TW201606468A - Method of synchronization control setting of positioning control apparatus and control setting apparatus of positioning control apparatus - Google Patents
Method of synchronization control setting of positioning control apparatus and control setting apparatus of positioning control apparatus Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23136—Display all subsystems, select one and display screen corresponding to subsystem
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23258—GUI graphical user interface, icon, function bloc editor, labview
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Abstract
Description
本發明係關於一種定位控制裝置之同步控制設定方法及定位控制裝置之控制設定裝置。 The present invention relates to a synchronous control setting method of a positioning control device and a control setting device of the positioning control device.
以往，已知有一種使用者(user)藉由GUI(圖形使用者介面，Graphical User Interface)來控制複數個機械零件之動作(功能)之定位控制裝置。 Conventionally, there has been known a positioning control device for controlling the operation (function) of a plurality of mechanical parts by a GUI (Graphical User Interface).
例如，在專利文獻1中，揭示有一種定位裝置及其程式顯示方法，係以「獲得直接對機械性機構進行模擬而可程式(program)之定位裝置」為目的，其特徵為「具備：馬達(motor)，係用以驅動控制對象；及控制器(controller)，係使上述控制對象同步而對要定位之上述馬達進行驅動控制者；上述控制器係具備：驅動軟體模組(software module)，係產生並輸出與上述馬達同步地進行驅動控制之基準的位置資訊；傳遞軟體模組，係演算輸入資 訊，將該結果作為傳遞資訊予以輸出；輸出軟體模組，係演算輸入資訊，將其結果作為上述馬達之驅動控制指令予以輸出；並將上述軟體模組予以任意地組合」。依據專利文獻1所揭示之技術係配置將對應於圖形(graphic)顯示之機械零件的動作軟體模組予以組合而構成之定位裝置的各動作軟體模組來設定各個參數(parameter)，藉此能以簡單之構成來實現軸間之同步控制機構的設定。 For example, Patent Document 1 discloses a positioning device and a program display method thereof, which are characterized in that "a positioning device that can directly simulate a mechanical mechanism and can be programmed" is used. (motor) for driving a control object; and a controller for driving the motor to be positioned in synchronization with the control object; the controller having: a software module And generating and outputting position information of a reference for driving control in synchronization with the motor; transmitting a software module, which is a calculation input The result is output as the transmission information; the output software module is used to calculate the input information, and the result is output as the drive control command of the motor; and the software modules are arbitrarily combined. According to the technique disclosed in Patent Document 1, each of the motion software modules of the positioning device configured by combining the motion software modules corresponding to the mechanical components of the graphic display is configured to set each parameter. The setting of the synchronization control mechanism between the axes is realized with a simple configuration.
專利文獻1：日本特開平5-73147號公報 Patent Document 1: Japanese Patent Laid-Open No. Hei 5-73147
然而，依據上述先前技術，為了實現複雜之功能或進行複雜之動作，需要非常大量的參數，且需要對應於與實現之功能相同數量之機械零件的動作軟體模組。並且，依據使用者之要求，亦有必須自訂(customize)對應於機械零件之動作軟體模組而進行出貨之情形。因此，會有難以進行複雜之動作的問題。 However, in accordance with the prior art described above, in order to implement complex functions or perform complex actions, a very large number of parameters are required, and an action software module corresponding to the same number of mechanical parts as the functions implemented is required. Further, depending on the user's request, it is also necessary to customize the software module corresponding to the mechanical component to be shipped. Therefore, there is a problem that it is difficult to perform complicated actions.
本發明係鑑於上述課題而研創者，其目的在於可獲得一種能夠以簡易之構成來實現高功能及高操作性之定位控制裝置之控制設定裝置、同步控制設定方法、及使電腦執行該同步控制設定方法之程式。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a control setting device, a synchronous control setting method, and a computer that can perform the synchronization control of a positioning control device capable of achieving high functions and high operability with a simple configuration. Set the method of the program.
為了要解決上述課題並達成目的，本發明之定位控制裝置之同步控制設定方法係依據來自外部之輸入來設定構成定位控制裝置之控制程式的複數個動作軟體模組之連接關係，且以圖形形式(graphically)來顯示在畫面上；其中，前述複數之動作軟體模組之至少一個係可藉由程式語言來進行變更。 In order to solve the above problems and achieve the object, the synchronization control setting method of the positioning control device of the present invention sets the connection relationship of the plurality of action software modules constituting the control program of the positioning control device in accordance with an input from the outside, and is in a graphical form. (graphically) is displayed on the screen; wherein at least one of the plurality of action software modules can be changed by a programming language.
本發明之定位控制裝置之控制設定裝置、同步控制設定方法、及使電腦執行該同步控制設定方法之程式，係能以簡易之構成實現高功能及高操作性之定位控制裝置。 The control setting device, the synchronization control setting method, and the program for causing the computer to execute the synchronous control setting method of the positioning control device of the present invention are positioning control devices capable of realizing high functions and high operability with a simple configuration.
10‧‧‧定位控制裝置 10‧‧‧ Positioning control device
11‧‧‧控制設定裝置 11‧‧‧Control setting device
12‧‧‧動作控制器 12‧‧‧Action controller
13a、13b、13c、13d‧‧‧伺服放大器 13a, 13b, 13c, 13d‧‧‧ servo amplifier
14a、14b、14c、14d‧‧‧伺服馬達 14a, 14b, 14c, 14d‧‧‧ servo motors
15a‧‧‧控制對象X軸 15a‧‧‧Control object X axis
15b‧‧‧控制對象Y軸 15b‧‧‧Control object Y-axis
15c‧‧‧控制對象Z軸 15c‧‧‧Control object Z axis
16‧‧‧通信介面 16‧‧‧Communication interface
17‧‧‧CPU 17‧‧‧CPU
18‧‧‧記憶體 18‧‧‧ memory
19‧‧‧顯示部 19‧‧‧ Display Department
20‧‧‧輸入介面 20‧‧‧Input interface
21、24‧‧‧驅動軟體模組 21, 24‧‧‧ drive software module
22、23‧‧‧傳遞軟體模組 22, 23‧‧‧Transfer software module
25‧‧‧輸出軟體模組 25‧‧‧Output software module
26‧‧‧連結軟體模組 26‧‧‧Link software module
27‧‧‧捲出軟體模組 27‧‧‧Without the software module
28‧‧‧捲取軟體模組 28‧‧‧Winding software module
第1圖係表示實現實施形態之定位控制裝置之同步控制設定方法的硬體(hardware)構成之圖。 Fig. 1 is a view showing a hardware configuration for realizing a synchronization control setting method of the positioning control device according to the embodiment.
第2圖係表示用來顯示實施形態之定位控制裝置之控制設定裝置中之構成控制程式之複數個動作軟體模組之連接關係的畫面之一例的圖。 Fig. 2 is a view showing an example of a screen for displaying a connection relationship between a plurality of operational software modules constituting a control program in the control setting device of the positioning control device according to the embodiment.
第3圖係表示在實施形態之定位控制裝置之同步控制設定方法中，藉由因應與機械零件對應之動作軟體模組的程式(programming)言語所產生之定義例的圖。 Fig. 3 is a view showing an example of definitions produced by the programming language of the motion software module corresponding to the mechanical component in the synchronization control setting method of the positioning control device according to the embodiment.
第4圖係表示在實施形態之定位控制裝置之同步控制設定方法中，藉由因應與機械零件對應之動作軟體模組的程式語言所產生之自訂例的圖。 Fig. 4 is a view showing a custom example generated by a programming language of an action software module corresponding to a mechanical component in the synchronous control setting method of the positioning control device according to the embodiment.
第5圖係表示實施形態之定位控制裝置之控制設定裝置中之構成控制程式之複數個動作軟體模組的連接關係之顯示畫面之一例的圖。 Fig. 5 is a view showing an example of a display screen of a connection relationship of a plurality of operational software modules constituting a control program in the control setting device of the positioning control device according to the embodiment.
以下，依據圖式詳細地說明本發明實施形態之定位控制裝置之同步控制設定方法、程式及定位控制裝置之控制設定裝置。此外，本發明並非由該實施形態所限定者。 Hereinafter, the synchronization control setting method, the program, and the control setting device of the positioning control device of the positioning control device according to the embodiment of the present invention will be described in detail based on the drawings. Further, the present invention is not limited to the embodiment.
實施形態1 Embodiment 1
第1圖係顯示本實施形態之定位控制裝置之同步控制設定方法之硬體構成的圖。第1圖所示之定位控制裝置10係可依據來自外部之輸入而可設定前述連接關係，且具備動作控制器(motion controller)12、伺服放大器(servo amplifier)13a、13b、13c、13d，藉由使分別連接在伺服放大器13a、13b、13c、13d之伺服馬達(servo motor)14a、14b、14c、14d進行同步控制，以進行控制對象X軸15a、控制對象Y軸15b及控制對象Z軸15c之定位的定位控制裝置。為了進行定位控制裝置10之同步控制設定而使用之控制設定裝置11係安裝(install)有進行定位控制裝置10之控制程式之製作及編集的工具(tool)，且具備：CPU(中央處理單元，Central Processing Unit)17，用以處理資料(data)；記憶體(memory)18，用以儲存資料；顯示部19，可以圖形形式來顯示構成定位控制裝置10之控制程式之複數個動作軟體模組之連接關係；輸入介面(interface)20，連接在滑 鼠(mouse)或鍵盤(keyboard)而輸入資料；以及通信介面16，係對動作控制器12進行資料之輸出輸入。控制設定裝置11一般係使用個人電腦(personal computer)。 Fig. 1 is a view showing a hardware configuration of a method of setting a synchronous control of the positioning control device according to the present embodiment. The positioning control device 10 shown in Fig. 1 can set the connection relationship in accordance with an input from the outside, and includes a motion controller 12, servo amplifiers 13a, 13b, 13c, and 13d. The servo motors 14a, 14b, 14c, and 14d connected to the servo amplifiers 13a, 13b, 13c, and 13d are synchronously controlled to perform the control target X-axis 15a, the control target Y-axis 15b, and the control target Z-axis. Positioning control device for positioning 15c. The control setting device 11 used for the synchronization control setting of the positioning control device 10 is provided with a tool for creating and editing a control program for the positioning control device 10, and includes a CPU (Central Processing Unit, a central processing unit 17 for processing data, a memory 18 for storing data, and a display unit 19 for displaying a plurality of action software modules constituting the control program of the positioning control device 10 in a graphic form. Connection relationship; input interface (interface) 20, connected in slip A mouse or a keyboard is used to input data; and a communication interface 16 is used to input and output data to the motion controller 12. The control setting device 11 generally uses a personal computer.
第2圖係用來顯示本實施形態之定位控制裝置之控制設定裝置中之構成控制程式之複數個動作軟體模組之連接關係的畫面之一例的圖。本實施形態之定位控制裝置，係透過組合對應於複數個機械零件之動作軟體模組的驅動機構來控制控制對象之動作。 Fig. 2 is a view showing an example of a screen for showing a connection relationship between a plurality of operational software modules constituting a control program in the control setting device of the positioning control device according to the present embodiment. In the positioning control device of the present embodiment, the operation of the control target is controlled by a combination of drive mechanisms corresponding to the operation software modules of the plurality of mechanical components.
再者，如第2圖所示，在本實施形態中，對於有線或無線連接在控制設定裝置所具備之顯示部或定位控制裝置顯示裝置，係以圖形形式來顯示有：對應於包含在驅動機構之複數個機械零件之屬於動作軟體模組的驅動軟體模組21、24、傳遞軟體模組22、23、輸出軟體模組25及連結軟體模組26。藉由控制設定裝置，顯示相當於驅動機械零件之驅動軟體模組21、24、相當於傳遞機械零件之傳遞軟體模組22、23、相當於輸出機械零件之輸出軟體模組25、及相當於連結機械零件之連結軟體模組26，且可以圖形形式來設定該等之動作軟體模組的連接關係。 Further, as shown in FIG. 2, in the present embodiment, the display unit or the positioning control device display device provided in the control setting device for wired or wireless connection is displayed in a graphical form corresponding to the drive included in the drive. The plurality of mechanical parts belonging to the action software module are the drive software modules 21 and 24, the transfer software modules 22 and 23, the output software module 25, and the connection software module 26. By controlling the setting device, the driving software modules 21 and 24 corresponding to the driving mechanical parts, the transmission software modules 22 and 23 corresponding to the transmission mechanical parts, the output software module 25 corresponding to the output mechanical parts, and the like are displayed. The connection software module 26 of the mechanical parts is connected, and the connection relationship of the action software modules can be set in a graphical form.
第3圖係表示在本實施形態之定位控制裝置之同步控制設定方法中，藉由因應與機械零件對應之動作軟體模組的程式語言所產生之定義例的圖，在定位控制裝置之控制設定裝置的顯示部中，係顯示成與顯示構成第2圖所示之控制程式之複數個動作軟體模組之連接關係之畫面不同的畫面或視窗，或者以同一畫面或視窗，利用設 置在對應之動作軟體模組之附近的顯示框(balloon)等在每個動作軟體模組上顯示。第4圖係表示對應於第3圖之定義例之自訂例的圖。 Fig. 3 is a view showing a control example of the positioning control device by a definition example of a programming language of the operating software module corresponding to the mechanical component in the synchronous control setting method of the positioning control device according to the present embodiment. The display unit of the device displays a screen or a window different from the screen for displaying the connection relationship between the plurality of operational software modules constituting the control program shown in FIG. 2, or uses the same screen or window. A display box (balloon) placed in the vicinity of the corresponding action software module is displayed on each of the action software modules. Fig. 4 is a view showing a custom example corresponding to the definition example of Fig. 3.
在第2圖所示之驅動軟體模組21中，標準上係藉由用以顯示軸之現在值的變數“VirtualServoMotor[1]”，如第3圖所示將輸出予以定義。其中，“[1]”係表示軸號碼，且表示選擇存在複數個之驅動軟體模組之一個的驅動軟體模組軸1。如第4圖所示，當適用平滑(smoothing)函數Smoothing時，可使輸出相對於輸入“VirtualServoMotor[1]”之變動平穩地變化。此外，平滑函數Smoothing係預先定義之函數，其一例係以取得參數之時間平均的函數。在如習知僅使用GUI之方法中，當相對於輸入適用函數並予以輸出時，雖需要因應適用之函數的圖形，但若以程式語言來定義因應各機械零件之動作軟體模組時，可容易地進行函數之適用。 In the driving software module 21 shown in Fig. 2, the output is defined by the variable "VirtualServoMotor[1]" for displaying the current value of the axis as shown in Fig. 3. Here, "[1]" indicates the axis number, and indicates that the drive software module axis 1 in which one of the plurality of drive software modules is present is selected. As shown in FIG. 4, when the smoothing function Smoothing is applied, the output can be smoothly changed with respect to the change of the input "VirtualServoMotor[1]". Further, the smoothing function Smoothing is a function defined in advance, and an example thereof is a function of obtaining a time average of parameters. In the method of using only the GUI, when the function is applied with respect to the input and output, the graphic of the function to be applied is required, but when the software module corresponding to the action of each mechanical part is defined in the programming language, It is easy to apply the function.
第2圖所示之傳遞軟體模組22係相當於齒輪(gear)。在傳遞軟體模組22中，藉由將來自輸入軸側之脈衝(pulse)Input乘以顯示齒輪比分子之變數“GearNumerator[1]”，且除以顯示齒輪比分母之變數“GearDenominator[1]”，而如第3圖所示將輸出予以定義。其中，齒輪比分子及齒輪比分母係依齒輪而被分配，“[1]”為將齒輪予以特定之數字。如第4圖所示，將齒輪比之結果暫時代入變數“gear”，且進行將平滑函數Smoothing適用於變數“gear”之自訂時，可使輸出相對於 齒輪比之變動平穩地變化。 The transfer software module 22 shown in Fig. 2 corresponds to a gear. In the transfer software module 22, by multiplying the pulse input from the input shaft side by the variable "GearNumerator[1]" showing the gear ratio numerator, and dividing by the variable of the display gear ratio denominator "GearDenominator [1] ", and the output is defined as shown in Figure 3. Among them, the gear ratio numerator and the gear ratio denominator are distributed according to the gear, and "[1]" is a number that specifies the gear. As shown in Fig. 4, when the result of the gear ratio is temporarily substituted into the variable "gear", and the smoothing function Smoothing is applied to the customization of the variable "gear", the output can be made relative to The gear ratio changes smoothly.
第2圖所示之傳遞軟體模組23係相當於差動齒輪(differential gear)。傳遞軟體模組23係從圖中上方之主輸入側的脈衝輸入Input[1]減去圖中左方之補助輸入側的脈衝輸入Input[2]，且取得該等之差分，藉此如第3圖所示將輸出予以定義。在此，如第4圖所示，進行下列之自訂：將變數ratio[1]乘以來自補助輸入側之脈衝輸入Input[2]，並相加於從主輸入側輸入之脈衝輸入Input[1]。 The transfer software module 23 shown in Fig. 2 corresponds to a differential gear. The transfer software module 23 subtracts the pulse input Input[2] on the auxiliary input side of the left side of the figure from the pulse input Input[1] on the upper input side of the figure, and obtains the difference, thereby obtaining the difference Figure 3 shows the output as defined. Here, as shown in Fig. 4, the following customization is performed: multiplying the variable ratio[1] by the pulse input Input[2] from the auxiliary input side, and adding it to the pulse input Input input from the main input side [ 1].
第2圖所示之驅動軟體模組24係使因應來自同步編碼器(encoder)之輸入的輸入脈衝產生。驅動軟體模組24係藉由顯示同步編碼器之變數“SynchronousEncoder[1]”，而如第3圖所示將輸出予以定義。其中，“[1]”為表示連接在驅動軟體模組24之同步編碼器的號碼，且表示選擇複數個同步編碼器中之第1個同步編碼器。如第4圖所示，當藉由顯示選擇分歧之程式構文“IF”“ELSE”及變數“selectsignal”來將要使用之同步編碼器自訂成能夠選擇“SynchronousEncoder[1]”或“SynchronousEncoder[2]”時，即可藉由變數“selectsignal”來選擇要使用之同步編碼器。 The drive software module 24 shown in Fig. 2 is generated in response to an input pulse from an input of a synchronous encoder. The driver software module 24 defines the output as shown in FIG. 3 by displaying the variable "Synchronous Encoder [1]" of the synchronous encoder. Here, "[1]" is a number indicating a synchronous encoder connected to the drive software module 24, and indicates that the first one of the plurality of synchronous encoders is selected. As shown in Fig. 4, the synchronous encoder to be used is customized to select "SynchronousEncoder[1]" or "SynchronousEncoder[2] by displaying the program composition "IF" "ELSE" and the variable "selectsignal" of the selected divergence. When the variable "selectsignal" is used, the synchronous encoder to be used can be selected.
第2圖所示之輸出軟體模組25係相當於凸輪(cam)。輸出軟體模組25係藉由定義凸輪之“Cam”、表示凸輪之變數“CamSelect[1]”、輸入“Input”，如第3圖所示將輸出予以定義。其中，“[1]”係表示凸輪號碼，且表示從複數個凸輪中選擇第1個凸輪。如第4圖所示， 當採用現在週期之輸入值“Input”與前一個週期的輸入值“PrevInput”之平均值(將其和除以2所得之值)的輸入值來算出輸出時，可抑制因輸入值之變動所得之輸出的變動。 The output software module 25 shown in Fig. 2 corresponds to a cam. The output software module 25 defines the output as shown in Fig. 3 by defining a "Cam" of the cam, a variable "CamSelect[1]" indicating the cam, and an input "Input". Here, "[1]" indicates a cam number, and indicates that the first cam is selected from a plurality of cams. As shown in Figure 4, When the output is calculated using the input value of the input value "Input" of the current cycle and the average value of the input value "PrevInput" of the previous cycle (the value obtained by dividing the sum by 2), the variation due to the input value can be suppressed. The change in output.
第2圖所示之連結軟體模組26係相當於離合器(clutch)。連結軟體模組26係藉由定義離合器之連結的“DirectClutch”、變數“signal[1]”、及輸入“Input”，如第3圖所示將輸出予以定義，而由變數“signal[1]”來決定是否連結。此外，在此連結軟體模組26之動作並未被自訂，亦可依據連結軟體模組26之動作來進行自訂。 The connection software module 26 shown in Fig. 2 corresponds to a clutch. The link software module 26 defines the output as shown in Fig. 3 by defining the "DirectClutch" of the clutch, the variable "signal[1]", and the input "Input", and the variable "signal[1] "To decide whether to link. In addition, the operation of the connection software module 26 is not customized, and the customization may be performed according to the action of the connection software module 26.
如以上說明，本實施形態之定位控制裝置之同步控制設定方法，係以ST言語所代表之程式語言來定義對應於各機械零件之動作軟體模組，且可由使用者將所定義之各動作軟體模組予以適當地變更(自訂)，而可對定位控制裝置附加高功能，並且實現高操作性。亦即，由於可變更設定由程式語言所成之驅動軟體模組21、24、傳遞軟體模組22、23及輸出軟體模組25之動作的定義，因此可讓使用者側之便利性提升。 As described above, the synchronization control setting method of the positioning control device according to the present embodiment defines the action software module corresponding to each mechanical component in the programming language represented by the ST language, and the user can define the respective action software. The module is appropriately changed (customized), and high functionality can be added to the positioning control device, and high operability can be achieved. That is, since the definitions of the operations of the drive software modules 21 and 24, the transfer software modules 22 and 23, and the output software module 25 which are created by the programming language can be changed, the convenience on the user side can be improved.
再者，對於對應於機械零件之動作軟體模組，以程式語言來定義並提供各機械零件之功能，且除了程式語言之一般泛用之函數以外，亦提供專用之函數，藉此可將定位控制裝置進一步作成高功能。 Furthermore, for the action software module corresponding to the mechanical part, the function of each mechanical part is defined and provided in a programming language, and in addition to the general function of the programming language, a special function is also provided, thereby positioning The control device is further made highly functional.
再者，亦可將所自訂之動作軟體模組挪用作為雛形。此外，藉由增加程式語言所定義之函數，即可 更進一步實現多數個功能。並且，藉由併用GUI與程式語言，即可利用雙方之優點並以高操作性來進行定位控制。 Furthermore, the customized action software module can also be used as a prototype. In addition, by increasing the function defined by the programming language, Further implementation of most of the features. Moreover, by using the GUI and the programming language in combination, the advantages of both parties can be utilized and the positioning control can be performed with high operability.
此外，在未設定變更由言語所成之驅動軟體模組21、24、傳遞軟體模組22、23、輸出軟體模組25及連結軟體模組26之動作的定義時，亦可不顯示顯示畫面上之程式語言設定畫面，而僅顯示由GUI所產生之控制畫面。如此，在控制對象之控制未利用程式語言之情形時，設為不顯示，藉此即可防止要操作之顯示畫面變得複雜，且可防止操作性下降。 Further, when the definitions of the operations of the driver software modules 21 and 24, the transfer software modules 22 and 23, the output software module 25, and the connection software module 26 that are changed by the words are not set, the display screen may not be displayed. The program language setting screen displays only the control screen generated by the GUI. In this way, when the control object is not controlled by the programming language, the display is not displayed, thereby preventing the display screen to be operated from becoming complicated and preventing the operability from deteriorating.
再者，當亦能以程式語言來定義對應於各機械零件之連結部分的連結軟體模組時，亦可對由複數個機械零件之組合所構成之驅動機構整體的同步控制設定附加高功能，並且實現高操作性。再者，可進行第2圖所示之驅動機構整體的控制程式之分發及挪用。 Furthermore, when the connection software module corresponding to the connection portion of each mechanical component can be defined in the programming language, the synchronization control setting of the entire drive mechanism composed of a combination of a plurality of mechanical components can be additionally added. And achieve high operability. Furthermore, the distribution and misappropriation of the control program of the entire drive mechanism shown in Fig. 2 can be performed.
實施形態2 Embodiment 2
第5圖係表示本實施形態之定位控制裝置之控制設定裝置中之顯示畫面之一例的圖。在第5圖中顯示對應於捲取捲出裝置之控制程式的雛形。在第5圖中顯示屬於動作軟體模組之相當於捲出部之輥(roll)的捲出軟體模組27、及相當於捲取部之輥的捲取軟體模組28。將所設定之齒輪比RollGearNumerator[i]/RollGearDenominator[i]乘上從各個傳遞軟體模組所輸入之脈衝輸入，再乘上變化之輥直徑RollDiameter[i]及圓周率pi( )，藉此可考慮輥周長來進行控制。 Fig. 5 is a view showing an example of a display screen in the control setting device of the positioning control device of the embodiment. The prototype corresponding to the control program of the take-up and unwind device is shown in FIG. In Fig. 5, the winding software module 27 corresponding to the roll of the winding portion of the operating software module and the winding software module 28 corresponding to the roller of the winding portion are shown. Multiply the set gear ratio RollGearNumerator[i]/RollGearDenominator[i] by the pulse input input from each transfer software module, and multiply the changed roll diameter RollDiameter[i] and the pi (pi) to measure The circumference of the roll is used for control.
如本實施形態所說明，藉由可選擇裝置啟動時所需之同步控制機構的設定作為雛形，即可讓使用者之裝置啟動效率提升。再者，如本實施形態所說明，由於可分發所定義之定位控制裝置的程式定義，因此使用者係可使裝置啟動時間比以往更為縮短。 As described in the present embodiment, the setting of the synchronization control mechanism required for starting the optional device is assumed to be a prototype, so that the user's device startup efficiency can be improved. Furthermore, as described in the present embodiment, since the program definition of the defined positioning control device can be distributed, the user can shorten the device startup time more than ever.
此外，在該等實施形態1、2中所說明之自訂為一例，本發明並不限定於此，亦可利用其他函數或程式構文。 Further, the customization described in the first and second embodiments is an example, and the present invention is not limited thereto, and other functions or program configurations may be used.
此外，本發明並非限定在該等實施形態1、2所說明之定位控制裝置之同步控制設定方法，本發明亦包含使電腦執行本實施形態所說明之定位控制裝置之同步控制設定方法的控制程式、及進行該控制程式之製作及編集的控制設定裝置。 Further, the present invention is not limited to the synchronization control setting method of the positioning control device described in the first and second embodiments, and the present invention also includes a control program for causing a computer to execute the synchronization control setting method of the positioning control device described in the embodiment. And a control setting device for making and compiling the control program.
此外，在該等實施形態1、2中，雖針對定位控制裝置之同步控制設定方法及定位控制裝置之控制設定裝置加以說明，但本發明並不限定於此，本發明亦包含使電腦執行本發明之定位控制裝置之同步控制設定方法的程式。 Further, in the first and second embodiments, the synchronization control setting method of the positioning control device and the control setting device of the positioning control device will be described. However, the present invention is not limited thereto, and the present invention also includes the computer executing the present invention. A program for a synchronous control setting method of the positioning control device of the invention.
以上實施形態所示之構成係顯示本發明之內容的一例者，亦可與其他公知技術組合，在不脫離本發明之要旨的範圍內，亦可省略、變更構成之一部分。 The configuration shown in the above embodiment is an example of the present invention, and may be combined with other known techniques, and a part of the configuration may be omitted or changed without departing from the gist of the present invention.
如以上所述，本發明之定位控制裝置係有用於要求複雜動作之驅動機構。 As described above, the positioning control device of the present invention is provided with a drive mechanism for requiring complicated operations.
10‧‧‧定位控制裝置 10‧‧‧ Positioning control device
11‧‧‧控制設定裝置 11‧‧‧Control setting device
12‧‧‧動作控制器 12‧‧‧Action controller
13a、13b、13c、13d‧‧‧伺服放大器 13a, 13b, 13c, 13d‧‧‧ servo amplifier
14a、14b、14c、14d‧‧‧伺服馬達 14a, 14b, 14c, 14d‧‧‧ servo motors
15a‧‧‧控制對象X軸 15a‧‧‧Control object X axis
15b‧‧‧控制對象Y軸 15b‧‧‧Control object Y-axis
15c‧‧‧控制對象Z軸 15c‧‧‧Control object Z axis
16‧‧‧通信介面 16‧‧‧Communication interface
17‧‧‧CPU 17‧‧‧CPU
18‧‧‧記憶體 18‧‧‧ memory
19‧‧‧顯示部 19‧‧‧ Display Department
20‧‧‧輸入介面 20‧‧‧Input interface
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| PCT/JP2014/067943 WO2016002076A1 (en) | 2014-07-04 | 2014-07-04 | Synchronization control setting method for positioning control device |
| PCT/JP2015/069177 WO2016002898A1 (en) | 2014-07-04 | 2015-07-02 | Method for setting synchronous control of positioning control device; program; and control setting device for positioning control device |
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| DE112021007868T5 (en) * | 2021-06-23 | 2024-04-04 | Mitsubishi Electric Corporation | PROGRAMMING ASSISTANCE APPARATUS, PROGRAMMING ASSISTANCE METHOD, PROGRAMMING ASSISTANCE PROGRAM AND MEMORY-PROGRAMMABLE CONTROLLER |
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| JP2697399B2 (en) * | 1991-09-13 | 1998-01-14 | 三菱電機株式会社 | Positioning device and program display method thereof |
| JPH07191840A (en) * | 1993-12-27 | 1995-07-28 | Mitsubishi Electric Corp | Automatic program generator |
| JP3220588B2 (en) * | 1994-01-28 | 2001-10-22 | 三菱電機エンジニアリング株式会社 | Positioning device |
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| US7478349B2 (en) * | 2004-08-13 | 2009-01-13 | National Instruments Corporation | Automatically synchronizing timed circuits on I/O Devices |
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