Operation control device and program
Provided are an operation control device and program that can improve processing speed while suppressing the occurrence of synchronization errors. This operation control device uses a synthesis drive signal obtained by synthesizing two drive signals to drive by switching a drive speed of a first drive shaft, and uses one of the synthesized drive signals to drive a second drive shaft for performing a task different from the first drive shaft. The operation control device comprises: a positional deviation calculation unit for calculating a positional deviation of the first drive shaft before switching the driving speed of the first drive shaft and calculating a positional deviation of the second drive shaft; and a gain value calculation unit for calculating a gain value of the first drive shaft after switching the operating speed, on the basis of the drive speed of the first drive shaft before switching the operating speed, the calculated positional deviation of the first drive shaft, and the calculated positional deviation of the second drive shaft.
1 . An operation control device that uses a combined drive signal in which two drive signals are combined with each other to switch a drive speed of a first drive axis to drive the first drive axis, and uses one of the two drive signals to drive a second drive axis that performs another task than a task that the first drive axis performs, the operation control device comprising:
a positional error calculation unit that calculates a positional error of the first drive axis before switching the drive speed of the first drive axis, and calculates a positional error of the second drive axis;
a gain value calculation unit that calculates a gain value of the first drive axis after switching an operating speed, based on the drive speed of the first drive axis before switching the operating speed, the calculated positional error of the first drive axis, and the calculated positional error of the second drive axis;
a parameter setting unit that sets the calculated gain value as a parameter of the first drive axis; and
an operation control unit that uses the set parameter, the combined drive signal after switching takes place, and the one of the drive signals to be combined with each other to control operation of the first drive axis and the second drive axis.
2 . The operation control device according to claim 1 , wherein
the positional error calculation unit calculates a positional error of the first drive axis before switching a drive speed of the second drive axis by the one of the drive signals or positional errors of the second drive axis before and after switching the drive speed, and
the gain value calculation unit calculates a gain value of the first drive axis after changing the speed of the second drive axis, based on the drive speeds of the first drive axis before and after switching the drive speed, the calculated positional error of the first drive axis, and the calculated positional errors of the second drive axis before and after switching the drive speed.
3 . The operation control device according to claim 1 , wherein the gain value calculation unit calculates a gain value of the first drive axis in a direction along a drive direction of the second drive axis.
4 . The operation control device according to claim 1 , wherein the gain value calculation unit calculates a gain value of the first drive axis during driving after switching the operating speed to reduce a difference between the calculated positional error of the first drive axis before switching the drive speed and the positional error of the first drive axis after switching the drive speed.
5 . The operation control device according to claim 4 , wherein the gain value calculation unit calculates a setting value for a gain during driving after switching the operating speed to allow the difference between the calculated positional error of the first drive axis before switching the drive speed and the positional error of the first drive axis after switching the drive speed to fall within a predetermined range.
6 . The operation control device according to claim 1 ,
further comprising a selection unit that selects, for a parameter to be set, either the calculated gain value or smaller one of either the gain value of the first drive axis before switching the drive speed or the gain value of the second drive axis,
wherein the parameter setting unit sets the selected gain value as a parameter of the first drive axis.
7 . A non-transitory computer readable medium which non-transitorily stores a program that causes a computer to function as an operation control device that uses a combined drive signal in which two drive signals are combined with each other to switch a drive speed of a first drive axis to drive the first drive axis, and uses one of the two drive signals to drive a second drive axis that performs another task than a task that the first drive axis performs,
the program causing the computer to function as:
a positional error calculation unit that calculates a positional error of the first drive axis before switching the drive speed of the first drive axis, and calculates a positional error of the second drive axis;
a gain value calculation unit that calculates a gain value of the first drive axis after switching an operating speed, based on the drive speed of the first drive axis before switching the operating speed, the calculated positional error of the first drive axis, and the calculated positional error of the second drive axis;
a parameter setting unit that sets the calculated gain value as a parameter of the first drive axis; and
an operation control unit that uses the set parameter, the combined drive signal after switching takes place, and the one of the drive signals to be combined with each other to control operation of the first drive axis and the second drive axis.