Operation confirming method and device for industrial machinery

An operation confirming method for industrial machinery, by which the operation path is confirmed by actuating industrial machinery provided with a plurality of shafts driven by a servo motor controlled by a servo controller unit at a lower speed than an actual operation speed, comprising the steps of:

• storing operation paths of said industrial machinery by actuating the industrial machinery at an actual operation speed, that is, positions of said industrial machinery, which are sampled at respective appointed sampling times, as a row of points consisting of n+1 (however, n is a natural number);
• converting said operation paths to a row of points consisting of N·(n+1) by interpolating a zone between respective adjacent points of said row of points by dividing the zone by a natural number N set in advance;
• and
• sequentially instructing position instructions of respective shafts corresponding to said row of points of N·(n+1) to said servo controller unit.

A control device for industrial machinery including an operation instruction data storing portion that stores and reproduces operation programs for industrial machinery including:

• a plurality of shafts driven by servo motors;
• a shaft operation instruction preparing portion that prepares operation instructions of respective shafts of said plurality of shafts upon receiving instructions of said operation instruction data storing portion;
• and a servo controller unit that provides a drive current to said servomotors upon receiving respective shaft operation instructions of said shaft operation instruction preparing portion;
• further comprising:
• between said shaft operation instruction preparing portion and the servo controller unit,
• a simulator that reproduces a servo control loop at an actual operation speed of said industrial machinery upon receiving said respective shaft operation instructions;
• and
• a low speed instruction converting portion that divides an output ωsj of said simulator by an appointed positive real number P and instructs the same to the servo controller unit N times (however, N is the maximum natural number not exceeding said real number P).

A control device for industrial machinery including an operation instruction data storing portion that stores and reproduces operation programs for industrial machinery including:

• a plurality of shafts driven by servo motors;
• a shaft operation instruction preparing portion that prepares operation instructions of respective shafts of said plurality of shafts upon receiving instructions of said operation instruction data storing portion;
• and a servo controller unit that provides a drive current to said servomotors upon receiving respective shaft operation instructions of said shaft operation instruction preparing portion;
• further comprising:
• between said shaft operation instruction preparing portion and the servo controller unit,
• a low speed instruction converting portion that outputs a value, which is obtained by dividing said respective shaft operation instructions by an appointed positive real number P, N times (however, N is the maximum natural number not exceeding said real number P), and
• a simulator that reproduces a servo control loop at an actual operation speed of said industrial machinery upon receiving an output of said low speed instruction converting portion.

A control device for industrial machinery including an operation instruction data storing portion that stores and reproduces operation programs for industrial machinery including:

• a plurality of shafts driven by servomotors;
• a shaft operation instruction preparing portion that prepares operation instructions of respective shafts of said plurality of shafts upon receiving instructions of said operation instruction data storing portion;
• and a servo controller unit that provides a drive current to said servomotors upon receiving respective shaft operation instructions of said shaft operation instruction preparing portion;
• further comprising:
• a status inference observer that is connected to said servo controller unit and infers positions of said industrial machinery;
• an operation result storing portion that stores the positions of said industrial machinery, which are inferred by said status inference observer, at a fixed cycle, and stores the operation path of said industrial machinery as a row of points consisting of n+1;
• and
• a low speed instruction converting portion that converts said operation path to a row of points of N·(n+1) by interpolating a zone between adjacent points of said row of points stored by said operation result storing portion by dividing the zone by a natural number N set in advance and sequentially instructs position instructions of the respective shafts corresponding to said row of points of N·(n+1) to said servo controller unit.

A control device for industrial machinery including an operation instruction data storing portion that stores and reproduces operation programs for industrial machinery including:

• a plurality of shafts driven by servomotors;
• a shaft operation instruction preparing portion that prepares operation instructions of respective shafts of said plurality of shafts upon receiving instructions of said operation instruction data storing portion;
• and a servo controller unit that provides a drive current to said servomotors upon receiving respective shaft operation instructions of said shaft operation instruction preparing portion;
• further comprising:
• a mechanical simulator that is connected to said servo controller unit and requests an operation of said industrial machinery by inputting a current instruction value applied to said servo motor;
• an operation result storing portion that stores positions of said industrial machinery, which are inferred by said mechanical simulator, at a fixed cycle, and stores an operation path of said industrial machinery as a row of points of n+1;
• and
• a low speed instruction converting portion that converts said operation path to a row of points of N·(n+1) by interpolating a zone between adjacent points of said row of points stored by said operation result storing portion by dividing the zone by a natural number N set in advance and sequentially instructs position instructions of the respective shafts corresponding to said row of points of N·(n+1) to said servo controller unit.

A control device for industrial machinery including an operation instruction data storing portion that stores and reproduces operation programs for industrial machinery including:

• a plurality of shafts driven by servomotors;
• a shaft operation instruction preparing portion that prepares operation instructions of respective shafts of said plurality of shafts upon receiving instructions of said operation instruction data storing portion;
• and a servo controller unit that provides a drive current to said servomotors upon receiving respective shaft operation instructions of said shaft operation instruction preparing portion;
• further comprising:
• a servo mechanical simulator that requests an operation of said industrial machinery by inputting a rotation angle instruction of a shaft driven by said servo motor;
• an operation result storing portion that stores positions of said industrial machinery, which are inferred by said servo mechanical simulator, at a fixed cycle, and stores an operation path of said industrial machinery as a row of points of n+1;
• and
• a low speed instruction converting portion that converts said operation path to a row of points of N·(n+1) by interpolating a zone between adjacent points of said row of points stored by said operation result storing portion by dividing the zone by a natural number N set in advance, and sequentially instructing position instructions of the respective shafts corresponding to said row of points of N·(n+1) to said servo controller unit.