Action control device and program

Abstract

This invention provides an action control device and program that can appropriately synthesize drive signals from two systems to suppress synchronization errors and improve processing speed. The invention includes: a first drive signal output unit that outputs a drive signal from the first system, i.e., a first drive signal; a second drive signal output unit that outputs a drive signal from the second system, i.e., a second drive signal; a transmission characteristic acquisition unit that acquires the transmission characteristics of the position control of the first system; a correction unit that uses the acquired transmission characteristics to correct the output first drive signal into a correction drive signal; a first action speed calculation unit that calculates the action speed of the first system based on the correction drive signal as a first action speed; a second action speed calculation unit that calculates the action speed of the second system based on the second drive signal as a second action speed; a synthesized drive signal generation unit that synthesizes the correction drive signal and the second drive signal to generate a synthesized drive signal; and an action control unit that uses the first action speed, the second action speed, and the synthesized drive signal to control the action of the second system.

Description

Technical Field

[0001] This disclosure relates to motion control devices and procedures. 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] Motion control devices, for example, possess 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. In other words, 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 the drive signal of one system with the drive signal of the other. For example, the motion control device preferably processes the drive signal of one system and the drive signal of the other 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 using the other system's drive signal is executed after the axis movement using the first system's drive signal has finished. Therefore, simply superimposing the drive signals of the two systems is insufficient to ensure proper operation of both systems. Therefore, it is preferable to be able to properly synthesize the drive signals of the two systems.

[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 is a motion control device that uses drive signals from at least two systems to control the motion of a production system including industrial machinery. The device includes: a first drive signal output unit that outputs a drive signal from the first system, i.e., a first drive signal; a second drive signal output unit that outputs a drive signal from the second system, i.e., a second drive signal; a transmission characteristic acquisition unit that acquires the transmission characteristics of the position control of the first system; a correction unit that uses the acquired transmission characteristics to correct the output first drive signal into a correction drive signal; a first motion speed calculation unit that calculates the motion speed of the first system based on the correction drive signal as a first motion speed; a second motion speed calculation unit that calculates the motion speed of the second system based on the second drive signal as a second motion speed; a composite drive signal generation unit that combines the correction drive signal and the second drive signal to generate a composite drive signal; a composite drive signal generation unit that uses the calculated first motion speed, the calculated second motion speed, and the second drive signal to generate the composite drive signal; and a motion control unit that uses the first motion speed, the second motion speed, and the composite drive signal to control the motion of the second system.

[0016] (2) Furthermore, the present invention is a program that enables a computer to function as a motion control device, the motion control device using drive signals from at least two systems to control the motion of a production system including industrial machinery, the program enabling the computer to function as the following units: a first drive signal output unit that outputs the drive signal of the first system, i.e., the first drive signal; a second drive signal output unit that outputs the drive signal of the second system, i.e., the second drive signal; a transmission characteristic acquisition unit that acquires the transmission characteristics of the position control of the first system; a correction unit that uses the acquired transmission characteristics to correct the output first drive signal into a correction drive signal; and a first motion speed calculation unit that calculates the motion speed according to the... A correction drive signal is used to calculate the operating speed of the first system as a first operating speed; a second operating speed calculation unit calculates the operating speed of the second system based on the second drive signal as a second operating speed; a composite drive signal generation unit combines the calculated first operating speed, the correction drive signal, and the second drive signal to generate a composite drive signal; a composite drive signal generation unit uses the calculated first operating speed, the calculated second operating speed, and the second drive signal to generate the composite drive signal; and an operation control unit uses the first operating speed, the second operating speed, and the composite drive signal to control the operation of the second system.

[0017] Invention Effects

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

[0019] Figure 1 This is a schematic structural diagram of a production system that includes a motion control device according to an embodiment of the present disclosure.

[0020] Figure 2 This is a conceptual diagram illustrating the general outline of the actions in a production system that includes an action control device according to one embodiment.

[0021] Figure 3 This is a conceptual diagram illustrating the general outline of the actions in a production system that includes an action control device according to one embodiment.

[0022] Figure 4 This is a block diagram illustrating the structure of an action control device according to one embodiment.

[0023] Figure 5 This is a block diagram showing the structure of the motion control unit in one embodiment.

[0024] Figure 6 This is a schematic diagram illustrating the signal flow of an action control device according to one embodiment.

[0025] Figure 7 This is a flowchart illustrating the operation of an action control device according to one embodiment.

[0026] Figure 8 This is a graph representing the relationship between time and position for a PLC axis in an embodiment.

[0027] Figure 9 This is a graph representing the relationship between time and position on the NC axis, as described in this embodiment.

[0028] Figure 10 This is a graph representing the relationship between time and position using a common axis, as described in the embodiment.

[0029] Figure 11 yes Figure 10 A magnified view of a portion of the image.

[0030] Figure 12 This is a graph showing a comparison between the position of the common axis, taking into account the positional deviation of the embodiment, and the position of the common axis after simple addition.

[0031] Figure 13 This is a schematic diagram showing a common shaft controlled by a control device in a modified example. Detailed Implementation

[0032] The following is for reference Figures 1 to 13 An embodiment of the motion control device 1 and the program of this disclosure will be described.

[0033] 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.

[0034] 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.

[0035] The conveying device 10 is a device for conveying workpiece W. The conveying device 10, for example, rotates a motor (not shown) to convey workpiece W. The conveying device 10 conveys workpiece W in a predetermined direction.

[0036] 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.

[0037] 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, for example, in machining complex shapes and complex operations, 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.

[0038] 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 tool axis C2, and uses the combined drive signal to transport the workpiece. The motion control device 1, for example, as follows... Figure 2 as well as Figure 3 As shown, while the PLC controls the transport (axis control) of the workpiece W placed on the conveyor table T (conveyor axis C1), the NC controls the tool 21 (tool axis C2) to process the workpiece W. Specifically, at time t0, the motion control device 1 moves the tool 21 to a processing position P1, which is a distance d away from the reference position P0 of the tool 21, towards 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, causes the tool 21 to process the workpiece W, thus performing both transport and processing.

[0039] Next, refer to Figures 4 to 6 An embodiment of the motion control device 1 and the program of this disclosure will be described.

[0040] 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 transmission characteristic acquisition unit 104, a correction unit 105, a first motion speed calculation unit 106, a second system program storage unit 107, a second drive signal generation unit 108, a second drive signal output unit 109, a second motion speed calculation unit 110, a selection acquisition unit 111, a synthesis timing acquisition unit 112, a synthesis timing determination unit 113, a synthesis drive signal generation unit 114, and a motion control unit 115.

[0041] 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.

[0042] The first drive signal generation unit 102 is implemented, for example, by a CPU. The first drive signal generation unit 102 generates a drive signal for the first system, i.e., a first drive signal. In this embodiment, the first drive signal generation unit 102 generates a drive signal for driving the shaft of the transmission device 10.

[0043] The first drive signal output unit 103 is implemented, for example, by the CPU. The first drive signal output unit 103 outputs the drive signal of the first system, i.e., the first drive signal.

[0044] The transmission characteristic acquisition unit 104 is implemented, for example, by a CPU. The transmission characteristic acquisition unit 104 acquires the transmission characteristics of the position control of the first system. For example, the transmission characteristic acquisition unit 104 acquires the transmission characteristics of the position control of the first drive signal based on the transmission characteristics of the control device and the transport shaft C1. In this embodiment, as... Figure 5 As shown, the transfer characteristic acquisition unit 104 uses P1(s) as the transfer function of the control object of the first system and G1(s) as the transfer function of the compensator of the first system to acquire the transfer characteristic represented by the following mathematical formula 1.

[0045] [Mathematical Expression 1]

[0046]

[0047] The correction unit 105 is implemented, for example, by a CPU. The correction unit 105 uses the acquired transmission characteristics to correct the output first drive signal into a correction drive signal. For example, the correction unit 105 uses the acquired transmission characteristics to correct the first drive signal to the output value of the actually driven transport shaft C1. That is, the correction unit 105 corrects the first drive signal based on the output characteristics of the first system for the input first drive signal.

[0048] The second system program storage unit 107 is, for example, a secondary storage medium such as a hard disk. The second system program storage unit 107 stores programs for generating drive signals for the second system. In this embodiment, the second system program storage unit 107 stores, for example, a program for NC control. Specifically, the second system program storage unit 107 stores a program that moves the axis of the tool 21 of the industrial machine 20 to process the workpiece W.

[0049] The second drive signal generation unit 108 is implemented, for example, by a CPU. The second drive signal generation unit 108 generates drive signals for the second system, i.e., second drive signals. In this embodiment, the second drive signal generation unit 108 generates drive signals for the axis (tool axis S2) of the tool 21 that drives the industrial machinery 20.

[0050] The second drive signal output unit 109 is implemented, for example, by a CPU. The second drive signal output unit 109 outputs the drive signal of the second system, i.e., the second drive signal. The second drive signal output unit 109 outputs the second drive signal, for example, at a drive frequency longer than that of the first drive signal output unit 103.

[0051] The selection acquisition unit 111 is implemented, for example, by the CPU. The selection acquisition unit 111 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 111 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 111 acquires the selection of "no" synthesis.

[0052] The synthesis timing acquisition unit 112 is implemented, for example, by the CPU. The synthesis timing acquisition unit 112 acquires the timing of the synthesis of the first drive signal and the second drive signal from an external source. When synthesis is selected as "yes," the synthesis timing acquisition unit 112 acquires the timing of the synthesis of the first drive signal and the second drive signal. The synthesis timing acquisition unit 112 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 112 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 to process the workpiece W as synthesis timing. The synthesis timing acquisition unit 112 acquires the synthesis timing using an input device such as a keyboard (not shown).

[0053] The synthesis timing determination unit 113 is implemented, for example, by a CPU. The synthesis timing determination unit 113 determines the synthesis timing of the first drive signal and the second drive signal. The synthesis timing determination unit 113 determines the synthesis timing as the timing obtained by the synthesis timing acquisition unit 112.

[0054] The synthetic drive signal generation unit 114 is implemented, for example, by a CPU. When the selection to generate a synthetic drive signal is obtained, the synthetic drive signal generation unit 114 generates a synthetic drive signal. Furthermore, the synthetic drive signal generation unit 114 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 114 synthesizes the correction drive signal and the second drive signal to generate the synthetic drive signal. For example, as... Figure 5As shown, the synthetic drive signal generation unit 114 synthesizes the corrected output of the position command of the first system, i.e., the corrected drive signal, with the position command of the second system, i.e., the second drive signal.

[0055] The motion control unit 115 is implemented, for example, by a CPU. The motion control unit 115 uses a first motion speed, a second motion speed, and a synthesized drive signal to control the operation of the second system. Additionally, the motion control unit 115 uses the first drive signal to control the operation of the first system. For example, in... Figure 2 In this process, the motion control unit 115 controls the operation of the transmission device 10 based on the first drive signal. That is, the motion control unit 115 controls the transport of the workpiece W based on the first drive signal. Figure 5 as well as Figure 6 As shown, the motion control unit 115 includes: a first motion speed calculation unit 106, a first compensator 151, a second motion speed calculation unit 110, and a second compensator 152.

[0056] The first motion speed calculation unit 106 calculates the motion speed of the first system as the first motion speed based on the correction drive signal. For example, the first motion speed calculation unit 106 calculates the speed feedforward value based on the correction drive signal. Figure 6 As shown, the first motion speed calculation unit 106 calculates the value represented by S·V1FF. The first motion speed calculation unit 106 outputs the calculated value as a first feedforward signal.

[0057] The first compensator 151 uses a transfer function G1(s) to compensate for the operating position of the transmission device 10 relative to the first drive signal, based on the operating characteristics of the transmission device 10. The first compensator 151 controls the operation of the transmission device 10 through the compensated signal.

[0058] The second motion speed calculation unit 110 calculates the motion speed of the second system as a second motion speed based on the second drive signal. For example, the second motion speed calculation unit 110 calculates the second motion speed as a speed feedforward value based on the second drive signal. Figure 6 As shown, the second motion speed calculation unit 110 calculates the value represented by S·V2FF. The second motion speed calculation unit 110 outputs the calculated value as a second feedforward signal.

[0059] The second compensator 152 uses a transfer function G2(s) to compensate for the position of the industrial machinery relative to the sum of the first feedforward signal, the second feedforward signal, and the synthesized drive signal, based on the operating characteristics of the transmission device 10 and the industrial machinery 20. The second compensator 152 controls the operation of the industrial machinery 20 using the compensated signal.

[0060] Furthermore, the motion control unit 115 uses a first motion speed, a second motion speed, and a synthesized drive signal to control the machining motion of the tool 21. For example, the motion control unit 115 uses the position indicated by the second drive signal and the motion speed obtained by adding the first motion speed and the second motion speed to control the motion of the second system. Figure 6 As shown, the motion control unit 115 synthesizes the synthetic drive signal, the speed characteristic V2(s) of the second system obtained through the position loop proportional gain, the motion speed calculated by the first motion speed calculation unit 106, and the motion speed calculated by the second motion speed calculation unit 110, as the actual command for the second system. Furthermore, the motion control unit 115 controls the operation of the second system based on the transfer function (W(s)) of the second system, which is based on the transfer function (G2(s)) of the compensator and the transfer function (P2(s)) of the controlled object, in response to the actual position command. Additionally, the motion control unit 115 implements feedback control using the transfer function (W(s)) and feedback control using the output value. Thus, the motion control unit 115 controls the operation of the production system 100 based on the first drive signal, the second drive signal, and the synthetic drive signal. Here, if the selection acquisition unit 111 does not select the synthesis of the first drive signal and the second drive signal, the motion control unit 115 does not synthesize the first drive signal and the second drive signal, and controls the operation of the first system and the second system.

[0061] Next, refer to Figure 7 The flowchart below explains the operation of the numerical control device in this embodiment.

[0062] First, the selection acquisition unit 111 acquires the selection of whether to synthesize the first drive signal and the second drive signal. The synthesis timing acquisition unit 112 determines whether synthesis is performed (step S1). If synthesis is performed (step S1: Yes), the synthesis timing acquisition unit 112 acquires the synthesis timing. Then, the process proceeds to step S2. On the other hand, if synthesis is not performed (step S1: No), the synthesis timing acquisition unit 112 causes each of the first drive signal generation unit 102 and the second drive signal generation unit 108 to generate the first drive signal and the second drive signal. Then, the process proceeds to step S7.

[0063] In step S2, the synthesis timing acquisition unit 112 acquires the synthesis timing. The synthesis timing acquisition unit 112 sends the acquired synthesis timing to the synthesis timing determination unit 113.

[0064] Next, the synthesis timing determination unit 113 determines the synthesis timing of the first drive signal and the second drive signal based on the obtained synthesis timing. Each of the first drive signal output unit 103 and the second drive signal output unit 109 generates the first drive signal and the second drive signal (step S3) and sends the generated first drive signal and the second drive signal to the synthesis drive signal generation unit 114. In addition, each of the first drive signal output unit 103 and the second drive signal output unit 109 sends the generated first drive signal and the second drive signal to the motion control unit 115.

[0065] Next, the transmission characteristic acquisition unit 104 acquires the transmission characteristics of the first system (step S4). Then, the correction unit 105 uses the acquired transmission characteristics to correct the first drive signal and generate a correction drive signal (step S5).

[0066] Next, the synthesis drive signal generation unit 114 generates a synthesis drive signal using the correction drive signal and the second drive signal based on the synthesis timing determined by the synthesis timing determination unit 113 (step S6).

[0067] In step S7, the motion control unit 115 causes the transmission device 10 and the industrial machine 20 to operate. Here, the first motion speed calculation unit 106 uses the generated correction drive signal to calculate the first motion speed. Additionally, the second motion speed calculation unit 110 uses the second drive signal to calculate the second motion speed. The motion control unit 115 uses the first motion speed, the second motion speed, and the second drive signal to control the transmission device 10 and the industrial machine 20. Furthermore, when no composite drive signal is generated, the motion control unit 115 uses the first drive signal to control the transmission device 10. Also, when no composite drive signal is generated, the motion control unit 115 uses the second drive signal to control the industrial machine 20.

[0068] Next, the procedures disclosed herein will be explained.

[0069] 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.

[0070] Programs can be stored and supplied 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, display programs can also be supplied 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.

[0071] [Implementation Method]

[0072] Next, embodiments of this implementation will be described. For example... Figures 8-10 As shown, the motion control device 1 causes the PLC axis (first system) to move at a constant speed relative to the change of time. From 0.5 seconds to approximately 1.75 seconds after the start time, the motion control device 1 causes the NC axis (second system) to move at a constant speed in the same direction as the first system earlier than the first system. Furthermore, the motion control device 1 causes the common axis (the second system that operates using a synthesized drive signal) to operate by simply adding the drive signal of the PLC axis to the drive signal of the NC axis, and by taking into account the positional deviation of the PLC axis. In addition, in Figure 8 and Figure 9 In this scenario, the position command and position FB (First Step) differ near locations of velocity changes, but in stable motion scenarios, the difference does not increase, and the action proceeds without further variation. Figure 10 In the middle, the four charts appear to overlap, but they are extracted from a portion of the steady-state time (e.g., between approximately 1 and 1.5 seconds). Figure 11 In the diagram, four charts represent different values.

[0073] like Figure 11As shown, regarding the operation of the shared axis, based on the position command that simply adds the first drive signal and the second drive signal, position feedback (FB) can be obtained. Furthermore, regarding the operation of the shared axis, based on the position command that takes into account the position deviation of the PLC axis, position feedback that takes into account the position deviation can be obtained.

[0074] And, as Figure 12 As shown, the difference in position feedback between the PLC axis and the NC axis is calculated based on the position feedback of the common axis in the case of simple addition. Furthermore, the difference in position feedback between the PLC axis and the NC axis is calculated based on the position feedback of the common axis considering position deviation. The two are then compared. The results show that the difference in the case of simple addition (between approximately 1 second and 1.5 seconds) is +773 μm. On the other hand, the difference in the case considering position deviation (between approximately 1 second and 1.5 seconds) is -11.2 μm. Therefore, it can be seen that the position deviation of the common axis can be improved when synthesizing considering position deviation compared to the case of simple addition.

[0075] The following effects are obtained according to the motion control device 1 and program of one embodiment.

[0076] (1) An action control device 1 that uses drive signals from at least two systems to control the action of a production system 100 including industrial machinery 20, comprising: a first drive signal output unit 103 that outputs drive signals from the first system, i.e., a first drive signal; a second drive signal output unit 109 that outputs drive signals from the second system, i.e., a second drive signal; a transmission characteristic acquisition unit 104 that acquires the transmission characteristics of the position control of the first system; a correction unit 105 that uses the acquired transmission characteristics to correct the output first drive signal into a correction drive signal; a first action speed calculation unit 106 that calculates the action speed of the first system based on the correction drive signal as a first action speed; a second action speed calculation unit 110 that calculates the action speed of the second system based on the second drive signal as a second action speed; a composite drive signal generation unit 114 that combines the correction drive signal and the second drive signal to generate a composite drive signal; and an action control unit 115 that uses the first action speed, the second action speed, and the composite drive signal to control the action of the second system. The drive signal (position command) corrected by taking into account the transmission characteristics of the first system is combined with the second drive signal. Therefore, regardless of the gain of each system, the generation of synchronization error can be suppressed. In addition, since it is not affected by the gain of the two systems, the machining speed and machining accuracy can be improved.

[0077] (2) The motion control device 1 further includes a selection acquisition unit 111, which acquires the selection of whether to generate a synthetic drive signal. When the selection acquisition unit 111 acquires the selection of generating a synthetic drive signal, the synthetic drive signal generation unit 114 generates a synthetic drive signal. As a result, the control options can be increased, and thus, the versatility can be improved.

[0078] (3) The motion control unit 115 uses the position represented by the second drive signal and the motion speed obtained by adding the first motion speed and the second motion speed to control the motion of the second system. As a result, control corresponding to the response characteristics of the first system and the second system can be performed, and therefore, control that takes into account the position transmission characteristics of the industrial machine 20 and the transmission device 10 can be appropriately implemented.

[0079] The preferred embodiment of the motion control device 1 and the program of this disclosure has been described above, but this disclosure is not limited to the above embodiment and can be appropriately modified.

[0080] For example, in the above embodiment, the operation of the synthesis timing acquisition unit 112 is not limited to acquiring the synthesis timing input to an input device (not shown) such as a keyboard. The synthesis timing acquisition unit 112 may also acquire the synthesis timing set by other programs, etc.

[0081] 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, 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.

[0082] 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 treat the actions of the tools 21 of multiple industrial machines 20 as a single system and use drive signals from three or more systems to control the action. Additionally, while the above embodiment describes the first system as a PLC and the second system as an NC, it is not limited to this. The first system may be an NC and the second system a PLC, or other drive signals may be used.

[0083] In addition, in the above embodiment, the synthetic drive signal generation unit 114 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 115.

[0084] 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 13 As shown, the production system 100 may also have a common structure (common shaft 200) shared by the first and second systems. 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 111 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 111 can make a selection 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, so as to operate the common shaft 200 using either the first drive signal or the second drive signal. Furthermore, the first drive signal output unit 103 and the second drive signal output unit 109 may independently output the first drive signal or the second drive signal to the common shaft 200.

[0085] Furthermore, in the above embodiment, the synthesis timing determination unit 113 synthesizes the first drive signal and the second drive signal based on the acquired synthesis timing, but is not limited thereto. The motion control device 1 may also omit the synthesis timing acquisition unit 112 and the synthesis timing determination unit 113. In this case, the first drive signal output unit 103 and the second drive signal output unit 109 can output the first drive signal and the second drive signal, respectively, with the synthesis timing pre-considered. The synthesis drive signal generation unit 114 can directly superimpose the output first drive signal and the second drive signal to generate a synthesized signal.

[0086] Explanation of reference numerals in the attached figures

[0087] 1. Motion control device

[0088] 20 Industrial Machinery

[0089] 21 tools

[0090] 100 Production System

[0091] 103 First drive signal output unit

[0092] 104 Transmission Characteristic Acquisition Section

[0093] 105 Correction Department

[0094] 106 First Motion Speed ​​Calculation Unit

[0095] 109 Second drive signal output unit

[0096] 110 Second Action Speed ​​Calculation Unit

[0097] 111 Select Acquisition Department

[0098] 113 Synthesis Timing Determination Unit

[0099] 114 Synthetic drive signal generation unit

[0100] 115 Motion Control Department

[0101] W is the workpiece.

Claims

1. A motion control device that uses drive signals from at least two systems to control the motion of a production system comprising industrial machinery, characterized in that, The motion control device has: The first drive signal output unit outputs the drive signal of the first system, namely the first drive signal. The second drive signal output unit outputs the drive signal of the second system, i.e., the second drive signal. The transmission characteristic acquisition unit acquires the transmission characteristics of the position control of the first system; The correction unit uses the acquired transmission characteristics to correct the output first drive signal into a correction drive signal; The first action speed calculation unit calculates the action speed of the first system based on the correction drive signal to obtain the first action speed. The second action speed calculation unit calculates the action speed of the second system based on the second drive signal to obtain the second action speed. A synthetic drive signal generation unit combines the corrected drive signal with the second drive signal to generate a synthetic drive signal; The motion control unit uses the first motion speed, the second motion speed, and the synthesized drive signal to control the motion of the second system.

2. The motion control device according to claim 1, characterized in that, The motion control device further includes a selection acquisition unit that acquires the selection of whether to generate the synthetic drive signal. When the selection acquisition unit obtains the selection to generate the synthetic drive signal, the synthetic drive signal generation unit generates the synthetic drive signal.

3. The motion control device according to claim 1 or 2, characterized in that, The motion control unit uses the position represented by the second drive signal and the total motion speed obtained by adding the first motion speed and the second motion speed to control the motion of the second system.

4. A non-transitory computer-readable medium storing a program that enables a computer to function as a motion control device, the motion control device using drive signals from at least two systems to control the actions of a production system comprising industrial machinery, characterized in that... The program enables the computer to function as follows: The first drive signal output unit outputs the drive signal of the first system, namely the first drive signal. The second drive signal output unit outputs the drive signal of the second system, i.e., the second drive signal. The transmission characteristic acquisition unit acquires the transmission characteristics of the position control of the first system; The correction unit uses the acquired transmission characteristics to correct the output first drive signal into a correction drive signal; The first action speed calculation unit calculates the action speed of the first system based on the correction drive signal to obtain the first action speed. The second action speed calculation unit calculates the action speed of the second system based on the second drive signal to obtain the second action speed. A synthetic drive signal generation unit combines the corrected drive signal with the second drive signal to generate a synthetic drive signal; The motion control unit uses the first motion speed, the second motion speed, and the synthesized drive signal to control the motion of the second system.

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