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Multiaxis control system, multiaxis control method, and multiaxis control program

A multi-axis control and controller technology, applied in general control systems, control/regulation systems, program control, etc., can solve problems such as the influence of X_1 axis, and achieve the effect of suppressing load increase and quantity increase

Pending Publication Date: 2021-11-16
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the mechanism of the Z axis is close to the X_1 axis on the Y axis, the mechanism of the Z axis greatly affects the X_1 axis, so the load applied to the X_1 axis is greater than that of the X_2 axis.

Method used

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  • Multiaxis control system, multiaxis control method, and multiaxis control program

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Experimental program
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Embodiment approach 1

[0035] figure 1 It is a diagram showing a configuration example of the multi-axis control system according to the first embodiment. figure 1 The illustrated multi-axis control system 11 has a controller 12, servo amplifiers 13a and 13b, servo motors 14a-14d, and mechanical elements 15a-15d. Each of the mechanical elements 15a to 15d is one component forming a machine, and is driven by servo motors 14a to 14d. The number of servo amplifiers, servo motors, and mechanical elements included in the multi-axis control system 11 is an example and is not limited to figure 1 Quantity shown. The number of servo amplifiers, servo motors, and mechanical elements may be two or more. In the following description, when it is not necessary to distinguish between the servo amplifier 13 a and the servo amplifier 13 b, they will be described as the servo amplifier 13 . Similarly, the servomotors 14 a to 14 d are described as the servomotor 14 , and the mechanical elements 15 a to 15 d are de...

Embodiment approach 2

[0094] A multi-axis control system according to Embodiment 2 will be described. The configuration of the multi-axis control system according to the present embodiment is the same as that of the first embodiment. In addition, the configurations of the controller and the servo amplifier constituting the multi-axis control system are also the same as those of the first embodiment.

[0095] As described above, in the multi-axis control system 11 according to Embodiment 1, the operation parameters are set in the servo amplifier 13 that drives the servo motor 14 of the axis to be synchronously controlled, that is, the target servo amplifier 13, and the controller 12 controls the The target servo amplifiers 13 simultaneously instruct the start of operation, whereby the target servo amplifiers 13 start to operate to realize synchronous control. In contrast, in the multi-axis control system 11 according to the present embodiment, each servo amplifier 13 sets an operation start time an...

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PUM

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Abstract

A multiaxis control system (11) that synchronously controls a plurality of servo motors (14a, 14b, 14c, 14d) associated with each of a plurality of shafts, wherein: the multiaxis control system (11) comprises a plurality of servo amplifiers (13a, 13b) that each drive one or more of the plurality of servo motors, and a controller (12) that controls the plurality of servo amplifiers; and each of the servo amplifiers comprises a parameter storage unit (36) that stores a control operation parameter acquired from an engineering tool, and a motor control unit (35) that controls a servo motor to be driven, from among the plurality of servo motors, according to the operation parameter stored by the parameter storage unit.

Description

technical field [0001] The invention relates to a multi-axis control system, a multi-axis control method and a multi-axis control program composed of a plurality of servo amplifiers and controllers. Background technique [0002] In industrial devices such as semiconductor manufacturing devices and machine tools, a multi-axis control system combining a plurality of motors is used. Examples of multi-axis control systems are gantry mechanisms, articulated robots, etc. [0003] A multi-axis control system changes the load according to the position of the object controlled by each axis. As an example, consider that the X-axis, Y-axis, and Z-axis are orthogonal to each other, and the X-axis that can move in the X-axis direction [0004] Gantry mechanism composed of _1 axis, X_2 axis, Y axis movable in the Y axis direction, and Z axis movable in the Z axis direction. In this gantry mechanism, the X_1 axis and the X_2 axis need to perform the same movement. However, when the Z-a...

Claims

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Application Information

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IPC IPC(8): G05D3/00
CPCH02P5/52G05B19/0426
Inventor 齐藤靖之寺田启
Owner MITSUBISHI ELECTRIC CORP