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    Numerical controller controlling acceleration and deceleration of respective control axes up to command speeds
    1.
    发明公开
    Numerical controller controlling acceleration and deceleration of respective control axes up to command speeds 有权
    用于控制对应于所期望的速度控制轴的加速度和减速度的数值控制装置

    公开(公告)号：EP2012207A2

    公开(公告)日：2009-01-07

    申请号：EP08158583.8

    申请日：2008-06-19

    申请人： Fanuc Ltd

    发明人： Hishikawa, Tetsuo ,  Idei, Takashi

    IPC分类号： G05B19/416

    CPC分类号： G05B19/416 ,  B22D17/32 ,  G05B7/02 ,  G05B2219/41107 ,  G05B2219/41123 ,  G05B2219/42062 ,  G05B2219/42333 ,  G05B2219/45204 ,  G05B2219/50216

    摘要： Initial speeds in the move commands for respective control axes at servo-on are determined according to parameter setting, or the comparative relationship or difference in speed among the actual speeds of the control axes so that difference in position between the control axes does not increase as the move commands are executed after the servo-on. The actual speeds of the control axes are set as initial speeds in the move commands, and a target axis is specified on the basis of the comparative relationship among their actual speeds and the other control axes are accelerated or decelerated at the acceleration or deceleration rate specified in the move commands to attain the position and speed of the target axis, so that differences in position and speed among the control axes are gradually decreased as the move commands are executed after the servo-on, thereby preventing abrupt speed changes and suppressing mechanical shocks.

    摘要翻译： 在伺服开启时用于respectivement控制轴的移动指令初始速度是确定性的开采雅丁到参数设置，或在速度控制的实际速度轴，以便确实在控制轴之间的位置不会因为增加差之间的比较关系或差 移动指令伺服开启后执行。 控制轴的实际速度被设置为在移动指令初始速度和一个目标轴的实际速度和其他控制轴之间的比较关系的基础上指定在指定的加速度或减速度被加速或减速 在移动命令以获得目标轴的位置和速度，就像在控制轴之间的位置和速度的差异逐渐减小作为移动命令在电源接通后执行，由此防止突然的速度变化和抑制机械冲击 ，

    Synchronous controller
    6.
    发明公开
    Synchronous controller 有权
    Synchrone Steuervorrichtung

    公开(公告)号：EP1669828A2

    公开(公告)日：2006-06-14

    申请号：EP05257527.1

    申请日：2005-12-07

    申请人： FANUC LTD

    发明人： Fujibayashi, Kentaro ,  Hishikawa, Tetsuo, c/o Fanuc Manshonharimomi ,  Idei, Takashi

    IPC分类号： G05B19/414

    CPC分类号： G05B19/4142 ,  G05B2219/42186 ,  G05B2219/42191

    摘要： A synchronous controller capable of gently changing a synchronous multiplying factor and setting the gentleness of changing of the synchronous multiplying factor without shocking a machine. A block for gently changing the synchronous multiplying factor is added between blocks before and after the changing of the synchronous multiplying factor. Synchronous multiplying factors a and b before and after changing of the synchronous multiplying factor designated in the added block, a motion amount p of master axis, a motion amount of a slave axis, and a residual motion amount v of the master axis after the completion of changing the synchronous multiplying factor (or a preliminary motion amount u of the master axis from the start of motion of the block concerned to a position for the start of changing of the synchronous multiplying factor) are read out. A gradient of changing the synchronous multiplying factor and the preliminary motion amount u (or the residual motion amount v) are obtained based on these data. The slave axis is controlled based on the motion amounts u and v and the gradient of changing the synchronous multiplying factor. The synchronous multiplying factor is changed so gently that the machine cannot be shocked. The synchronous multiplying factor gradient can be settled depending on the designated data p, q and v (or u).

    摘要翻译： 同步控制器能够轻轻地改变同步倍率，并设定同步倍率的变化的温和度，而不会影响机器。 在改变同步倍增因子之前和之后，在块之间加上轻轻地改变同步倍率的块。 在添加的块中指定的同步倍增因子改变之前和之后的同步倍增因子a和b，主轴的运动量p，从轴的运动量和完成后的主轴的剩余运动量v 读出将同步倍率（或主轴的初始运动量u从有关块的运动开始的初步运动量u）改变为同步倍率的变化的位置的位置。 基于这些数据，获得改变同步倍率和初步运动量u（或残余运动量v）的梯度。 从轴基于运动量u和v以及改变同步倍率的梯度来控制。 同步倍率因此被轻轻地改变，机器不能被震动。 可以根据指定的数据p，q和v（或u）来确定同步倍增因子梯度。

    Method of and apparatus for synchronous control
    8.
    发明公开
    Method of and apparatus for synchronous control 有权
    对于同步控制方法和装置

    公开(公告)号：EP1221640A3

    公开(公告)日：2002-07-24

    申请号：EP01310816.2

    申请日：2001-12-21

    申请人： FANUC LTD

    发明人： Hishikawa, Tetsuo c/o FANUC Manshonharimomi ,  Idei, Takashi ,  Fujibayashi, Kentaro

    IPC分类号： G05B19/18 ,  G05B19/416

    CPC分类号： G05B19/416 ,  G05B2219/43094 ,  G05B2219/50216

    摘要： A method of and apparatus for synchronous control of a leading element (7) and a follower element (8) in which synchronism is started smoothly and a mechanical shock at the start of synchronism is reduced. When the follower element is started to move to be synchronized with the leading element, motion of the follower element is started before the follower element reaches a start position of the synchronism, and brought into synchronism with the leading element at the start position of synchronism. A positional relationship between the leading element and the follower element in synchronism, and a start position for starting the synchronism of the follower element and the leading element is set. An acceleration control of the follower element is performed between a motion start position preceding the start position of the synchronism and the start position of the synchronism. A position control of the follower element is performed based on position data of the leading element and the set positional relationship after the follower element reaches the start position of the synchronism.

    Synchronous controller
    9.
    发明公开
    Synchronous controller 有权
    同步控制器

    公开(公告)号：EP1669828A3

    公开(公告)日：2008-04-30

    申请号：EP05257527.1

    申请日：2005-12-07

    申请人： FANUC LTD

    发明人： Fujibayashi, Kentaro ,  Hishikawa, Tetsuo, c/o Fanuc Manshonharimomi ,  Idei, Takashi

    IPC分类号： G05B19/414

    CPC分类号： G05B19/4142 ,  G05B2219/42186 ,  G05B2219/42191

    摘要： A synchronous controller capable of gently changing a synchronous multiplying factor and setting the gentleness of changing of the synchronous multiplying factor without shocking a machine. A block for gently changing the synchronous multiplying factor is added between blocks before and after the changing of the synchronous multiplying factor. Synchronous multiplying factors a and b before and after changing of the synchronous multiplying factor designated in the added block, a motion amount p of master axis, a motion amount of a slave axis, and a residual motion amount v of the master axis after the completion of changing the synchronous multiplying factor (or a preliminary motion amount u of the master axis from the start of motion of the block concerned to a position for the start of changing of the synchronous multiplying factor) are read out. A gradient of changing the synchronous multiplying factor and the preliminary motion amount u (or the residual motion amount v) are obtained based on these data. The slave axis is controlled based on the motion amounts u and v and the gradient of changing the synchronous multiplying factor. The synchronous multiplying factor is changed so gently that the machine cannot be shocked. The synchronous multiplying factor gradient can be settled depending on the designated data p, q and v (or u).

    Numerical controller with smooth velocity transition at switchover to servo-on state
    10.
    发明公开
    Numerical controller with smooth velocity transition at switchover to servo-on state 有权
    数码电动车，电动汽车

    公开(公告)号：EP1804148A1

    公开(公告)日：2007-07-04

    申请号：EP06256179.0

    申请日：2006-12-04

    申请人： FANUC LTD

    发明人： Onishi, Yasushi ,  Hishikawa, Tetsuo FANUC Manshonharimomi ,  Idei, Takashi

    IPC分类号： G05B19/416 ,  G05B7/02 ,  B22D17/32

    CPC分类号： G05B7/02 ,  B22D17/32 ,  G05B19/416 ,  G05B2219/41107 ,  G05B2219/41123 ,  G05B2219/42062 ,  G05B2219/45204

    摘要： When a servomotor (control axis) e.g. in a die-casting machine is coasting and rotating in a servo-off state in which no current is applied to the servomotor, this servo-off state is switched over to a servo-on state in which current is applied to the servomotor, and a position control and a speed control are started. An actual speed in servo-on state is obtained in speed obtaining means by a position/speed detector. Position command means obtains a command movement amount using the actual speed as an initial speed. A position deviation amount corresponding to the actual speed is calculated, a command movement amount, a position deviation amount, and a position deviation amount remaining in a position deviation counter in servo-on state with the sign thereof reversed are added to each other as a command amount to the position deviation counter.
    Thus, abrupt speed changes can be avoided, when position control is started.

    摘要翻译： 伺服电动机（控制轴） 在压铸机中，在没有电流施加到伺服电动机的伺服关闭状态下滑行旋转，该伺服关闭状态切换到向伺服电动机施加电流的伺服开启状态， 开始位置控制和速度控制。 通过位置/速度检测器在速度获取装置中获得伺服打开状态下的实际速度。 位置指令装置使用实际速度作为初始速度获得指令移动量。 计算与实际速度对应的位置偏差量，将符号反转的伺服开启状态下的位置偏差计数器中的指令移动量，位置偏差量和位置偏差量相加，作为 命令量到位置偏差计数器。 因此，当开始位置控制时，可以避免突然的速度变化。