Omron Corporation

Tomonori Shimamura

Junji Shimamura

Eiji Y Yamamoto

Masahiko Nakano

Tetsushi Jakunen

Takafumi Okura

Yuto Yasui

Koji Yaoita

Daisuke Matsunaga

Yosuke Iwai

Tatsuya Kojima

Yoshimi Kamitani

Shu Biwaki

Toshiaki Kato

Eiji Yamamoto

A controller includes a calculator, a generator, and an adjuster. The calculator calculates a correction value for a position command based on a transmission delay and a control delay included in outputting the position command from the controller to the slave axis drive. The transmission delay is a delay in transmitting the position command to the slave axis drive. The control delay is a delay in the slave axis drive. The generator generates a corrected position command by applying the correction value to a reference position command for the slave axis drive calculated using position information about the master axis drive. The adjuster adjusts, in a predetermined period from when a speed of the master axis drive changes, the correction value to be below a value calculated by the calculator to cause a position of the slave axis drive to avoid exceeding a position of the master axis drive.

Control device

A controller for performing synchronization control over the master axis and the slave axis to follow an electronic cam profile includes a reference position calculator that, in response to power being restored after a power disconnect, obtains a position of the master axis and calculates reference positions of the master axis and the slave axis based on the obtained position of the master axis, a position of the master axis at cam synchronization, and the electronic cam profile, and a return control unit that performs return control to determine a position of the slave axis corresponding to a current position of the master axis based on the current position of the master axis, the electronic cam profile, and the reference positions of the master axis and the slave axis calculated by the reference position calculator, and that moves the slave axis to the determined position.

The present disclosure provides a configuration of a control device that is capable of controlling the execution timing, etc. of multiple application programs when the multiple programs are executed in parallel in addition to a sequence program in a single control device. In the control device, when a first application program includes a first special command and a second application program includes a second special command, a command calculation part outputs a control command according to commands described after the first special command in the first application program and a control command according to commands described after the second special command in the second application program on the basis of a common timing.

A control device includes at least a first task that has a first priority including processing execution performed by a program execution part and a command calculation part, a second task that has a second priority, lower than the first priority, including processing execution performed by a parsing part, and a third task that has a third priority including execution of a processing content different from the first task and the second task are set in a scheduler. The control device further includes a priority changing part monitoring a processing state of the parsing part, and when the processing state of the parsing part meets a predetermined condition, changing the second priority set to the second task corresponding to the condition.

Control device for operating multiple types of programs in different execution formats

A controller allows easy synchronization between a plurality of control programs executed in parallel to control a plurality of motors. The control programs are executed cyclically in parallel in predetermined execution cycles. Timing data for synchronizing the execution timing of the control programs is transmitted and received between the control programs. After control programis executed, an axis variable to be referred to by the control programis copied from an execution area of the memory for the control programinto a buffer area for the control program

Controller

A control device is configured to synchronize a second axis with a (real or virtual) first axis. The control device includes a processor configured to use position information for the first axis to compute a position command for the second axis, and to correct the position command when outputting a position command to the second axis to compensate for a delay caused by the transmission of the position command from the control device to the second axis, and a delay on the second axis.

Control device and method of synchronizing control

The present invention uses a simple structure to precisely control a position of a rotator. A controller () sends a pulse for controlling rotation of a work () to a servo driver (), and the work () is rotated by a motor () according to a reduction ratio as prescribed of a decelerator in which the motor () is driven by the servo driver () using a pulse quantity of the pulse for indicating an instruction position. The controller () includes a counting range determining part (), and the counting range determining part () determines a counting range of an instruction position counter () for counting the pulse quantity. The counting range determining part () multiples a prescribed pulse quantity of each turn of the motor () by a reciprocal of the reduction ratio and a correction value, and determines the correction value which enables a multiplication result to be an integer.

Growing community of inventors

Otsu, Japan

Tomonori Shimamura