Control method, non-volatile storage medium, and control system

Abstract

The present invention provides a control method, a non-volatile storage medium, and a control system. The control method is used to restore an encoder to its absolute position after a low voltage or power interruption. The control method includes: after powering on the encoder, controlling a servo motor to operate as an incremental motor and restarting the servo motor's driver; performing an origin reset on the restarted servo motor according to the reset method for incremental motors; after the servo motor has reset its origin according to the reset method for incremental motors, controlling the servo motor to operate as an absolute motor and restarting the servo motor's driver. The technical solution provided by the present invention can solve the technical problem of the relatively complex origin reset method of injection molding machines in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of injection molding machine control methods, and in particular to a control method, a non-volatile storage medium, and a control system. Background Art

[0002] At present, when the absolute position of the encoder is lost due to low battery voltage or power interruption in most absolute encoders, after replacing the battery and checking the abnormal points such as the encoder line, it is necessary to manually reset the servo parameters through the servo driver panel or servo debugging software to initialize the absolute coordinates of the absolute encoder before the alarm can be eliminated. Then, each servo axis can be manually returned to its corresponding origin position by operating the teaching pendant of the injection molding robot of the injection molding machine to complete the origin reset.

[0003] However, such a method of resetting the origin is relatively complicated, resulting in low efficiency in handling equipment anomalies. Summary of the Invention

[0004] The main purpose of the present invention is to provide a control method, a non-volatile storage medium and a control system to solve the technical problem of the relatively complicated method of resetting the origin of the injection molding machine in the prior art.

[0005] To achieve the above object, according to one aspect of the present invention, a control method is provided, which is used to restore the absolute position of an encoder after low voltage or power interruption. The control method includes:

[0006] After the encoder is powered on, the servo motor is controlled to form an incremental motor, and the driver of the servo motor is restarted;

[0007] After restarting, the servo motor is reset to its origin according to the reset method of the incremental motor;

[0008] After the servo motor performs origin reset according to the reset method of the incremental motor, the servo motor is controlled to form an absolute motor, and the driver of the servo motor is restarted.

[0009] Furthermore, after controlling the servo motor to form an absolute motor and restarting the driver of the servo motor, the control method further includes:

[0010] Re-establish the absolute origin coordinates for the absolute motor and restart the servo motor.

[0011] Furthermore, the absolute origin coordinates of the absolute motor are re-established, including:

[0012] The function parameters of the absolute motor are operated to extract the initialization parameters, and the initialization parameters of the absolute motor are initialized and set.

[0013] Furthermore, controlling the servo motor to form an incremental motor includes:

[0014] Set the incremental switching parameters of the servo motor in incremental switching.

[0015] Furthermore, the servo motor after restart is reset according to the reset method of the incremental motor, and the control method further includes:

[0016] Determine whether the servo motor has been reset to the origin according to the reset method of the incremental motor;

[0017] If the servo motor fails to reset to the origin according to the reset method of the incremental motor, perform origin reset again according to the reset method of the incremental motor.

[0018] Furthermore, controlling the servo motor to form an absolute motor includes:

[0019] Set the incremental switching parameters of the incremental motor to absolute switching.

[0020] According to another aspect of the present invention, a non-volatile storage medium is provided. The non-volatile storage medium includes a stored program, wherein the control method provided above is executed when the program is run.

[0021] According to another aspect of the present invention, a control system is provided, which is used to restore the absolute position of an encoder after low voltage or power interruption, and the control system includes:

[0022] A first control module is used to control the servo motor to form an incremental motor and restart the driver of the servo motor after the encoder is powered on;

[0023] The second control module performs origin reset on the restarted servo motor according to the reset method of the incremental motor;

[0024] The third control module controls the servo motor to become an absolute motor and restarts the driver of the servo motor after the servo motor performs origin reset according to the reset method of the incremental motor.

[0025] According to another aspect of the present invention, a control system is provided, which adopts the control method provided above, and the control system includes:

[0026] Servo motors and human-computer interaction equipment;

[0027] The control component, the servo driver of the servo motor, the host computer, the human-computer interaction device and the injection molding machine are all connected to the control component signal.

[0028] Furthermore, the control system also includes:

[0029] The input and output board is connected to the control component and is used to connect the input and output signals on the robot body of the injection molding machine.

[0030] The technical solution of the present invention can be applied to an absolute encoder that has lost its absolute position due to low battery voltage or power outage, causing an alarm. After replacing the battery and checking for abnormalities such as the encoder line, the absolute encoder's absolute coordinates can be initialized with a single click on the teach pendant, clearing the alarm on the servo driver and automatically returning each servo axis of the injection molding robot to its corresponding origin. This allows for a one-click reset of the absolute encoder position lost due to low battery voltage or power outage on the injection molding robot, allowing for rapid resetting of the origin. Users do not need to remember the code, written value, or operation method to clear the alarm, reducing the number of steps for maintenance personnel and improving the efficiency of handling equipment anomalies. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0032] Figure 1 A control flow chart of a control method provided according to an embodiment of the present invention is shown;

[0033] Figure 2 shows a principle diagram of a control system provided according to an embodiment of the present invention;

[0034] Figure 3 A diagram showing the definition of terminal pins provided according to an embodiment of the present invention is shown;

[0035] Figure 4 A definition diagram of interface pins provided according to an embodiment of the present invention is shown.

[0036] The above drawings include the following reference numerals:

[0037] 10. Teaching pendant; 20. Main control board;

[0038] 31. First servo driver; 32. Second servo driver; 33. Third servo driver; 34. Fourth servo driver; 35. Fifth servo driver; 36. Terminal resistor; 361. Terminal pin;

[0039] 40. Input and output board;

[0040] 50. Interface pins. DETAILED DESCRIPTION

[0041] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0042] like Figure 1 As shown, a first embodiment of the present invention provides a control method for enabling an encoder to retrieve its absolute position after low voltage or power interruption. The control method includes: after powering on the encoder, controlling the servo motor to form an incremental motor, and restarting the driver of the servo motor; resetting the origin of the restarted servo motor according to the reset method of the incremental motor; after the servo motor resets its origin according to the reset method of the incremental motor, controlling the servo motor to form an absolute motor, and restarting the driver of the servo motor.

[0043] The control method provided in this embodiment can realize that when an absolute encoder loses its absolute position due to low battery voltage or power interruption and an alarm is generated, after replacing the battery and checking the encoder line and other abnormal points, the absolute encoder's absolute coordinates can be initialized with a single button operation through the teach pendant 10, clearing the alarm on the servo driver and automatically returning each servo axis of the injection molding robot to its corresponding origin position. This can achieve a one-button reset of the injection molding robot's absolute encoder position loss due to low battery voltage or power interruption, thereby quickly resetting the injection molding machine's origin. The user does not need to remember the code to clear the alarm, the value to be written, and the operation method, which reduces the operating steps for maintenance personnel and improves the efficiency of handling equipment abnormalities.

[0044] In this embodiment, after controlling the servo motor to form an absolute motor and restarting the driver of the servo motor, the control method further includes: re-establishing absolute origin coordinates for the absolute motor and restarting the servo motor.

[0045] Specifically, reestablishing the absolute origin coordinates for an absolute motor includes: operating the functional parameters of the absolute motor to extract initialization parameters, and initializing the initialization parameters of the absolute motor. Specifically, the functional parameter is parameter P2-08, and the initialization parameter is P2-71. Writing 271 to parameter P2-08 of the absolute motor to extract the initialization parameters, and writing 1 to parameter P2-71 of the absolute motor, facilitates reestablishing the absolute origin coordinates.

[0046] In this embodiment, controlling the servo motor to form an incremental motor includes: performing incremental switching settings on the servo motor's incremental switching parameters. Specifically, the incremental switching parameter is P2-69. Setting the servo motor's parameter P2-69 to 0 forms the incremental motor.

[0047] Specifically, the servo motor after restart is reset to the origin according to the reset method of the incremental motor, and the control method also includes: judging whether the servo motor has been reset to the origin according to the reset method of the incremental motor; when the servo motor has not been reset to the origin according to the reset method of the incremental motor, resetting the origin again according to the reset method of the incremental motor.

[0048] In this embodiment, controlling the servo motor to become an absolute motor includes: setting the incremental switching parameter of the incremental motor to an absolute switching setting. Parameter P2-69 of the incremental motor is set to 1. This allows the incremental motor to switch to an absolute motor.

[0049] In this embodiment, when the absolute encoder loses its absolute position due to low battery voltage or power interruption and an alarm occurs, the control system can initialize the absolute coordinates of the absolute encoder through one-button operation of the teaching pendant 10 of the injection molding robot, clear the alarm on the servo driver, and automatically return each servo axis of the injection molding robot to its corresponding origin position.

[0050] The control method for automatically finding the origin of each servo axis of the injection molding robot when the absolute encoder loses its absolute position due to low battery voltage or power outage is specifically implemented as follows:

[0051] like Figure 1 The following diagram shows the workflow for one-touch homing of an absolute servo motor. Taking the Delta A2 servo drive as an example, when the injection molding robot control system receives an alarm code from the servo drive AL060, it prompts the user to replace the encoder battery or check the encoder cable for proper contact. After the inspection, the user clicks the one-touch homing button on the teach pendant 10. The control system then sends a command to the servo drive via the CANopen bus: First, set P2-69 to 0, treating the absolute servo motor as an incremental servo motor, and restart the servo drive to validate the parameter settings. Each servo axis of the injection molding robot then completes a home return in a preset sequence, searching for the origin using the incremental servo motor home method until it returns to the set origin position. Then, set P2-69 to 1, configuring the servo motor as an absolute motor, and restart the servo drive to validate the parameter settings. Next, write 271 to parameters P2-08 and 1 to P2-71, causing the absolute encoder to reestablish the absolute origin coordinates. Restart the servo drive to validate the parameter settings.

[0052] A second embodiment of the present invention provides a non-volatile storage medium, wherein the non-volatile storage medium includes a stored program, wherein the control method provided above is executed when the program is run.

[0053] Embodiment 3 of the present invention provides a control system, which is used to restore the absolute position of the encoder after low voltage or power interruption. The control system includes: a first control module, a second control module, and a third control module. The first control module is used to control the servo motor to form an incremental motor after the encoder is powered on, and restart the driver of the servo motor. The second control module is used to reset the origin of the servo motor after the restart according to the reset method of the incremental motor. The third control module is used to control the servo motor to form an absolute motor after the servo motor resets the origin according to the reset method of the incremental motor, and restart the driver of the servo motor.

[0054] Embodiment 4 of the present invention provides a control system that adopts the control method provided above. The control system includes: a servo motor, a human-computer interaction device and a control component. The servo driver of the servo motor, the host computer, the human-computer interaction device and the injection molding machine are all connected to the control component signal.

[0055] Specifically, the control system further includes: an input-output board 40 connected to the control component, and the input-output board 40 is used to connect with the input and output signals on the robot body of the injection molding machine.

[0056] The composition and component functions of the injection molding robot control system: Figure 2 As shown, the injection molding robot control system of the present invention includes a main control board 20 (corresponding control component), an I / O board (input and output board 40), a teach pendant 10 and a servo driver (a driver with an absolute encoder motor). Among them, the servo driver includes a first servo driver 31, a second servo driver 32, a third servo driver 33, a fourth servo driver 34 and a fifth servo driver 35. The first servo driver 31 is a Z-axis servo driver, the second servo driver 32 is a Y2-axis servo driver, the third servo driver 33 is a Y1-axis servo driver, the fourth servo driver 34 is an X1-axis servo driver, and the fifth servo driver 35 is an X2-axis servo driver. The terminal resistor 36 is connected to the fifth servo driver 35, and the terminal resistor 36 is a 120D terminal resistor. The pin of the terminal resistor is the terminal pin 361, and the pin definition of the terminal pin 361 is as follows: Figure 3 The pin definition of interface pin 50 is as follows Figure 4 As shown, the interface pin 50 is specifically a DB9 interface.

[0057] The main control board 20 is a control center that integrates functions such as motion control, logical operations and data communication. It can receive and process input and output signals from external devices such as servo drives, host computers, I / O boards, teach pendants 10 and injection molding machines. The communication method between the main control board 20 and the servo drives is CANopen.

[0058] The I / O board is an expansion of the interface of the main control board 20, and is mainly used to connect the input and output signals on the injection molding robot body, which can reduce the wiring trouble of the input and output signals on the injection molding robot body.

[0059] The teach pendant 10 is a human-machine interaction device. Through the teach pendant 10, the operator can operate the injection molding robot, complete teaching programming, set system parameters, diagnose faults, etc.

[0060] The servo driver is used to receive the command signal from the main control board 20 through the CANopen communication bus. After amplification and conversion, it drives the servo motor on the injection molding robot to complete the movement expected by the command, ensuring that the injection molding robot can accurately position, stably control speed and reliably control torque.

[0061] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: realizing one-key reset of the absolute encoder position loss caused by low battery voltage or power interruption of the injection molding robot, the user does not need to remember the code, written value and operation method to clear the alarm, reducing the operating steps of the maintenance personnel and improving the efficiency of handling equipment abnormalities.

[0062] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0063] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0064] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0065] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0066] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0067] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A control method, characterized in that: The control method is used to enable the encoder to find the absolute position after low voltage or power interruption, and the control method includes: After the encoder is powered on, the servo motor is controlled to form an incremental motor, and the driver of the servo motor is restarted; Performing origin reset on the restarted servo motor according to the reset method of the incremental motor; After the servo motor performs origin reset according to the reset method of the incremental motor, controlling the servo motor to form an absolute motor and restarting the driver of the servo motor; Re-establishing the absolute origin coordinates of the absolute motor and restarting the servo motor; The re-establishing of the absolute origin coordinates of the absolute motor includes: operating the functional parameters of the absolute motor to derive initialization parameters, and initializing the initialization parameters of the absolute motor; The function parameter is parameter P2-08, and the initialization parameter is P2-71; The operation on the functional parameters of the absolute motor to derive the initialization parameters and the initialization setting of the absolute motor includes: writing 271 to the parameter P2-08 of the absolute motor to derive the initialization parameters, and writing 1 to the parameter P2-71 of the absolute motor.

2. The control method according to claim 1, characterized in that: Control the servo motor to form an incremental motor, including: The incremental switching parameters of the servo motor are incrementally switched and set.

3. The control method according to claim 1, wherein: After the servo motor is restarted, the origin is reset according to the reset method of the incremental motor. The control method further includes: Determining whether the servo motor has been reset to the origin according to the reset method of the incremental motor; When the servo motor fails to reset to the origin according to the reset method of the incremental motor, the origin is reset again according to the reset method of the incremental motor.

4. The control method according to claim 1, wherein: Controlling the servo motor to form an absolute motor comprises: The incremental switching parameters of the incremental motor are absolutely switched and set.

5. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein the control method according to any one of claims 1 to 4 is executed when the program is executed.

6. A control system, characterized in that: According to any one of claims 1 to 4, the control system comprises: Servo motors and human-computer interaction equipment; The control component is connected to the servo driver of the servo motor, the host computer, the human-computer interaction device and the injection molding machine by signal.

7. The control system according to claim 6, characterized in that: The control system further comprises: An input-output board is connected to the control component, and the input-output board is used to connect with the input and output signals on the robot body of the injection molding machine.

Images