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    Passive payload for a cartridge handling system
    41.
    发明公开
    Passive payload for a cartridge handling system 失效
    被动的Nutzlastfürein Kassettenbedienungssystem。

    公开(公告)号：EP0389161A2

    公开(公告)日：1990-09-26

    申请号：EP90302637.5

    申请日：1990-03-13

    申请人： Hewlett-Packard Company

    发明人： Oliver, Thomas C. ,  Wanger, Mark E. ,  Stavely, Donald J. ,  Methlie, Jennifer L.

    IPC分类号： G11B17/22 ,  G05B19/405 ,  G05B19/39 ,  G05B19/25 ,  G05B19/23

    CPC分类号： G11B17/228 ,  G05B19/25 ,  G05B19/39 ,  G05B19/4093 ,  G05B2219/34367 ,  G05B2219/37285 ,  G05B2219/42237 ,  G05B2219/45057 ,  G05B2219/50277 ,  G11B19/00 ,  Y02P90/265

    摘要： Disclosed is an optical disk handling system (24), called an autochanger, having two control systems (150Y, l50Z) to provide the six motions necessary to move optical disk cartridges from storage holding cells to an optical drive. The system uses shaft encoders (62, 72) on two motors (60, 70) of the two control systems, and current or voltage feedback from the motors, for all positioning, and for detecting the location of the mechanisms during, and at the end of, moves. The shaft encoders (62, 72) are used to position a mechanism close to the eventual move location, then motor current or voltage feedback is used to determine the opposition to the movement of the mechanism, which tells the control system whether the mechanism has reached its destination. A human operator can enter a cartridge into the system through a mailslot (41), which is rotatable to properly receive or eject cartridges. The control systems use a flip assembly (49) in the autochanger to turn the cartridge over, allowing either side of the disk to be arranged for reading or writing by the optical drive. The control systems use a lateral displacement assembly (51) to move a cartridge from a cell in one of the two columns of the autochanger to a cell in the other column, or to move a cartridge between the optical drive, which is located in one of the columns, to a cell in the other column. The control systems use a cartridge engaging assembly (45) to attach to an exposed end portion of a cartridge positioned in a cell or the optical drive. A longitudinal displacement assembly (47) is used by the control systems to move the cartridge, after attachment, out of the cell or optical drive. After positioning the cartridge vertically and laterally, the longitudinal displacement assembly (47) is then used to move the cartridge into a cell or the optical drive, where the engaging assembly (45) releases the cartridge. An important aspect of the invention is that the longitudinal displacement assembly (47), the flip assembly (49), the lateral displacement assembly (51), the engagement assembly (45), and the mailslot assembly (41) are operated by one of the two control systems. The other of the two control systems is used for vertical displacement of the cartridge.

    摘要翻译： 公开了一种称为自动转换器的光盘处理系统（24），其具有两个控制系统（150Y，150Z），以提供将光盘盒从存储保持单元移动到光驱动所需的六个运动。 该系统在两个控制系统的两个电动机（60,70）上使用轴编码器（62,72），以及来自电动机的电流或电压反馈，用于所有定位，并用于检测机构的位置 结束，移动。 轴编码器（62,72）用于将机构定位成靠近最终的移动位置，然后使用电动机电流或电压反馈来确定与机构的运动的对立，其告知控制系统机构是否已达到 它的目的地。 操作人员可以通过可旋转以适当地接收或弹出墨盒的邮槽（41）将墨盒进入系统。 控制系统使用自动转换器中的翻转组件（49）来转动盒，使得盘的任一侧被布置成由光驱读取或写入。 控制系统使用横向位移组件（51）将盒从自动转换器的两列之一中的单元移动到另一列中的单元，或者将盒位于位于一个中的光驱之间 的列，到另一列中的单元格。 控制系统使用盒式接合组件（45）附接到位于单元或光驱中的盒的暴露端部。 控制系统使用纵向位移组件（47），在附接之后将盒移出单元或光驱。 在垂直和侧向定位盒之后，随后使用纵向位移组件（47）将盒移动到单元或光驱中，其中接合组件（45）释放盒。 本发明的一个重要方面是纵向位移组件（47），翻转组件（49），横向位移组件（51），接合组件（45）和邮槽组件（41）由以下之一 两个控制系统。 两个控制系统中的另一个用于墨盒的垂直位移。

    ROBOT CONTROLLER
    42.
    发明公开
    ROBOT CONTROLLER 失效
    机器人控制器

    公开(公告)号：EP0298128A4

    公开(公告)日：1990-09-05

    申请号：EP88900789

    申请日：1988-01-07

    申请人： FANUC LTD

    发明人： MIZUNO, TOHRU ,  ISHIKAWA, HARUYUKI

    IPC分类号： G05B19/18 ,  B25J9/16 ,  B25J9/18 ,  B62D1/18 ,  B65G61/00 ,  G05B19/23 ,  G05B19/404 ,  G05B19/403

    CPC分类号： G05B19/237 ,  B25J9/1664 ,  B25J9/1679 ,  G05B2219/40006 ,  G05B2219/50109

    摘要： A robot controller enables the robot to hold a work by a robot hand and to stack it on a predetermined place or take it down. The robot controller has memory means (3) for storing a plurality of approaching patterns in relation to the movement of the hand. This controller can arbitrarily set a path pattern from stacking the work from a position where the robot hand starts to move to a poistion where the work is taken down, as well as a path from the point of operation to the position where the robot hand ceases to move, depending upon the kind of work and the position of operation. The controller can also change the attitude of the robot hand at a position of operation.

    摘要翻译： 机器人控制器使机器人能够通过机器人手握住工件并将其堆叠在预定位置或将其取下。 机器人控制器具有用于存储与手的移动有关的多个接近模式的存储器装置（3）。 该控制器可以将工件从机器人手开始移动的位置堆叠到工件被取下的位置以及从操作点到机器人手停止的位置的路径中任意设置路径模式 取决于工作的种类和操作的位置。 控制器还可以在操作位置改变机器人手的姿态。

    NUMERICAL CONTROLLER
    43.
    发明公开
    NUMERICAL CONTROLLER 失效
    数字控制器

    公开(公告)号：EP0383947A1

    公开(公告)日：1990-08-29

    申请号：EP89909628.3

    申请日：1989-08-28

    申请人： FANUC LTD

    发明人： KONO, Shinichi Fanuc Mansion Harimomi 7-203 ,  TAKAHASHI, Hironobu Fanuc Dai 3 Villa-karamatsu

    IPC分类号： G05B19/23

    CPC分类号： G05B19/231

    摘要： A numerical controller which gives an instruction to a machine tool that uses a main shaft motor (5) to return to the origin, in order to control the position of a tool. The main shaft can be returned to the origin by simply giving an instruction for returning to origin to a main shaft amplifier (SPA) that drives the main shaft motor (5). Prior to CNC-operating the machine tool according to the invention, the grid shifting amount (P 2 ) determined by a relationship of the main shaft motor (5) and the object to be controlled is set to the side of the spindle amplifier (SPA), and position data (P 3 ) corresponding to a distance from the origin of machine to a machining starting point transferred prior to a predetermined position stop instruction and the grid shifting amount (P 2 ) are added up together. Therefore, when the instruction for returning to origin is produced from the numerical controller to the spindle amplifier, the position control is automatically assumed, and the moving operation is started with respect to a desired position.

    摘要翻译： 为了控制工具的位置而向使用主轴电动机（5）返回原点的机床发出指令的数值控制装置。 只需向返回原点的指令返回到驱动主轴电机（5）的主轴放大器（SPA）即可使主轴返回原点。 在CNC操作根据本发明的机床之前，由主轴马达（5）和要控制的物体的关系确定的电网偏移量（P2）被设置到主轴放大器（SPA）的侧面， 将与从机械原点到在预定位置停止指令之前传送的加工起始点的距离相对应的位置数据（P3）与电网偏移量（P2）相加在一起。 因此，当从数值控制器向主轴放大器发出用于返回原点的指令时，自动地假定位置控制，并且相对于期望的位置开始移动操作。

    Hybrid sample rate servo motor controller
    44.
    发明公开
    Hybrid sample rate servo motor controller 失效
    Steuergerätfüreinen Servomotor mit hybrider Bemusterungsfrequenz。

    公开(公告)号：EP0360490A2

    公开(公告)日：1990-03-28

    申请号：EP89309296.5

    申请日：1989-09-13

    申请人： Hewlett-Packard Company

    发明人： Stewart, Lowell James ,  Mebane, Alfred Holt, IV

    IPC分类号： G05B19/23 ,  G05B19/19

    CPC分类号： G05B19/232 ,  G05B2219/37314 ,  G05B2219/41026 ,  G05B2219/42266

    摘要： A hybrid sample rate servo motor employing rate feedback compensation is disclosed. The system employs a shaft encoder (55) having a predetermined resolution to provide position data which are pulses indicating the shaft has moved another resolution unit. Under high motor velocity conditions the rate compensation feedback loop (60) is operated at a conventional constant sample rate. Under low velocity conditions, the sample rate at which the rate compensation feedback loop is operated is modified so that rate samples are taken and calculated only when new position data are available from the motor encoder. Rate quantization error is substantially reduced, thereby leading to more robust controller operation.

    摘要翻译： 公开了采用速率反馈补偿的混合采样率伺服电动机。 该系统采用具有预定分辨率的轴编码器（55）来提供作为指示轴已经移动另一分辨率单元的脉冲的位置数据。 在高电机速度条件下，速率补偿反馈回路（60）以常规恒定采样率运行。 在低速条件下，对速率补偿反馈回路运行的采样率进行修改，只有当电机编码器有新的位置数据时才能进行速率采样。 速率量化误差大大降低，从而导致更稳健的控制器操作。

    METHOD OF CONTROLLING THE SWITCHING FROM DWELLING STEP TO METERING/KNEADING STEP.
    45.
    发明公开
    METHOD OF CONTROLLING THE SWITCHING FROM DWELLING STEP TO METERING/KNEADING STEP. 失效
    方法从停留在给药/混合相在注射成型中的切换规则。

    公开(公告)号：EP0280734A4

    公开(公告)日：1990-01-08

    申请号：EP87904939

    申请日：1987-07-24

    申请人： FANUC LTD

    发明人： KAMIGUCHI MASAO ,  UMEMOTO HIROSHI

    IPC分类号： B29C45/50 ,  B29C45/57 ,  B29C45/76 ,  B29C45/77 ,  G05B19/23

    CPC分类号： G05B19/232 ,  B29C45/76 ,  G05B2219/42126 ,  G05B2219/45244

    摘要： In an injection molding machine employing a servo motor as a source for driving the injection axle to drive the screw in the axial direction, a method is provided to smoothly shift the dwelling step to the metering/kneading step, in order to prevent the error register in the servo circuit from overflowing and to prevent the injection molding machine from coming into halt. When the dwelling step is finished, the error register is followed up (steps S6 to S8) such that the error quantity stored in the error register of the servo circuit that drives the servo motor for injection axle becomes zero. Then, a torque limit value to be applied to the servo motor is switched from a setpoint value for dwelling to a setpoint value for metering and kneading (step S11). The error register is then followed up again over a predetermined period of time from when the torque limit value is switched (step S13), and the step is shifted to the metering/kneading step (step S14).

    METHOD OF RETURNING TO ORIGIN.
    46.
    发明公开
    METHOD OF RETURNING TO ORIGIN. 失效
    程序对返回原籍。

    公开(公告)号：EP0258447A4

    公开(公告)日：1989-11-07

    申请号：EP87901634

    申请日：1987-02-17

    申请人： FANUC LTD

    发明人： SAKAMOTO KEIJI ,  TOYOSAWA YUKIO

    IPC分类号： G05B19/18 ,  G05B19/23 ,  G05B19/401

    CPC分类号： G05B19/231 ,  G05B19/4015 ,  G05B2219/50025

    摘要： After a deceleration limit switch (29) has been restored in performing the control for returning to origin, a position of lattice point at which a one-turn signal (RTS) is generated from the rotary encoder (24) for the first time is set to be the origin. In an origin return mode (ZRN = 1) in which a mechanical moving part returns to the origin, a numerical control unit (21) regards a position at which a rotary encoder (24) generates the one-turn signal (RTS) as zero, and monitors an instructed position REF0 until a next one-turn signal is generated for every predetermined period of time, and repeats the monitoring of such an instructed position until the moving part reaches near the origin. When the moving part approaches the origin and the deceleration limit switch (29) is restored, the instructed position REF0 at the first time is found for every DELTAT, and a distance (N - REF0) from the instructed position to a position at which a next one-turn signal is generated is sent as a final instructed moving amount to a digital servo circuit (22), so that the moving part returns to the origin. Here, N represents a distance between the lattice points.

    Machine tool error compensation systems and the like
    47.
    发明公开
    Machine tool error compensation systems and the like 失效
    Werkzeugmaschinenfehlerkompensationssysteme undähnliche。

    公开(公告)号：EP0334541A1

    公开(公告)日：1989-09-27

    申请号：EP89302541.1

    申请日：1989-03-15

    申请人： ELECTRONIC ACCURACY SYSTEMS LIMITED

    发明人： Ford, Derek Gwynne ,  Postlethwaite, Scott Raymond

    IPC分类号： G05B19/23

    CPC分类号： G05B19/232

    摘要： In order to compensate for errors in the positioning of a tool by a servo motor (4) resulting from mechanical inaccuracies in the machine tool slides (2) and drive (3), an analogue error compensation signal (12) is generated by a compensation unit (1) in which is stored calibration data relating to the components of the positioning error. The error compensation signal (12) is summed by a summation unit (14) with the uncompensated analogue position error signal (7) generated at the output of a CNC controller (5), and the resulting signal (15), as modified by the usual velocity feedback signal 10′ from the servo motor (4), is used to drive the servo motor (4). The resolution of the error compensation signal (12) is arranged to be greater than that of the position error signal (7), which is generally limited by the number of bits of the digital to analogue converter in the output stage of the controller (5). As the demand position is closely approached the servo (4) is driven substantially by the error compensation signal (12).

    摘要翻译： 为了补偿由机床滑块（2）和驱动器（3）中的机械不准确造成的由伺服电动机（4）定位工具的错误，通过补偿产生模拟误差补偿信号（12） 其中存储与定位误差的分量相关的校准数据的单元（1）。 误差补偿信号（12）由加法单元（14）与在CNC控制器（5）的输出处产生的未补偿的模拟位置误差信号（7）相加，并且所产生的信号（15）由 来自伺服电动机（4）的10分钟的通常速度反馈信号用于驱动伺服电动机（4）。 误差补偿信号（12）的分辨率被设置为大于位置误差信号（7）的分辨率，其通常受控制器（5）的输出级中的数模转换器的位数限制 ）。 随着需求位置接近，伺服（4）基本上由误差补偿信号（12）驱动。