Action control device and computer readable medium

Abstract

Provided is a motion control device and a computer readable medium that can achieve an increase in processing speed while suppressing generation of synchronization errors. A motion control device drives a first drive shaft using a synthesized drive signal that synthesizes two drive signals to switch a drive speed, and drives a second drive shaft that performs a different operation from the first drive shaft using one of the drive signals that is synthesized, the motion control device having: a position deviation calculation section that calculates a position deviation of the first drive shaft before a drive speed of the first drive shaft is switched, and calculates a position deviation of the second drive shaft; and a gain value calculation section that calculates a gain value of the first drive shaft after a motion speed is switched, based on the drive speed of the first drive shaft before the motion speed is switched, the calculated position deviation of the first drive shaft, and the calculated position deviation of the second drive shaft.

Description

Technical Field

[0001] This disclosure relates to motion control devices and computer-readable media storing programs. Background Technology

[0002] Previously, production systems for processing workpieces were known. These systems included: a conveying device for transporting workpieces; at least one piece of industrial machinery arranged along the conveying device; and a motion control device for controlling the movements of the conveying device and the industrial machinery.

[0003] Industrial machinery has tools for processing workpieces. Industrial machinery uses these tools to process conveyed workpieces. Thus, industrial machinery can process workpieces into desired shapes.

[0004] A motion control device, for example, has the functions of controlling a transmission device and controlling industrial machinery. The motion control device causes the functions of both to operate sequentially, thereby enabling the industrial machinery to process the workpiece. That is, the motion control device uses drive signals from both systems to activate the production system.

[0005] When using drive signals from two systems to control a production system, the motion control device preferably synchronizes one drive signal with the other. For example, the motion control device preferably processes one drive signal and the other drive signal as a single drive signal. This improves production efficiency. As such a device, a CNC system that superimposes CNC (numerical control unit) side-axis movement commands and PMC (programmable machine tool controller) side-axis movement commands to control the movement of each axis has been proposed (see, for example, Patent Document 1). Furthermore, a device that synchronizes the spindle and servo axes during tapping operations has been proposed (see, for example, Patent Document 2).

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 7-230312

[0009] Patent Document 2: Japanese Patent No. 2713566 Summary of the Invention

[0010] The problem that the invention aims to solve

[0011] In the CNC system described in Patent Document 1, CNC side-axis movement commands and PMC side-axis movement commands are superimposed. Therefore, in the CNC system described in Patent Document 1, CNC control and PMC control can operate simultaneously.

[0012] However, when using the drive signals of two systems that operate sequentially, the drive signal using the other drive signal is executed after the axis movement using one drive signal has finished. Therefore, it is difficult to make the drive signals of the two systems operate properly simply by superimposing them.

[0013] Furthermore, as described in Patent Document 2, when synchronizing two axes, synchronization errors sometimes occur due to the difference in gain between the two axes. In this case, the synchronization error can be reduced by matching the gain of the servo axis with the gain of the spindle. That is, by setting the gain to match the smaller gain, the synchronization error can be reduced. On the other hand, if the gain is set to match the smaller gain, machining accuracy can be ensured, but the machining speed is reduced. Therefore, it is preferable to be able to increase the machining speed while suppressing the generation of synchronization errors.

[0014] Methods for solving problems

[0015] (1) This disclosure relates to a motion control device that uses a synthesized drive signal, which combines two drive signals, to switch the drive speed of a first drive shaft for driving, and uses a synthesized drive signal to drive a second drive shaft that performs a different operation than the first drive shaft. The motion control device includes: a position deviation calculation unit that calculates the position deviation of the first drive shaft before the drive speed of the first drive shaft is switched, and calculates the position deviation of the second drive shaft; and a gain value calculation unit that calculates the gain value of the first drive shaft after the motion speed is switched, based on the drive speed of the first drive shaft before the motion speed is switched, the calculated position deviation of the first drive shaft, and the calculated position deviation of the second drive shaft.

[0016] (2) In addition, this disclosure relates to a program that enables a computer to function as a motion control device, the motion control device using a synthesized drive signal that combines two drive signals to switch the drive speed of a first drive shaft for driving, and using a synthesized drive signal to drive a second drive shaft that performs a different operation than the first drive shaft, the program enabling the computer to function as the following components: a position deviation calculation unit that calculates the position deviation of the first drive shaft before the drive speed of the first drive shaft is switched, and calculates the position deviation of the second drive shaft; and a gain value calculation unit that calculates the gain value of the first drive shaft after the motion speed is switched based on the drive speed of the first drive shaft before the motion speed is switched, the calculated position deviation of the first drive shaft, and the calculated position deviation of the second drive shaft.

[0017] Invention Effects

[0018] According to this disclosure, a motion control device and program can be provided that can increase processing speed while suppressing the generation of synchronization errors. Attached Figure Description

[0019] Figure 1 This is a schematic structural diagram of a production system that includes the motion control device of the first embodiment of this disclosure.

[0020] Figure 2 This is a conceptual diagram showing an outline of the actions in a production system that includes the motion control device of the first embodiment.

[0021] Figure 3 This is a conceptual diagram showing an outline of the actions in a production system that includes the motion control device of the first embodiment.

[0022] Figure 4 This is a block diagram showing the structure of the motion control device according to the first embodiment.

[0023] Figure 5 This is a flowchart illustrating the operation of the motion control device according to the first embodiment.

[0024] Figure 6 This is a block diagram showing the structure of the motion control device in the modified example.

[0025] Figure 7 This is a block diagram showing the structure of the motion control device in the modified example.

[0026] Figure 8 This is a schematic diagram showing a common shaft controlled by a motion control device in a modified example. Detailed Implementation

[0027] The following is for reference Figures 1 to 7 The motion control device 1 and the program of each embodiment of the present disclosure will be described.

[0028] First, before describing the motion control device 1 and the program of each embodiment, an overview of the production system 100 including the motion control device 1 will be given.

[0029] Production system 100 is, for example, a system that performs processing while conveying workpiece W. Figure 1 As shown, the production system 100 includes: a transmission device 10, industrial machinery 20, and a motion control device 1.

[0030] The conveying device 10 is a device for conveying workpiece W. The conveying device 10, for example, uses a motor (not shown) to rotate to convey workpiece W. The conveying device 10 conveys workpiece W in a predetermined direction.

[0031] Industrial machinery 20, for example, is a machine tool. Figure 1 As shown, two industrial machines 20 are arranged along the conveying direction of the workpiece W. The industrial machines 20, for example, use tool 21 (see reference). Figure 2 The workpiece W is processed into a pre-defined shape. Furthermore, industrial machinery 20 includes various types of machinery such as machine tools, industrial robots, service robots, forging machinery, and injection molding machines.

[0032] Motion control device 1 is a device for controlling the movements of transmission device 10 and industrial machinery 20. Motion control device 1 uses drive signals from at least two systems to control the movements of production system 100. For example, in simple operations such as machining and conveying, and in the management of machines on production system 100, motion control device 1 uses a PLC (Programmable Logic Controller) as the drive signal for the first system. Specifically, motion control device 1 uses a PLC for conveying workpiece W based on transmission device 10. Additionally, in complex operations such as machining complex shapes, motion control device 1 uses NC (Numerical Control) drive signals as the drive signal for the second system. Specifically, motion control device 1 uses NC for the axis movement of tool 21 on industrial machinery 20.

[0033] Here, the motion control device 1, for example, combines (superimposes) the drive signals of the first system and the second system to control the operation of the production system 100. Specifically, the motion control device 1 uses a combined drive signal obtained by combining the two drive signals to drive the first drive axis S1 (e.g., a tool axis), and uses the combined drive signal to transport the workpiece. For example, as... Figure 2 as well as Figure 3 As shown, the motion control device 1 simultaneously controls the transport (axis control) of the workpiece W placed on the conveyor table T (the second drive axis S2, which is the conveyor axis for transporting the workpiece in this embodiment) via the PLC, and simultaneously enables the tool 21 (the first drive axis S1, which is the tool axis in this embodiment) to process the workpiece W via the NC. The second drive axis S2 is a drive axis used for operations different from those of the first drive axis S1. That is, at time t0, the motion control device 1 moves the tool 21 to a processing position P1 that has moved a distance d relative to the reference position P0 of the tool 21 toward the workpiece W, thereby initiating the processing of the workpiece W using the tool 21. Then, at times t1, t2, and t3, the motion control device 1, in coordination with the transport of the workpiece W, enables the tool 21 to process the workpiece W, thereby performing both transport and processing.

[0034] [First Implementation Method]

[0035] Next, refer to Figure 4 and Figure 5 The motion control device 1 and program of the first embodiment of this disclosure will be described.

[0036] The motion control device 1 of this embodiment uses drive signals from at least two systems to control the operation of the production system 100, which includes industrial machinery 20. For example... Figure 4 As shown, the motion control device 1 includes: a first system program storage unit 101, a first drive signal generation unit 102, a first drive signal output unit 103, a second system program storage unit 104, a second drive signal generation unit 105, a second drive signal output unit 106, a selection acquisition unit 107, a synthesis timing acquisition unit 108, a synthesis timing determination unit 109, a synthesis drive signal generation unit 110, a position deviation calculation unit 121, a gain value calculation unit 122, a parameter setting unit 123, a selection unit 124, and a motion control unit 111. Furthermore, in this embodiment, the example described is the switching from a state where the workpiece (second drive shaft S2) is stopped to a state where the workpiece is being transported (the second drive shaft S2 is being driven).

[0037] The first system program storage unit 101 is, for example, a secondary storage medium such as a hard disk. The first system program storage unit 101 stores programs for generating drive signals for the first system. In this embodiment, the first system program storage unit 101 stores, for example, a program for PLC control. Specifically, the first system program storage unit 101 stores a program for moving the axis of the transmission device 10 to transport the workpiece W. That is, the first system program storage unit 101 stores a program for driving the second drive axis S2 to transport the workpiece W. Furthermore, the first system program storage unit 101 stores the gain value when driving the second drive axis S2.

[0038] The first drive signal generation unit 102 is implemented, for example, by a CPU. The first drive signal generation unit 102 generates a first drive signal, which serves as the drive signal for the first system. In this embodiment, the first drive signal generation unit 102 generates a drive signal that drives the shaft of the transmission device 10. That is, the first drive signal generation unit 102 generates a drive signal that drives the second drive shaft S2.

[0039] The first drive signal output unit 103 is implemented, for example, by a CPU. The first drive signal output unit 103 outputs a first drive signal as a drive signal for the first system. The first drive signal output unit 103 outputs the first drive signal at a predetermined control frequency, for example. Specifically, the first drive signal output unit 103 outputs the first drive signal at a control frequency shorter than that of the second drive signal output unit 106, which will be described later.

[0040] The second system program storage unit 104 is, for example, a secondary storage medium such as a hard disk. The second system program storage unit 104 stores programs for generating drive signals for the second system. In this embodiment, the second system program storage unit 104 stores, for example, a program for NC control. Specifically, the second system program storage unit 104 stores a program for moving the axis of the tool 21 (first drive shaft S1) of the industrial machine 20 to process the workpiece W. That is, the second system program storage unit 104 stores a program for driving the first drive shaft S1 to process the workpiece W. Furthermore, the second system program storage unit 104 stores the gain value when driving the first drive shaft S1.

[0041] The second drive signal generation unit 105 is implemented, for example, by a CPU. The second drive signal generation unit 105 generates a second drive signal, which serves as the drive signal for the second system. In this embodiment, the second drive signal generation unit 105 generates a drive signal for the shaft of the tool 21 (first drive shaft S1) of the industrial machinery 20. That is, the second drive signal generation unit 105 generates a drive signal for driving the first drive shaft S1.

[0042] The second drive signal output unit 106 is implemented, for example, by a CPU. The second drive signal output unit 106 outputs a second drive signal as a drive signal for the second system. The second drive signal output unit 106 outputs the second drive signal at a drive frequency longer than that of the first drive signal output unit 103, for example.

[0043] The selection acquisition unit 107 is implemented, for example, by the CPU. The selection acquisition unit 107 acquires the selection of whether or not a synthesis drive signal is generated. For example, when a first drive signal and a second drive signal are synthesized, the selection acquisition unit 107 acquires the selection of "yes" synthesis. On the other hand, when the first drive signal and the second drive signal are not synthesized, the selection acquisition unit 107 acquires the selection of "no" synthesis.

[0044] The synthesis timing acquisition unit 108 is implemented, for example, by the CPU. The synthesis timing acquisition unit 108 acquires the timing of the synthesis of the first drive signal and the second drive signal from an external source. When synthesis is selected ("yes"), the synthesis timing acquisition unit 108 acquires the timing of the synthesis of the first drive signal and the second drive signal. The synthesis timing acquisition unit 108 acquires, for example, the synthesis program block or transport position as the synthesis timing. Specifically, in... Figure 2 In this process, the synthesis timing acquisition unit 108 acquires a first drive signal that transports the workpiece W's stage to position P1 and a second drive signal that drives the tool 21 (first drive shaft S1) to process the workpiece W as synthesis timing. The synthesis timing acquisition unit 108 acquires the synthesis timing using an input device (not shown) such as a keyboard.

[0045] The synthesis timing determination unit 109 is implemented, for example, by a CPU. The synthesis timing determination unit 109 determines the synthesis timing of the first drive signal and the second drive signal. The synthesis timing determination unit 109 determines the synthesis timing as the timing obtained by the synthesis timing acquisition unit 108.

[0046] The synthetic drive signal generation unit 110 is implemented, for example, by a CPU. When the selection to generate a synthetic drive signal is obtained, the synthetic drive signal generation unit 110 generates a synthetic drive signal. Furthermore, the synthetic drive signal generation unit 110 generates a synthetic drive signal by synthesizing a first drive signal and a second drive signal according to a determined synthesis timing. The synthetic drive signal generation unit 110 synthesizes at least one first drive signal and a second drive signal after a predetermined correction to generate a synthetic drive signal. For example, the synthetic drive signal generation unit 110 synthesizes at least one first drive signal and a second drive signal multiplied by a predetermined factor to generate a synthetic drive signal. Additionally, the synthetic drive signal generation unit 110 synthesizes, for example, a first drive signal and a second drive signal whose signs are inverted by at least one signal to generate a synthetic drive signal. Furthermore, the synthetic drive signal generation unit 110 generates, for example, a synthetic drive signal that changes the relative position of an object controlled by a second drive signal with respect to the position of an object controlled by a first drive signal. Specifically, the synthetic drive signal generation unit 110 generates a synthetic drive signal relative to the position change of the workpiece W transported by the first drive signal and the tool 21 (first drive shaft S1) controlled by the second drive signal. More specifically, the synthetic drive signal generation unit 110 generates a synthetic drive signal that corrects for the difference between the position of the workpiece W transported by the first drive signal and the reference position of the tool 21 (first drive shaft S1) controlled by the second drive signal. For example, the synthetic drive signal generation unit 110... Figure 2 The synthesized drive signal generation unit 110 generates a synthetic drive signal that moves the tool 21 (first drive shaft S1) from the reference position P0 to the machining position P1 in the opposite direction of the conveying direction of the workpiece W. That is, the synthetic drive signal generation unit 110 generates a synthetic drive signal that drives the shaft in a manner that moves the tool 21 (first drive shaft S1) a distance d in the opposite direction of the conveying direction of the workpiece W.

[0047] The position deviation calculation unit 121 is implemented, for example, by the CPU. The position deviation calculation unit 121 calculates the position deviation of the first drive axis S1 before the drive speed switch, and also calculates the position deviation of the second drive axis S2. The position deviation calculation unit 121 calculates the position deviation before the drive speed switch, for example, by calculating the following mathematical formula (1). That is, the position deviation output unit calculates the position deviation of the first drive axis S1 when it is driven by another drive signal that is synthesized into a composite drive signal. Here, Emcn1 represents the position deviation of the first drive axis S1. Fmcn represents the command speed of the first drive axis S1 based on the drive signal before the drive speed switch. Gmcn represents the parameter setting value of the gain of the machining axis before the drive speed switch.

[0048] Emcn1=Fmcn / Gmcn····(1)

[0049] Furthermore, the position deviation calculation unit 121 calculates the position deviation of the second drive shaft S2, for example, by calculating the following mathematical formula (2). That is, the position deviation output unit calculates the position deviation of the second drive shaft S2 when the second drive shaft S2 is driven by a drive signal synthesized into a composite drive signal. Here, Eplc represents the position deviation of the second drive shaft S2. Fplc represents the command speed of the second drive shaft S2 based on the drive signal before the drive speed switch. Gplc represents the parameter setting value of the gain of the second drive shaft S2 before the drive speed switch.

[0050] Eplc=Fplc / Gplc····(2)

[0051] The gain value calculation unit 122 is implemented, for example, by a CPU. The gain value calculation unit 122 calculates the gain value of the first drive shaft S1 after the speed change based on the drive speed of the first drive shaft S1 before the speed change, the calculated position deviation of the first drive shaft S1, and the calculated position deviation of the second drive shaft S2. The gain value calculation unit 122 calculates the gain value of the drive shaft in the drive after the speed change to reduce the difference between the calculated position deviation of the first drive shaft S1 before the speed change and the position deviation of the first drive shaft S1 after the speed change. For example, the gain value calculation unit 122 calculates a set value for the gain in the drive after the speed change so that the difference between the calculated position deviation of the first drive shaft S1 before the speed change and the position deviation of the first drive shaft S1 after the speed change is within a specified range. The gain value calculation unit 122 calculates the gain value of the first drive shaft S1 during workpiece W transport using, for example, the position deviation of the first drive shaft S1 as shown in the following mathematical formula (3), as shown in the following mathematical formula (4) [(4-1) to (4-4)], so as to make the position deviation of the first drive shaft S1 the same before and after the drive speed change. Here, Emcn2 represents the position deviation of the first drive shaft S1 during workpiece transport. Gmcn2 represents the gain value of the first drive shaft S1 after the drive speed is switched.

[0052] Emcn2=(Fmcn+Fplc) / Gmcn2····(3)

[0053] Here, we substitute mathematical expressions (1) to (3) into the following mathematical expression (4-1), and transform them as in mathematical expressions (4-2) to (4-4), thereby obtaining Gmcn2.

[0054] (Mathematical Expression 4)

[0055] Emcn1=Emcn2-Eplc····(4-1)

[0056] Fmcn / Gmcn=(Fmcn+Fplc) / Gmcn2-Fplc / Gplc····(4-2)

[0057] (Fmcn+Fplc) / Gmcn2=Fmcn / Gmcn+Fplc / Gplc····(4-3)

[0058] Gmcn2=(Fmcn+Fplc) / (Fmcn / Gmcn+Fplc / Gplc)····(4-4)

[0059] The parameter setting unit 123 is implemented, for example, by the CPU. The parameter setting unit sets the calculated gain value as a parameter of the first drive shaft S1. For example, the parameter setting unit 123 sets the calculated gain value as a parameter of the first drive shaft S1 for the motion control device described later.

[0060] The selection unit 124 is implemented, for example, by a CPU. The selection unit 124 selects a gain value from a set parameter, between a calculated gain value and the smaller gain value of either the first drive axis S1 or the second drive axis S2 before the drive speed switch. The selection unit 124 obtains a selection input from an external source and selects the set gain value. By selecting the smaller gain value of either the first drive axis S1 or the second drive axis S2 before the drive speed switch, the selection unit 124 allows for a reduction in machining speed while ensuring machining accuracy.

[0061] Here, the parameter setting unit sets the selected gain value as a parameter of the first drive shaft S1. For example, before switching the drive speed, the parameter setting unit 123 sets the calculated gain value as a parameter of the first drive shaft S1.

[0062] The motion control unit 111 performs actions, for example, via a CPU. The motion control unit 111 controls the operation of the production system 100 based on a first drive signal, a second drive signal, and a combined drive signal. For example, in... Figure 2 In this system, the motion control unit 111 controls the operation of the transmission device 10 according to the first drive signal. That is, the motion control unit 111 controls the transport of the workpiece W according to the first drive signal. Furthermore, the motion control unit 111 controls the machining operation of the tool 21 (first drive shaft S1) according to the second drive signal. That is, the motion control unit 111 controls the movement of the axis used for the machining operation of the tool 21 (first drive shaft S1) according to the second drive signal. Additionally, the motion control unit 111 controls the movement of the tool 21 (first drive shaft S1) according to the combined drive signal. That is, the motion control unit 111 controls the positional movement of the tool 21 (first drive shaft S1) corresponding to the transport of the workpiece W (drive of the second drive shaft S2) according to the combined drive signal. The motion control unit 111 instructs the transmission device 10 (second drive shaft S2) and the motor (first drive shaft S1) of the industrial machine 20 to operate, thereby controlling the movement of the workpiece W (second drive shaft S2) and the tool 21 (first drive shaft S1). In this embodiment, the motion control unit 111 uses set parameters, a switched synthetic drive signal, and a synthesized drive signal to control the motion of the first drive shaft S1 and the second drive shaft S2.

[0063] Next, refer to Figure 5 The flowchart below explains the operation of the numerical control device in this embodiment.

[0064] First, the selection acquisition unit 107 acquires the selection of whether the first drive signal and the second drive signal are synthesized. The synthesis timing acquisition unit 108 determines whether synthesis has occurred (step S1). If synthesis has been performed (step S1: Yes), the synthesis timing acquisition unit 108 acquires the synthesis timing. Then, the process proceeds to step S2. On the other hand, if synthesis has not been performed (step S1: No), the synthesis timing acquisition unit 108 causes the first drive signal generation unit 102 and the second drive signal generation unit 105 to generate the first drive signal and the second drive signal, respectively. Then, the process proceeds to step S5.

[0065] In step S2, the synthesis timing acquisition unit 108 acquires the synthesis timing. The synthesis timing acquisition unit 108 sends the acquired synthesis timing to the synthesis timing determination unit 109.

[0066] Next, the synthesis timing determination unit 109 determines the synthesis timing of the first drive signal and the second drive signal based on the obtained synthesis timing. The first drive signal output unit 103 and the second drive signal output unit 106 generate the first drive signal and the second drive signal respectively (step S3), and send the generated first drive signal and the second drive signal to the synthesis drive signal generation unit 110. In addition, the first drive signal output unit 103 and the second drive signal output unit 106 send the generated first drive signal and the second drive signal to the motion control unit 111 respectively.

[0067] Next, the synthesis drive signal generation unit 110 generates a synthesis drive signal based on the synthesis timing determined by the synthesis timing determination unit 109 and the generated first drive signal and second drive signal (step S4).

[0068] Next, the position deviation calculation unit 121 calculates the position deviation of the first drive shaft S1 and the second drive shaft S2 (step S5). Next, the gain value calculation unit 122 calculates the gain value after the drive speed is switched (step S6).

[0069] Next, the gain value set as a parameter is selected (step S7). If the calculated gain value is set as a parameter (step S7: Yes), the process proceeds to step S8. On the other hand, if the gain value is used, whichever is smaller of the set gain values ​​of the first drive shaft S1 and the second drive shaft S2 (step S7: No), the process proceeds to step S10.

[0070] In step S8, the parameter setting unit 123 sets the calculated gain value as the parameter of the first drive shaft S1. Then, the process proceeds to step S9.

[0071] In step S9, the motion control unit 111 controls the first drive shaft S1 using a synthesized drive signal based on the set parameters. Additionally, the motion control unit 111 drives the second drive shaft S2 using one of the drive signals included in the synthesized drive signal. Thus, the operation of this process ends.

[0072] In step S10, the parameter setting unit 123 sets the gain value of either the first drive shaft S1 or the second drive shaft S2, whichever is smaller, as the parameter of the first drive shaft S1. Then, the process proceeds to step S9. Furthermore, in the absence of a synthesized drive signal, the motion control unit 111 controls the transmission device 10 and the industrial machinery 20 based on the first drive signal and the second drive signal.

[0073] Next, the procedures disclosed herein will be explained.

[0074] The various structures included in the motion control device 1 can be implemented individually through hardware, software, or a combination thereof. Here, implementation through software means implementing it by reading and executing a program using a computer.

[0075] Programs can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disks), optical-magnetic recording media (e.g., optical discs), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash memory ROMs, and RAMs (random access memory)). Additionally, programs can also be provided to a computer using various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can supply programs to a computer via wired communication paths such as wires and optical fibers, or via wireless communication paths.

[0076] Based on the motion control device 1 and program of the first embodiment, the following effects are obtained.

[0077] (1) The motion control device 1 uses a composite drive signal obtained by combining two drive signals to switch the drive speed of the first drive shaft S1 for driving, and uses a composite drive signal to drive the second drive shaft S2 to perform a different operation than the first drive shaft S1. The motion control device has: a position deviation calculation unit 121, which calculates the position deviation of the first drive shaft S1 before the drive speed of the first drive shaft S1 is switched, and calculates the position deviation of the second drive shaft S2; and a gain value calculation unit 122, which calculates the gain value of the first drive shaft S1 after the motion speed is switched based on the drive speed of the first drive shaft S1 before the motion speed is switched, the calculated position deviation of the first drive shaft S1, and the calculated position deviation of the second drive shaft S2.

[0078] Therefore, even when the inertia of the first drive shaft S1 changes due to variations in drive speed, the motion control device 1 can suppress the generation of synchronization errors. Because it can suppress synchronization errors, it can improve machining accuracy.

[0079] (2) The gain value calculation unit 122 calculates the gain value of the first drive shaft S1 in the drive after the motion speed switch, so as to reduce the difference between the calculated position deviation of the first drive shaft S1 before the drive speed switch and the position deviation of the first drive shaft S1 after the drive speed switch. In addition, the gain value calculation unit 122 calculates the set value of the gain in the drive after the motion speed switch so that the difference between the calculated position deviation of the first drive shaft S1 before the drive speed switch and the position deviation of the first drive shaft S1 after the drive speed switch is within a specified range. As a result, the motion control device 1 can further suppress the generation of synchronization error and improve the machining accuracy.

[0080] (3) The motion control device 1 further includes: a parameter setting unit 123, which sets the calculated gain value as a parameter of the first drive shaft S1; and a motion control unit 111, which uses the set parameters, the switched synthetic drive signal, and the synthesized drive signal to control the motion of the first drive shaft S1 and the second drive shaft S2. Thus, the motion control device 1 can control the position deviation of the first drive shaft S1 to be close to the position deviation of the second drive shaft S2 before its motion, and can suppress the generation of synchronization error.

[0081] (4) The motion control device 1 further includes a selection unit 124, which selects a gain value from either the calculated gain value, the gain value of the first drive shaft S1 before the drive speed switching, or the gain value of the second drive shaft S2, based on a set parameter, and a parameter setting unit 123 sets the selected gain value as the parameter of the first drive shaft S1. Thus, the machining accuracy can be switched according to the situation, thereby providing a highly versatile motion control device.

[0082] [Second Implementation]

[0083] Next, the motion control device 1 and program according to the second embodiment of this disclosure will be described. In describing the second embodiment, the same symbols will be used for the same components as in the previous embodiment, and their descriptions will be omitted or simplified.

[0084] The difference between the motion control device of the second embodiment and the first embodiment is that the driving speed of the second drive shaft S2 changes when the first drive shaft S1 is driven by the synthesized drive signal. Therefore, in the motion control device of the second embodiment, the operation of the position deviation calculation unit 121 and the gain value calculation unit 122 are different.

[0085] The position deviation calculation unit 121 calculates the position deviation of the first drive shaft S1 before the drive speed switch of the second drive shaft S2 based on a drive signal, and the position deviation of the second drive shaft S2 before and after the drive speed switch. The position deviation calculation unit 121 calculates the position deviation of the first drive shaft S1 before the drive speed switch using the following mathematical formula (5). In addition, the position deviation calculation unit 121 calculates the position deviation of the second drive shaft S2 before and after the drive speed switch using the following mathematical formula (6) [(6-1) and (6-2)]. In addition, the position deviation calculation unit 121 uses mathematical formula (7) representing the position deviation of the first drive shaft S1 after the drive speed switch. Furthermore, as shown in mathematical formula (8) [(8-1) and (8-2)], the position deviation calculation unit 121 calculates the position deviation of the first drive shaft S1 after the drive speed switch so that the first drive shaft S1 before and after the drive speed switch of the second drive shaft S2 is the same. Here, Fmcn1 represents the drive speed of the first drive shaft S1 before the drive speed switch. Emcn1 represents the position deviation of the first drive shaft S1 before the drive speed switch. Gmcn1 represents the gain before the drive speed switch. Fmcn2 represents the drive speed of the first drive shaft S1 after the drive speed switch. Emcn1 represents the position deviation of the first drive shaft S1 after the drive speed switch. Gmcn1 represents the gain after the drive speed switch.

[0086] Fplc1 represents the speed of the second drive shaft S2 before the drive speed switch. Eplc1 represents the position deviation of the second drive shaft S2 before the drive speed switch. Gplc1 represents the gain of the second drive shaft S2 before and after the drive speed switch. Fplc2 represents the speed of the second drive shaft S2 after the drive speed switch. Eplc2 represents the position deviation of the second drive shaft S2 after the drive speed switch.

[0087] Emcn1=Fmcn1 / Gmcn1····(5)

[0088] (Mathematical Expression 6)

[0089] Eplc1=Fplc1 / Gplc1····(6-1)

[0090] Eplc2=Fplc2 / Gplc1····(6-2)

[0091] Emcn2=(Fmcn1+Fplc2) / Gmcn1····(7)

[0092] Here, mathematical formulas (5), (6-1), (6-2) and (7) are substituted into the following mathematical formula (8-1) to calculate the position deviation Gmcn2 of the first drive shaft S1 after the drive speed is switched.

[0093] (Mathematical Expression 8)

[0094] Emcn2-Eplc2=Emcn1-Eplc1····(8-1)

[0095] Gmcn2=(Fmcn1+Fplc2)*Gmcn1*Gplc1 / (Fmcn1*GplC1+(Fplc2-Fplc1)*Gmcn1)····(8-2)

[0096] Based on the motion control device 1 and program of the second embodiment, the following effects are obtained.

[0097] (5) The position deviation calculation unit 121 calculates the position deviation of the first drive shaft S1 before the drive speed of the second drive shaft S2 is switched based on a drive signal, and the position deviation of the second drive shaft S2 before and after the drive speed switch. The gain value calculation unit 122 calculates the gain value of the first drive shaft S1 after the speed change of the second drive shaft S2 based on the drive speed of the first drive shaft S1 before and after the drive speed switch, the calculated position deviation of the first drive shaft S1, and the calculated position deviation of the second drive shaft S2 before and after the drive speed switch. Therefore, even when the speed of the second drive shaft S2 is switched, the motion control device 1 of the second embodiment can suppress synchronization error and improve machining accuracy.

[0098] The preferred embodiments of the motion control device 1 and the program of this disclosure have been described above, but this disclosure is not limited to the above embodiments and can be appropriately modified.

[0099] For example, in the above embodiments, such as Figure 6As shown, the second drive signal output unit 106 can also output the second drive signal to the first drive signal output unit 103. Furthermore, the composite drive signal generation unit 110 can also generate a composite drive signal in the first drive signal output unit 103. Additionally, the first drive signal output unit 103 can use a control frequency shorter than the output of the second drive signal to output the first drive signal, the second drive signal, and the composite drive signal. Here, with... Figure 4 Similarly, the position deviation calculation unit 121, gain value calculation unit 122, parameter setting unit 123, and selection unit 124 are arranged between the synthetic drive signal generation unit 110 and the motion control unit 111, just as in the first embodiment. This allows the first drive signal, the second drive signal, and the synthetic drive signal to be output to the motion control unit 111 at a shorter control frequency. Therefore, the control timing can be further improved, enabling more precise machining.

[0100] Furthermore, in the above embodiments, such as Figure 7 As shown, it may also include a position acquisition unit 112, which acquires position information of the tool 21 relative to the workpiece W. Additionally, it may also include a correction amount determination unit 113, which determines a correction amount for the movement of the object to be corrected based on the acquired position. Furthermore, the motion control unit 111 can control the production system 100 based on a first drive signal, a second drive signal, and a combined drive signal containing the determined correction amount. Here, with... Figure 4 Similarly, the position deviation calculation unit 121, gain value calculation unit 122, parameter setting unit 123, and selection unit 124 are arranged between the synthetic drive signal generation unit 110 and the motion control unit 111, just like in the first embodiment.

[0101] The position acquisition unit 112 is implemented, for example, by a CPU. The position acquisition unit 112 acquires, for example, the position of the tool 21 (first drive shaft S1) in the workpiece coordinate system. In addition, the position acquisition unit 112 acquires, for example, the position of the tool 21 (first drive shaft S1) relative to the workpiece W based on the output signal of the sensor that acquires the position of the tool 21 (first drive shaft S1).

[0102] The correction amount determination unit 113 is implemented, for example, by a CPU. The correction amount determination unit 113 determines the correction amount (feedback amount) of the synthesized drive signal based on the relative position of the workpiece W and the tool 21. The correction amount determination unit 113 sends the determined correction amount to the first drive signal generation unit 102. Thereby, the correction amount determination unit 113 causes the first drive signal generation unit 102 to generate a first drive signal containing the determined correction amount.

[0103] The motion control unit 111 controls the production system 100 based on a first drive signal, a second drive signal, and a composite drive signal that include the determined correction amount.

[0104] This allows for flexible control in response to changes in the shape of the workpiece W. Consequently, it improves the machining accuracy of the production system 100.

[0105] Furthermore, in the above embodiment, the operation of the synthesis timing acquisition unit 108 is not limited to acquiring the synthesis timing input to an input device (not shown) such as a keyboard. The synthesis timing acquisition unit 108 may also acquire the synthesis timing set from other programs, etc.

[0106] Furthermore, in the above embodiment, the first drive signal and the second drive signal were described as the PLC that transports the workpiece W and the NC that drives the tool 21 (first drive shaft S1), respectively, but this is not a limitation. The first drive signal may also be, for example, the NC that transports the workpiece W or the PLC that performs simple machining on the workpiece W.

[0107] Furthermore, while the above embodiment describes a motion control device 1 that uses drive signals from two systems to control the action, it is not limited to this. The motion control device 1 may also use drive signals from three or more systems to control the action. For example, the motion control device 1 may also treat the actions of the tools 21 (first drive shaft S1) of multiple industrial machines 20 as a single system and use drive signals from three or more systems to control the action.

[0108] In addition, in the above embodiment, the synthetic drive signal generation unit 110 may not generate a synthetic drive signal without synthesizing the first drive signal and the second drive signal, and may only output the first drive signal and the second drive signal to the motion control unit 111.

[0109] Furthermore, while the above embodiment describes the first system as a PLC and the second system as an NC, it is not limited to this. For example... Figure 8As shown, the production system 100 may also have a common structure (common shaft 200) with the first system and the second system. That is, the production system 100 may also have a common shaft 200 that can be operated by any one of a first drive signal, a second drive signal, or a combined drive signal. The selection acquisition unit 107 may also acquire a selection of either the first drive signal or the second drive signal as a signal to operate the common shaft 200 when no combined drive signal is generated (when a selection of "no" combination is obtained). The selection acquisition unit 107 may select based on an input from the outside, a command value contained in the first drive signal, or a command value contained in the second drive signal to operate the common shaft 200 by any one of the first drive signal and the second drive signal. Furthermore, each of the first drive signal output unit 103 and the second drive signal output unit 106 may independently output the first drive signal or the second drive signal to the common shaft 200.

[0110] Furthermore, in the above embodiment, the synthesis timing determination unit 109 synthesizes the first drive signal and the second drive signal based on the acquired synthesis timing, but it is not limited to this. The motion control device 1 may also not have a synthesis timing acquisition unit 108 and a synthesis timing determination unit 109. In this case, each of the first drive signal output unit 103 and the second drive signal output unit 106 can output a first drive signal and a second drive signal that have taken the synthesis timing into account. The synthesis drive signal generation unit 110 can generate a synthesized signal by directly superimposing the output first drive signal and the second drive signal.

[0111] Furthermore, in the above embodiment, the gain value calculation unit 122 can also calculate the gain value of the first drive shaft S1 in the direction along the driving direction of the second drive shaft S2. For example, the gain value calculation unit 122 can also calculate the gain value of the first drive shaft S1 in the direction along the travel direction of the workpiece W. Therefore, the gain value calculation unit 122 calculates, for example, only the gain value in the direction affected by the synthesis of the first drive signal and the second drive signal. Thus, compared to calculating the gain value in all directions, the calculation time for the gain value can be shortened.

[0112] Symbol Explanation

[0113] 1. Motion control device

[0114] 20 Industrial Machinery

[0115] 21 tools

[0116] 100 Production System

[0117] 103 First drive signal output unit

[0118] 106 Second drive signal output unit

[0119] 107 Select Acquisition Department

[0120] 109 Synthesis Timing Determination Unit

[0121] 110 Synthetic Drive Signal Generation Unit

[0122] 111 Motion Control Department

[0123] 112 Position Acquisition Department

[0124] 113 Calibration Quantity Determination Department

[0125] 121 Position Deviation Calculation Unit

[0126] 122 Gain Value Calculation Unit

[0127] 123 Parameter Setting Section

[0128] S1 First Drive Shaft

[0129] S2 Second Drive Shaft

[0130] W is the workpiece.

Claims

1. A motion control device, comprising using a synthesized drive signal (combining two drive signals) to switch the drive speed of a first drive shaft, and using a synthesized drive signal to drive a second drive shaft performing a different operation than the first drive shaft, characterized in that, The motion control device has: The position deviation calculation unit calculates the position deviation of the first drive shaft before the drive speed of the first drive shaft is switched, and also calculates the position deviation of the second drive shaft. The gain value calculation unit calculates the gain value of the first drive shaft after the drive speed of the first drive shaft is switched, based on the drive speed of the first drive shaft before the drive speed of the first drive shaft is switched, the calculated position deviation of the first drive shaft, and the calculated position deviation of the second drive shaft. The parameter setting unit sets the calculated gain value as the parameter of the first drive shaft; as well as The motion control unit uses the set parameters, the synthesized drive signal after the drive speed of the first drive shaft is switched, and the synthesized single drive signal to control the motion of the first drive shaft and the second drive shaft.

2. The motion control device according to claim 1, characterized in that, The position deviation calculation unit calculates the position deviation of the first drive shaft before the drive speed of the second drive shaft is switched based on the drive signal, and the position deviation of the second drive shaft before and after the drive speed of the second drive shaft is switched. The gain value calculation unit calculates the gain value of the first drive shaft after the speed change of the second drive shaft based on the drive speed of the first drive shaft before and after the drive speed switch of the first drive shaft, the calculated position deviation of the first drive shaft, and the calculated position deviation of the second drive shaft before and after the drive speed switch of the second drive shaft.

3. The motion control device according to claim 1 or 2, characterized in that, The gain value calculation unit calculates the gain value of the first drive shaft in the direction along the drive direction of the second drive shaft.

4. The motion control device according to claim 1 or 2, characterized in that, The gain value calculation unit calculates the gain value of the first drive shaft in the drive after the drive speed of the first drive shaft is switched, so as to reduce the difference between the calculated position deviation of the first drive shaft before the drive speed is switched and the position deviation of the first drive shaft after the drive speed is switched.

5. The motion control device according to claim 4, characterized in that, The gain calculation unit calculates the set value of the gain in the drive after the drive speed of the first drive shaft is switched, so that the difference between the calculated position deviation of the first drive shaft before the drive speed is switched and the position deviation of the first drive shaft after the drive speed is switched is within a specified range.

6. The motion control device according to claim 1 or 2, characterized in that, The motion control device further includes a selection unit that, for a set parameter, selects between a calculated gain value and a gain value that is smaller than either the gain value of the first drive shaft before the drive speed of the first drive shaft is switched, or the gain value of the second drive shaft. The parameter setting unit sets the selected gain value as the parameter of the first drive shaft.

7. A computer-readable medium storing a program that enables a computer to function as a motion control device, the motion control device using a synthesized drive signal combining two drive signals to switch the drive speed of a first drive shaft, and using a synthesized drive signal to drive a second drive shaft performing a different operation than the first drive shaft, characterized in that... The program enables the computer to function as a component of: The position deviation calculation unit calculates the position deviation of the first drive shaft before the drive speed of the first drive shaft is switched, and also calculates the position deviation of the second drive shaft. The gain value calculation unit calculates the gain value of the first drive shaft after the drive speed of the first drive shaft is switched, based on the drive speed of the first drive shaft before the drive speed of the first drive shaft is switched, the calculated position deviation of the first drive shaft, and the calculated position deviation of the second drive shaft. The parameter setting unit sets the calculated gain value as the parameter of the first drive shaft; as well as The motion control unit uses the set parameters, the synthesized drive signal after the drive speed of the first drive shaft is switched, and the synthesized single drive signal to control the motion of the first drive shaft and the second drive shaft.

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