发明授权
- 专利标题: Servo controller for preventing downward displacement in gravitating axis
- 专利标题(中): 伺服控制器,用于防止重力轴向下移位
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申请号: US10269961申请日: 2002-10-15
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公开(公告)号: US06741057B2公开(公告)日: 2004-05-25
- 发明人: Yasusuke Iwashita , Tadashi Okita , Satoshi Ikai
- 申请人: Yasusuke Iwashita , Tadashi Okita , Satoshi Ikai
- 优先权: JP2001/321569 20011019
- 主分类号: G05B19404
- IPC分类号: G05B19404
摘要:
A servo controller capable of preventing downward displacement of a gravitating axis of a machine when an excitation of a servomotor for driving the gravitating axis is discontinued. When a shutdown command is issued, a command for shifting a position of the gravitating axis by an offset amount in a direction opposing the gravitation is issued to a servo system. Also, a command for operating a mechanical brake to apply a braking force on the gravitating axis is issued. After a predetermined time period, the excitation of the servomotor is discontinued. The position of the gravitating axis is shifted upward by the offset amount within a time-lag between an issuance of the mechanical brake operating command and actual application of the braking force by the mechanical brake, and the braking force is applied to the gravitating axis at the shifted position. When the excitation of the servomotor is discontinued, the downward displacement of the position of the gravitating axis due to a backlash of the mechanical brake is compensated by the upward shifting of the gravitating axis, thereby movable elements connected to the gravitating axis is prevented from collision or interference with peripheral objects.