Data processing: generic control systems or specific application – Generic control system – apparatus or process – Having operator control interface
Reexamination Certificate
1999-09-21
2003-05-27
Follansbee, John A. (Department: 2121)
Data processing: generic control systems or specific application
Generic control system, apparatus or process
Having operator control interface
C700S189000, C700S252000, C700S264000, C700S056000, C318S567000, C318S568100, C318S573000
Reexamination Certificate
active
06571138
ABSTRACT:
FIELD OF THE INVENTION
The present invention relates to a location programming apparatus for supplying a program to a locating controller for controlling a servo motor or the like of a carrier apparatus or the like in a manufacturing plant or the like and a method therefor, and more particularly to a location programming apparatus for graphically describing a program and a method therefor.
More particularly, the present invention relates to a location programming apparatus for automatically generating a position data table for a locating controller for use in a process for controlling a plurality of axes each of which repeats a predetermined operation in accordance with an operation timing chart for each axis.
BACKGROUND ART
A conventional location programming apparatus is arranged to set a locating program by using a formed list and set parameters for controlling a control process on a parameter window.
The conventional location programming apparatus will now be described.
FIG. 170
is a diagram showing the structure of the conventional locating controller and that of the system of the location programming apparatus.
Referring to
FIG. 170
, reference numeral
1001
represents a locating controller,
1002
a
,
1002
b
and
1002
c
represent servo amplifiers,
1003
a
,
1003
b
and
1003
c
represent servo motors,
1004
represents the location programming apparatus comprising a personal computer,
1005
represents a CPU for performing locating operations,
1006
represents an O/S ROM on which an O/S for operating the locating controller
1001
is stored and
1007
represents a work memory for the CPU
1005
. Reference numeral
1008
represents a parameter memory on which parameters required to control the locating process are stored,
1009
represents a locating-program memory in which a locating program is stored and
1010
represents a communication interface between the location programming apparatus
1004
and the locating controller
1001
. Reference numeral
1011
represents a servo-amplifier interface between the servo amplifiers
1002
a
,
1002
b
and
1002
c
and the locating controller
1001
. Reference numeral
1012
represents a signal input/output interface with an external device.
Referring to
FIG. 170
, reference numeral
1013
represents a CPU for the location programming apparatus
1004
. Reference numeral
1014
represents a memory on which software (S/W) for controlling the locating program is stored. Reference numeral
1015
represents a work memory for setting parameter required to controlling the locating process,
1016
represents a parameter memory on which the set parameters are stored,
1017
represents a work memory for setting a list-form locating program and
1018
represents a locating-program memory on which the set locating program is stored. Reference numeral
1019
represents a communication interface to the locating controller
1001
so that the contents of the set parameter memory
1016
and locating-program memory
1018
are written on the locating controller
1001
and reads the same from the locating controller
1001
. Note that a display unit is omitted from illustration.
FIG. 171
shows an example of a window for setting axis parameters for the conventional location programming apparatus
1004
. A list is displayed so that setting is performed by inputting figures to a set data column
1100
.
FIG. 172
shows an example of a window for setting parameters for controlling acceleration/deceleration for the conventional location programming apparatus
1004
. A list is displayed so that setting is performed by inputting figures to a set data column
1200
.
FIG. 173
shows an example of a window for setting parameters for restoration to an original point for the conventional location programming apparatus
1004
. A list is displayed so that setting is performed by inputting figures to a set data column
1300
.
FIG. 174
shows example of a location programming window for the conventional location programming apparatus
1004
. A program list corresponding to the type of location control selected in a locating-control-type selection area
1400
is displayed on a locating-program-list setting/display area
1401
so as to set required items by inputting figures.
FIG. 174
shows a locating program list by a passage-point instruction circular interpolation method in such a manner that absolute positions are instructed. Items to be set include end-point position data
1402
, instructed speed
1403
, passing-point position data
1404
, M code
1405
, limited torque value
1406
, dwell time
1407
and acceleration/deceleration parameter number
1408
. The setting operation is performed by inputting figures to each of the setting columns.
FIG. 175
shows an example of another location programming window for the conventional location programming apparatus
1004
. Programming is performed by using standardized codes. Required position data
1501
, instructed speed
1502
and the like are set by inputting figures.
The location programming window, the axis parameter setting window, the acceleration/deceleration control parameter setting window and the original-point restoration setting window are independent windows. The window is switched to perform the setting operation.
The structure of the parameter memory
1008
of the locating controller
1001
will now be described with reference to
FIGS. 176
to
179
.
FIG. 176
shows the overall structure of the parameter memory
1008
on which the contents set in each of the parameter setting windows are stored. Reference numeral
1700
represents an area on which the axis parameter is stored and
1900
represents an area on which original-point restoration parameter is store. Each area is determined to correspond to each axis and the number of axes to be controlled. Reference numeral
1800
represents an area on which the acceleration/deceleration control parameter is stored which corresponds to the number of parameters.
FIG. 177
shows the structure of an axis parameter storage area
1700
composed of a position control unit storage area
1701
, an area
1702
on which a movement amount per rotation of an electronic gear is stored, an area
1703
on which the number of pulses per rotation of the electronic gear is stored, an area
1704
on which a unit magnification of the electronic gear is stored, an area
1705
on which an upper limit stroke indicating the permissible movement range for the axis is stored and an area
1706
on which a lower stroke limit is stored.
FIG. 178
shows the structure of an acceleration/deceleration control parameter storage area
1800
composed of an area
1801
on which a speed control unit is stored, an area
1802
on which the limited speed is stored, an acceleration time storage area
1803
, a deceleration time storage area
1804
, a rapid-stop deceleration time storage area
1805
and an area
1806
on which the type of the acceleration/deceleration pattern is stored whether the pattern is trapezoid acceleration/deceleration, S-figure acceleration/deceleration or exponential acceleration/deceleration.
The speed control unit is a unit of the speed which is instructed when two or more axes having different position control units are interpolation-controlled. The acceleration time indicates time required for the speed to reach limited speed. When the type of the acceleration/deceleration pattern is the exponential acceleration/deceleration, the acceleration time indicates set time required for the speed to reach 99% of the limited speed. Similarly, the deceleration time and the rapid stop deceleration time indicates time required for the limited speed to be reduced to the completion of deceleration. When the type of the acceleration/deceleration pattern is the exponential acceleration/deceleration, set time is indicated which takes from 99% of the limited speed to completion of deceleration.
FIG. 179
shows the structure of an original-point-restoration parameter storage area
1900
composed of an area
1901
on which an original-point-restoration method is stored, an area
Hayashi Tatsuzo
Matsumoto Hidehiko
Okada Misako
Shimizu Tomoya
Takaki Nobuyasu
Barnes Crystal J.
Follansbee John A.
Mitsubishi Denki & Kabushiki Kaisha
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