Servo press, control method, and program
There is provided a servo press capable of performing press working with high accuracy without an increased cost, for example, without any additional special component such as a linear encoder or the like even in a system in which deviation occurs due to disturbances, as well as a control method and a program disturbance. A sensing element is disposed at a stop position of a slide. A servomotor control unit performs: semi-closed loop control based on information detected by a first slide position detection unit disposed at a servomotor, before a signal detection unit detects a signal from the sensing element, and full-closed loop control based on information detected by a second slide position detection unit, after the signal detection unit detects the signal from the sensing element.
1. A servo press comprising:
a slide configured to move up and down;
a servomotor configured to drive the slide up and down;
an encoder disposed at the servomotor;
a first slide position detection unit configured to detect a position of the slide based on position change of the slide calculated based on an output signal from the encoder, the output signal corresponding to motion of the servomotor;
a setting unit configured to set a positional condition of the slide;
a sensing element disposed at a stop position of the slide;
a second slide position detection unit configured to detect the position of the slide based on an output signal from the sensing element;
a signal detection unit configured to detect a signal from the sensing element; and
a servomotor control unit configured to control the servomotor based on the position of the slide detected by one of the first slide position detection unit and the second slide position detection unit, and based on the position condition of the slide that has been set, wherein
the servomotor control unit performs:
semi-closed loop control based on information detected by the first slide position detection unit disposed at the servomotor, before the signal detection unit detects the signal from the sensing element, and
shifting from the semi-closed control to full-closed loop control based on information detected by the second slide position detection unit, to move the slide to a target stop position, after the signal detection unit detects the signal from the sensing element.
2. A servo press comprising:
a slide configured to move up and down;
a servomotor configured to drive the slide up and down;
an encoder disposed at the servomotor;
a first slide position detection unit configured to detect a position of the slide based on position change of the slide calculated based on an output signal from the encoder, the output signal corresponding to motion of the servomotor;
a setting unit configured to set a positional condition of the slide;
a sensing element disposed at a stop position of the slide;
a second slide position detection unit configured to detect the position of the slide based on an output signal from the sensing element;
a signal detection unit configured to detect a signal from the sensing element; and
a servomotor control unit configured to control the servomotor based on the position of the slide detected by one of the first slide position detection unit and the second slide position detection unit, and based on the position of the slide that has been set, wherein
the sensing element is an increment-type linear encoder, and the signal detection unit detects a Z-phase signal from the increment-type linear encoder, and
the servomotor control unit performs:
semi-closed loop control based on information detected by the first slide position detection unit disposed at the servomotor, before the signal detection unit detects the signal from the sensing element, and
full-closed loop control based on information detected by the second slide position detection unit, to move the slide to a target stop position, after the signal detection unit detects the signal from the sensing element.
3. The servo press according to claim 2 , wherein
when the signal detection unit detects the Z-phase signal from the increment-type linear encoder, the servomotor control unit performs full-closed loop control by feeding back a value of the increment-type linear encoder from the position of the slide at which the Z-phase signal from the increment-type linear encoder has been detected to a target stop position.
4. The servo press according to claim 2 , wherein
an attachment position of the increment-type linear encoder, which is a position on a line extending in a moving direction of the slide, is set based on a reference stop position of the slide.
5. The servo press according to claim 3 , wherein
an attachment position of the increment-type linear encoder, which is a position on a line extending in a moving direction of the slide, is set based on a reference stop position of the slide.
6. A control method for a servo press including:
a slide configured to move up and down; a servomotor configured to drive the slide up and down; an encoder disposed at the servomotor; a first slide position detection unit configured to detect a position of the slide based on position change of the slide calculated based on an output signal from the encoder, the output signal corresponding to motion of the servomotor; a setting unit configured to set a positional condition of the slide; a sensing element disposed at a stop position of the slide; a second slide position detection unit configured to detect the position of the slide based on an output signal from the sensing element; a signal detection unit configured to detect a signal from the sensing element; and a servomotor control unit configured to control the servomotor based on the position of the slide detected by one of the first slide position detection unit and the second slide position detection unit, and based on the position of the slide that has been set, the method comprising:
a first step of performing semi-closed loop control of the servomotor, by the servomotor control unit, based on information detected by the first slide position detection unit disposed at the servomotor, before the signal detection unit detects the signal from the sensing element;
a second step of detecting, by the signal detection unit, a signal from the sensing element disposed at a stop position of the slide; and
a third step of shifting from the semi-closed loop control of the servomotor, by the servomotor control unit, based on information detected by the first slide position detection unit disposed at the servomotor, to full-closed loop control of the servomotor to move the slide to a target stop position, by the servomotor control unit,
wherein the third step is performed when the signal detection unit detects the signal from the sensing element disposed at the stop position of the slide, based on information detected by the second slide position detection unit.