公开(公告)号：EP1455438A3

公开(公告)日：2006-06-21

申请号：EP04251235.0

申请日：2004-03-03

申请人： FANUC LTD

发明人： Iwashita, Yasusuke, Room 9-307 ,  Kawamura, Hiroyuki ,  Tang, Zhiwei Room 12-508

IPC分类号： H02P5/52

CPC分类号： H02P5/52 ,  G05B2219/34027

摘要： There is provided a synchronous control device (1) for driving the same control object (6) with two servomotors (5A,5B). The synchronous control device detects the physical quantity that represents the difference between the forces on the two servomotors (5A,5B), and, on the basis of the detected value, reduces the force that acts between the two servomotors (5A,5B).

公开(公告)号：EP1455438A2

公开(公告)日：2004-09-08

申请号：EP04251235.0

申请日：2004-03-03

申请人： FANUC LTD

发明人： Iwashita, Yasusuke, Room 9-307 ,  Kawamura, Hiroyuki ,  Tang, Zhiwei Room 12-508

IPC分类号： H02P5/52

CPC分类号： H02P5/52 ,  G05B2219/34027

摘要： There is provided a synchronous control device (1) for driving the same control object (6) with two servomotors (5A,5B). The synchronous control device detects the physical quantity that represents the difference between the forces on the two servomotors (5A,5B), and, on the basis of the detected value, reduces the force that acts between the two servomotors (5A,5B).

摘要翻译： 提供了一种用两个伺服电动机（5A，5B）驱动同一个控制对象（6）的同步控制装置（1）。 同步控制装置检测表示两个伺服电动机（5A，5B）上的力之间的差异的物理量，并且基于检测值减小在两个伺服电动机（5A，5B）之间作用的力。

公开(公告)号：EP3070565A1

公开(公告)日：2016-09-21

申请号：EP13897675.8

申请日：2013-11-14

申请人： Fuji Machine Mfg. Co., Ltd.

发明人： KATO, Naohiro ,  ONISHI, Michinaga

IPC分类号： G05D3/00 ,  G05B19/042

CPC分类号： G05B19/402 ,  G05B11/01 ,  G05B2219/34013 ,  G05B2219/34027 ,  G05B2219/41173 ,  G05B2219/41431 ,  G05B2219/42019

摘要： A controller 102 capable of transmitting and receiving an input signal from a drive circuit corresponding to a moving device, a mounting head, or the like of an electronic component mounting machine or an output signal to the drive circuit for each predetermined period (A/2), in which the controller 102 computes an output signal based on an input signal which is received before the predetermined period, stores the output signal for a time greater than or equal to the predetermined period, and subsequently transmits the output signal to the drive circuit. Accordingly, it becomes possible to compute an output signal using a long time, and it becomes possible to adopt a servo controller with low computational capabilities. It becomes possible to set a time (a delay time) from when an input signal is output until an output signal reaches a drive circuit to an arbitrary length by adjusting the storage time. Accordingly, for example, it becomes possible to render the delay times of controllers with different control periods the same, and it becomes possible to render actuation timing or the like of actuator devices of each controller the same.

摘要翻译： 控制器102能够在每个预定周期（A / 2）向驱动电路发送和接收来自与电子元件安装机器的移动装置，安装头等相对应的驱动电路的输入信号或输出信号 ），其中控制器102基于在预定时间段之前接收的输入信号来计算输出信号，将输出信号存储大于或等于预定时间段的时间，并且随后将输出信号发送到驱动电路 。 因此，可以使用长时间来计算输出信号，并且可以采用具有低计算能力的伺服控制器。 通过调整存储时间，可以将从输入信号被输出直到输出信号到达驱动电路的时间（延迟时间）设置为任意长度。 因此，例如能够使控制周期不同的控制器的延迟时间相同，能够使各控制器的致动器装置的动作定时等相同。

公开(公告)号：EP2333625A3

公开(公告)日：2012-01-04

申请号：EP10193301.8

申请日：2010-12-01

申请人： Canon Kabushiki Kaisha

发明人： Ueda, Shinji

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/33097 ,  G05B2219/34027 ,  G05B2219/34314 ,  G05B2219/41331 ,  G05B2219/45165

摘要： The positioning control apparatus includes a first motor (41) moving a first driven member (43), a second motor (45) moving a second driven member (47) and a controller (30-33) controlling the first and second motors so as to move the first and second driven members respectively to first and second target positions. The controller obtains a first moving time required for the first motor to move the first driven member to the first target position and a second moving time required for the second motor to move the second driven member to the second target position, and causes the first and second motors to concurrently operate during one of the first and second moving times longer than the other to move the first and second driven members respectively to the first and second target positions.

公开(公告)号：EP1143315A3

公开(公告)日：2002-09-25

申请号：EP01302819.6

申请日：2001-03-27

申请人： Fanuc Ltd

发明人： Toyozawa, Yukio ,  Sonoda, Naoto

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/34027 ,  G05B2219/41234 ,  G05B2219/41264 ,  G05B2219/42062 ,  G05B2219/49262 ,  G05B2219/50228

摘要： A servo controller capable of driving a single movable member by two motors with high loop-gain setting to obtain a quick response. A servo controller includes two position controllers associated with respective motors and a damping controller. Each of the position controllers has a position control section to output a velocity command based on an identical position command from a host controller and a position feedback value from an associated position detector, a velocity control section to output a current command based on the velocity command and a velocity feedback value from an associated velocity detector, and a current control section to output a voltage command based on the current command and a current feedback value from an associated current detector. The damping controller outputs a current command correction value for compensating an interference between the two motors based on the velocity feedback values from the velocity detectors for the two motors. The current command correction value is added to or subtracted from the current command in the position controller for one of the two motors and is subtracted from or added to the current command in the other position controller for the other of the two motors.

公开(公告)号：EP2333625A2

公开(公告)日：2011-06-15

申请号：EP10193301.8

申请日：2010-12-01

申请人： Canon Kabushiki Kaisha

发明人： Ueda, Shinji

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/33097 ,  G05B2219/34027 ,  G05B2219/34314 ,  G05B2219/41331 ,  G05B2219/45165

摘要： The positioning control apparatus includes a first motor (41) moving a first driven member (43), a second motor (45) moving a second driven member (47) and a controller (30-33) controlling the first and second motors so as to move the first and second driven members respectively to first and second target positions. The controller obtains a first moving time required for the first motor to move the first driven member to the first target position and a second moving time required for the second motor to move the second driven member to the second target position, and causes the first and second motors to concurrently operate during one of the first and second moving times longer than the other to move the first and second driven members respectively to the first and second target positions.

摘要翻译： 所述定位控制装置包括移动第一从动构件（43）的第一马达（41），移动第二从动构件（47）的第二马达（45）和控制所述第一和第二马达的控制器（30-33），以便 以将第一和第二从动件分别移动到第一和第二目标位置。 控制器获得第一电动机将第一从动件移动到第一目标位置所需的第一移动时间和第二电动机将第二从动件移动到第二目标位置所需的第二移动时间，并且使第一和 第二电动机在第一和第二移动时间之一期间同时操作，以使第一和第二从动构件分别移动到第一和第二目标位置。

公开(公告)号：EP1455438B1

公开(公告)日：2009-12-23

申请号：EP04251235.0

申请日：2004-03-03

申请人： FANUC LTD

发明人： Iwashita, Yasusuke, Room 9-307 ,  Kawamura, Hiroyuki ,  Tang, Zhiwei Room 12-508

IPC分类号： H02P5/52

CPC分类号： H02P5/52 ,  G05B2219/34027

公开(公告)号：EP1457851A3

公开(公告)日：2005-07-13

申请号：EP04004940.5

申请日：2004-03-03

申请人： OBER S.p.A.

发明人： Preti, Giuseppe

IPC分类号： G05B19/401 ,  B23B29/02

CPC分类号： G05B19/19 ,  G05B2219/34027 ,  G05B2219/41264 ,  G05B2219/45129

摘要： The proposed digital device for command and control of a tool translation and rotation, in particular a drilling tool (30), includes a first stationary motor (1), which is a digitally commanded brushless servomotor, for operating motion transmission means (3), and a second motor (2), which is likewise a digitally commanded brushless servomotor, rigidly connected to said motion transmission means (3) and moved, by the latter, to translate along an operation direction (L), in order to set the tool (30) in rotation (ω) by a chuck (4). The device (D) includes an electronic central unit (20) for digital processing and programming of data, which is interfaced with the first stationary motor (1) and with the second movable motor (2), and which can command synchronously the first stationary motor (1) and the second movable motor (2) and can control and change the operation mode of the second movable motor (2), in order to adjust immediately the rotation (ω) of the tool (30). The electronic central unit (20) can control and change immediately the extension, direction and speed (S1, S2) of the second movable motor (2) translation along the operation direction (L) by means of the motion transmission means (3), in relation to the hardness of a layer of material to be drilled by the tool (30), and of the composition of the same layer of material, as well as of the depth of the hole to be made therein.

公开(公告)号：EP3264206A1

公开(公告)日：2018-01-03

申请号：EP16200815.5

申请日：2016-11-25

申请人： UBTech Robotics Corp.

发明人： HUANG, Tingshuang ,  XIONG, Youjun

IPC分类号： G05B19/414

CPC分类号： H02P31/00 ,  G05B19/102 ,  G05B19/4093 ,  G05B19/4142 ,  G05B19/4144 ,  G05B2219/21053 ,  G05B2219/32127 ,  G05B2219/34013 ,  G05B2219/34027 ,  G05B2219/34236 ,  G05B2219/34244 ,  G05B2219/34245 ,  H01H9/54 ,  H02K11/35

摘要： A servo actuator ID setting method is performed by a servo actuator controlling system. The servo actuator controlling system includes a master controller and a plurality of servo actuators. One servo actuator is set to disconnect to a next servo actuator. A plurality of interfaces of the master controller is selected to turn on in sequence. The following steps are repeatedly performed to set servo actuator ID: broadcasting a signal to replace an original ID of each of the plurality of servo actuators with a target ID; the plurality of servo actuators in each branch connecting to the master controller; and replacing the original ID of each of the plurality servo actuator with the target ID.

摘要翻译： 伺服致动器ID设定方法由伺服致动器控制系统执行。 伺服致动器控制系统包括主控制器和多个伺服致动器。 一个伺服致动器被设置为断开到下一个伺服致动器。 主控制器的多个接口被选择为依次开启。 重复执行以下步骤以设置伺服致动器ID：广播用于将多个伺服致动器中的每一个的原始ID替换为目标ID的信号; 每个分支中的多个伺服致动器连接到主控制器; 并用目标ID替换多个伺服致动器中的每一个的原始ID。

公开(公告)号：EP1844909A1

公开(公告)日：2007-10-17

申请号：EP06007597.5

申请日：2006-04-11

申请人： ABB AB

发明人： Bird-Radolovic, Ian

IPC分类号： B25J9/16

CPC分类号： B25J9/1602 ,  G05B2219/31145 ,  G05B2219/33218 ,  G05B2219/33338 ,  G05B2219/34027 ,  Y02P90/185

摘要： The present invention provide an industrial robot system with increased flexibility and control accuracy. The industrial robot system uses a common data bus connecting a master controller (16), different drive devices (20, 22), and sensors (24, 26). The sensors (24, 26) forward sensor data to the drive devices (20 22) via the common data bus (18). Controller unit in the drive devices (20, 22) process sensor data received via the common data bus (18) for control of at least one electric motor (M1, M2) being connected to the drive devices (20, 22). According to the present invention, delay times for providing sensor data to the drive devices (20, 22) is reduced, leading to a better control performance.

摘要翻译： 本发明提供了具有增加的灵活性和控制精度的工业机器人系统。 工业机器人系统使用连接主控制器（16），不同驱动装置（20,22）和传感器（24,26）的公共数据总线。 传感器（24,26）经由公共数据总线（18）将传感器数据传送到驱动装置（20,22）。 驱动装置（20,22）中的控制器单元处理经由公共数据总线（18）接收的传感器数据，用于控制连接到驱动装置（20,22）的至少一个电动机（M1，M2）。 根据本发明，减小了向驱动装置（20,22）提供传感器数据的延迟时间，导致更好的控制性能。