a control method for a servo press that can change production conditions in multiple stages during multi-engineering or compound processing can improve production efficiency. [Explanation of component symbols] 1 Servo press 9 Bed 10 Frame 11 Servo motor 12 Rotation transmission part 12a '12b Pulley 14 Power conversion device 15 Slider 16 Block 17 Slider position measuring means 20 Controller 21 Multi-stage action setting Means 22 Multi-stage action selection means 23 Servo amplifier 21 This paper size applies the national standard (CNS) A4 specification (210 X 297 mm) ^-------- #! --- # (Please read first Note on the back, please fill in this page again.) F 442385 ππ 5. Inventive note (ι6ί) A7 Printed by the Intellectual Property Bureau of the Ministry of Economy Employees' Cooperatives 24 Current measuring means 25 Display 51 Cursor 52- -55 Cursor movement key 56 bits Number key 57 Decimal point key 58 CL key 59 Ε Ν Τ key 61 Action number input box 62 Work piece number input box 63 Segment number input box 64 Screen switching command 65 Command key 66 Next page command 67 Pressing number input box U Upper limit position L , Ln lower limit position M, Μη Standby position 2 7- 1 t ---------- -------- Order -------- If--Voice (Please fill in this page if you have any questions) This paper size applies _ National Standard (CNS) A4 specification (210 X 297 male cage)