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Method and device for robot controller pulse synchronous adjustment

A pulse synchronization and adjustment method technology, applied in computer control, control/regulation system, program control, etc., can solve problems affecting robot positioning accuracy, code loss, motor operation fluctuations, etc.

Active Publication Date: 2013-07-10
SHENYANG SIASUN ROBOT & AUTOMATION
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AI Technical Summary

Problems solved by technology

When using DSP for motor control, the method of trajectory interpolation and adjusting the control parameters of the driver is usually used to improve the control performance of the motor. However, due to the multi-tasking processing of the robot controller, it is difficult to achieve high real-time performance, and there are often times when it sends commands. The deviation of tens to hundreds of microseconds, the deviation of this instruction time will cause the motor to fluctuate during operation, and even lose codes in severe cases, which will affect the positioning accuracy of the robot

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  • Method and device for robot controller pulse synchronous adjustment
  • Method and device for robot controller pulse synchronous adjustment
  • Method and device for robot controller pulse synchronous adjustment

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[0024] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0025] see figure 1 , the flow process of the synchronous adjustment mechanism of the preferred embodiment of the robot controller pulse synchronous adjustment method of the present invention, the specific steps are as follows:

[0026] Step S1, receiving an instruction for synchronous adjustment sent by the robot controller.

[0027] Specifically, define variables T1CNT_old, T1CNT_new, N (N is the pulse output beat number). The internal timer operation of the event manager is prohibited during system initialization. When the robot controller 10 sends a power-on instruction, the timer is enabled, and at this time, the count register assigns the count value to the variable T1CNT_old. After the pulse controller receives the instruction for synchro...

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Abstract

Provided are a method and a device for robot controller pulse synchronous adjustment. The method includes the steps of receiving a command for carrying out synchronous adjustment sent by a robot controller; acquiring command time of the robot controller; carrying out pulse synchronous adjustment according to a contrastive result between the command time and a periodic quantity of the robot controller; and carrying out pulse output calculation according to the result of the synchronous adjustment. The invention further provides a device for robot controller pulse synchronous adjustment. The fact that motion of a robot body is controlled through a motor according to a scheduled target is achieved. Through the embodiment of the method and the device, the motor controls the motion of the robot body according to the scheduled target, the motor stably operates on actual operation of spot welding robots and arc welding robots, and positioning of the robots is accurate.

Description

technical field [0001] The invention belongs to a robot controller pulse control method and device, in particular to a synchronization method and a device for a robot controller to send instructions to multiple motor drivers. Background technique [0002] In the field of robot control, how to make the motor run smoothly and safely according to the expected trajectory is the key issue to determine the performance of the robot. Reasonable adjustment of motor driver parameters and appropriate interpolation calculations for variable speed operation of the motor are often the best answer to solve this problem, but the control of the time interval of the drive pulse transmission by the controller is a prerequisite for ensuring the smooth operation of the motor. ignored. When using DSP for motor control, the method of trajectory interpolation and adjusting the control parameters of the driver is usually used to improve the control performance of the motor. However, due to the mult...

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Application Information

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IPC IPC(8): G05B19/042
Inventor 李崇曲道奎徐方邹风山宋吉来刘晓帆董状甘戈
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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