公开(公告)号：EP1508843A1

公开(公告)日：2005-02-23

申请号：EP04254843.8

申请日：2004-08-12

申请人： FANUC LTD

发明人： Nakazato, Tomomi ,  Matsuura, Hitoshi

IPC分类号： G05B19/18 ,  G05B19/41

CPC分类号： G05B19/4086 ,  G05B2219/33269 ,  Y10T408/08 ,  Y10T408/93 ,  Y10T409/300896 ,  Y10T409/307224 ,  Y10T409/307672

摘要： A numerical control apparatus controls a machine having X- and Y-axis linear moving axes of a table 1, and a pivot axis B for rotationally pivoting a pivot member (4) having a tool (5) arranged at a distal end thereof about an axis parallel to a Z axis. A moving command obtained by a command program commanded by a position expressed by X, Y, and Z values in a three-dimensional orthogonal coordinate system is subjected to an interpolation process to calculate amounts of interpolation movement (ΔX, ΔY, and ΔZ) of the respective orthogonal axes. An amount of rotation Δθ of the pivot axis required for moving the tool by the amount of movement ΔY in the Y-axis direction is calculated. An amount of correction movement δx for cancelling the movement in the X-axis direction caused by the rotation Δθ of the pivot axis B is calculated. Values (ΔX + δx), Δθ, and ΔZ are outputted to the X axis, the pivot axis B, and the Z axis, respectively.

摘要翻译： 数控装置控制具有工作台1的X轴和Y轴线性移动轴的机器和用于使枢转构件（4）旋转地枢转的枢转轴线B，该枢转构件具有设置在其远端的工具（5） 轴平行于Z轴。 对由三维正交坐标系中由X，Y和Z值表示的位置所命令的命令程序获得的移动命令进行内插处理，以计算内插运动量（DELTA X，DELTA Y和DELTA Z）。 旋转量DELTA＆thetas; 计算在Y轴方向上移动工具所需的旋转轴线ΔTA的运动量ΔTA。 用于消除由旋转DELTA＆amp; ETA引起的在X轴方向上的运动的校正运动delta x的量; 计算枢轴B的距离。 值（DELTA X + delta x），DELTA＆amp; T和ΔZZ分别输出到X轴，枢轴B和Z轴。

公开(公告)号：EP0097435A3

公开(公告)日：1985-05-22

申请号：EP83303044

申请日：1983-05-26

申请人： FANUC LTD

发明人： Matsuura, Hitoshi

IPC分类号： B23Q35/123

CPC分类号： B23Q35/123 ,  G05B19/19 ,  G05B21/02 ,  G05B2219/42256

摘要： In sampling control wherein data is sampled at regular time intervals, predetermined processing is executed on the basis of the sampled data, and a controlled system is controlled on the basis of the processing, there is calculated a difference Δx n between a sampled input value x n at a certain time t n and a sampled input value X n-1 at a time t n-1 preceding the time t n by one sampling time interval, a product ΔX n/m , obtained by multiplying the difference by a proper coefficient 1/m obtained experimentally, is added to the value X n , and the resulting sum X n + ΔX n/m is used as a sampled input value at the time t n .

公开(公告)号：EP0080374B1

公开(公告)日：1989-05-24

申请号：EP82306249.2

申请日：1982-11-24

申请人： FANUC LTD.

发明人： Matsuura, Hitoshi ,  Yamazaki, Etsuo ,  Sakurai, Hiroshi

IPC分类号： G05B19/23 ,  B23Q35/123

CPC分类号： G05B19/18 ,  G05B19/232 ,  G05B2219/42118 ,  G05B2219/50167

公开(公告)号：EP0080375B1

公开(公告)日：1989-05-17

申请号：EP82306250.0

申请日：1982-11-24

申请人： FANUC LTD.

发明人： Matsuura, Hitoshi ,  Yamazaki, Etsuo ,  Sakurai, Hiroshi

IPC分类号： G05B19/23 ,  B23Q35/123

CPC分类号： G05B19/18 ,  B23Q35/123 ,  G05B19/232 ,  G05B2219/41409 ,  G05B2219/42118 ,  G05B2219/50167

公开(公告)号：EP0097435A2

公开(公告)日：1984-01-04

申请号：EP83303044.8

申请日：1983-05-26

申请人： FANUC LTD.

发明人： Matsuura, Hitoshi

IPC分类号： G05B21/02 ,  B23Q35/123

CPC分类号： B23Q35/123 ,  G05B19/19 ,  G05B21/02 ,  G05B2219/42256

摘要： In sampling control wherein data is sampled at regular time intervals, predetermined processing is executed on the basis of the sampled data, and a controlled system is controlled on the basis of the processing, there is calculated a difference Δx n between a sampled input value x n at a certain time t n and a sampled input value X n-1 at a time t n-1 preceding the time t n by one sampling time interval, a product ΔX n/m , obtained by multiplying the difference by a proper coefficient 1/m obtained experimentally, is added to the value X n , and the resulting sum X n + ΔX n/m is used as a sampled input value at the time t n .

摘要翻译： 在以规定时间间隔对数据进行采样的采样控制中，基于采样数据执行预定处理，并且基于该处理控制受控系统，计算采样输入值xn之间的差Δxn 特定时间tn和在时间tn之前的时间tn-1一个采样时间间隔的采样输入值Xn-1，通过将该差乘以实验获得的适当系数1 / m而获得的乘积ΔXn/ m是 添加到值Xn，并且得到的和Xn +ΔXn/ m被用作时间tn处的采样输入值。

公开(公告)号：EP0080377A3

公开(公告)日：1985-05-22

申请号：EP82306252

申请日：1982-11-24

申请人： FANUC LTD

发明人： Nozawa, Ryoichiro ,  Komiya, Hidetsugu ,  Kishi, Hajimu ,  Matsuura, Hitoshi ,  Yamazaki, Etsuo ,  Sakurai, Hiroshi

IPC分类号： G05B19/23 ,  B23Q35/123

CPC分类号： B23Q35/123 ,  G05B19/19 ,  G05B19/231 ,  G05B2219/41409 ,  G05B2219/42118 ,  G05B2219/42213

摘要： A method and apparatus for sensing the present position of a movable machine element in a position control system when a position control loop in the system is placed in the open state. In the position control system, error storage means (107b) computes and stores an error between a command value produced by a control unit (102), and an amount of movement sensed by a position sensor provided on a motor shaft or on the movable machine element, and a speed control circuit controls the motor in accordance with the error from the error storage means (1 07b). The method of sensing present position includes steps of reading and storing as a steady deviation the error from said error storage means (1 07b) immediately before the position control loop is switched from the closed to the open state, reading the error in the error storage means (1 07b) when the position control loop is in the open state, updating the content of a present position register (202) on the basis of an arithmetic difference obtained by subtracting the steady deviation from the read error, and revising the content of the error storage means (107b) by the arithmetic difference.

公开(公告)号：EP0080374A3

公开(公告)日：1985-05-08

申请号：EP82306249

申请日：1982-11-24

申请人： FANUC LTD

发明人： Matsuura, Hitoshi ,  Yamazaki, Etsuo ,  Sakurai, Hiroshi

IPC分类号： G05B19/23 ,  B23Q35/123

CPC分类号： G05B19/18 ,  G05B19/232 ,  G05B2219/42118 ,  G05B2219/50167

摘要： A method and apparatus for sensing the current position of a movable element in a position control system which include first and second control devices each having command pulse generating means and error storage means for computing and storing an error between a number of command pulses and a number of feedback pulses indicative of an amount of motor movement, a speed control circuit for driving and controlling the motor on the basis of the error in the storage means, and a switching circuit for selectively connecting the first and second control devices to the speed control circuit, the current position of the movable element being sensed by the first control device when the second control device is connected to the speed control circuit. The method, which is also employed by the apparatus, includes the following steps when the second control device is connected to the speed control circuit: reading and storing, as a steady deviation, the error in the error storage means (101 e) of the first control device after the motor is rotated in accordance with the magnitude of drift of a closed loop formed by the second control device; updating the data in a current position register (202) of the first control device on the basic of an arithmetic difference found by subtracting the stored steady deviation from the data in the error storage means (101 e) of the first control device; and revising the data in the error storage means (101e) of the first control device on the basic of the arithmetic difference.

公开(公告)号：EP0080377A2

公开(公告)日：1983-06-01

申请号：EP82306252.6

申请日：1982-11-24

申请人： FANUC LTD.

发明人： Nozawa, Ryoichiro ,  Komiya, Hidetsugu ,  Kishi, Hajimu ,  Matsuura, Hitoshi ,  Yamazaki, Etsuo ,  Sakurai, Hiroshi

IPC分类号： G05B19/23 ,  B23Q35/123

CPC分类号： B23Q35/123 ,  G05B19/19 ,  G05B19/231 ,  G05B2219/41409 ,  G05B2219/42118 ,  G05B2219/42213

摘要： A method and apparatus for sensing the present position of a movable machine element in a position control system when a position control loop in the system is placed in the open state. In the position control system, error storage means (107b) computes and stores an error between a command value produced by a control unit (102), and an amount of movement sensed by a position sensor provided on a motor shaft or on the movable machine element, and a speed control circuit controls the motor in accordance with the error from the error storage means (1 07b). The method of sensing present position includes steps of reading and storing as a steady deviation the error from said error storage means (1 07b) immediately before the position control loop is switched from the closed to the open state, reading the error in the error storage means (1 07b) when the position control loop is in the open state, updating the content of a present position register (202) on the basis of an arithmetic difference obtained by subtracting the steady deviation from the read error, and revising the content of the error storage means (107b) by the arithmetic difference.

摘要翻译： 一种用于在系统中的位置控制回路处于打开状态时感测位置控制系统中的可移动机器元件的当前位置的方法和设备。 在位置控制系统中，错误存储装置（107b）计算并存储由控制单元（102）产生的命令值与由设置在电动机轴或可移动机器上的位置传感器感测的移动量之间的误差 元件，并且速度控制电路根据来自错误存储装置（107b）的错误来控制电动机。 感测当前位置的方法包括以下步骤：在位置控制回路从关闭状态切换到打开状态之前立即读取并存储来自所述错误存储装置（107b）的误差作为稳定偏差，读取错误存储器中的错误 当位置控制环路处于打开状态时，装置（107b）根据通过从读取错误中减去稳定偏差获得的算术差异更新当前位置寄存器（202）的内容，并且修改 误差存储装置（107b）通过算术差异。

公开(公告)号：EP0080375A2

公开(公告)日：1983-06-01

申请号：EP82306250.0

申请日：1982-11-24

申请人： FANUC LTD.

发明人： Matsuura, Hitoshi ,  Yamazaki, Etsuo ,  Sakurai, Hiroshi

IPC分类号： G05B19/23 ,  B23Q35/123

CPC分类号： G05B19/18 ,  B23Q35/123 ,  G05B19/232 ,  G05B2219/41409 ,  G05B2219/42118 ,  G05B2219/50167

摘要： A method and apparatus for sensing the current position of a movable element in a position control system which includes first and second control devices (101, 102) each having command pulse generating means (101 d, 307) and error storage means (101e, 102m) for computing and storing an error between a number of command pulses and a number of feedback pulses indicative of an amount of motor movement, a speed control circuit (not shown) for driving and controlling the motor on the basis of the error in the storage means (101 e, 102m) and a switching circuit (103a) for selectively connecting the first and second control devices (101, 102) to the speed control circuit, the current position of the movable element being sensed by one control device (101) when the other control device (102) is connected to the speed control circuit. The method includes steps of storing the errors which prevail in the respective storage means (101 e, 102m) just prior to switching from the first control device (101) to the second control device (102), returning the movable element to the position which prevailed just prior to the switching operation by supplying the speed control circuit with an offset voltage corresponding to an arithmetic difference found by substracting the stored error from the error storage means (102m) of said second control devide (102), from the error in the error storage means (102m) of the second control device (102) after the switching operation when the movable element has stabiiised, updating the data in a current position register (202) of the first control device (101) on the basis of an arithmetic difference found by subtracting the stored error from the error storage means (101 e) of the first control device (101), from the data in the error storage means (101 e) of the first control device (101) while the motor is controlled by the second control device (102), and revising the data in the error storage means (101 d) of the first control device (101) on the basis of the arithmetic difference.

公开(公告)号：EP1508843B1

公开(公告)日：2006-11-02

申请号：EP04254843.8

申请日：2004-08-12

申请人： FANUC LTD

发明人： Nakazato, Tomomi ,  Matsuura, Hitoshi

IPC分类号： G05B19/18 ,  G05B19/41

CPC分类号： G05B19/4086 ,  G05B2219/33269 ,  Y10T408/08 ,  Y10T408/93 ,  Y10T409/300896 ,  Y10T409/307224 ,  Y10T409/307672