公开(公告)号：EP1400880B1

公开(公告)日：2005-08-24

申请号：EP03017407.2

申请日：2003-07-31

申请人： Keihin Corporation

发明人： Abe, Hidefumi, Keihin Corp. Tochigi Res. & Dev. Cr ,  Sugawara, Takaharu, Keihin Corp. Tochigi R&D Cente ,  Yamada, Morihiro, Keihin Corp. Tochigi Res. & Dev.

IPC分类号： F16H25/20 ,  H02P6/16 ,  G05B19/401

CPC分类号： G05B19/4015 ,  G05B2219/37094 ,  G05B2219/37105 ,  G05B2219/37184 ,  G05B2219/41321 ,  G05B2219/43008 ,  H02P6/17

公开(公告)号：EP0743579A2

公开(公告)日：1996-11-20

申请号：EP96106924.2

申请日：1996-05-02

申请人： SIEMENS AKTIENGESELLSCHAFT

发明人： Müller, Jürgen, Dipl.-Ing.

IPC分类号： G05B19/416

CPC分类号： G05B19/4103 ,  G05B2219/34095 ,  G05B2219/34188 ,  G05B2219/34189 ,  G05B2219/43008 ,  G05B2219/43009 ,  G05B2219/43064

摘要： Um bei der Interpolation einer Bearbeitungsbahn (I1',I2') einen Achsantrieb (AX) rechtzeitig vor einer von einem achspezifischen Software-Endschalter (SWEX) vorgegebenen Endlage (SWE) zum Stillstand zu bringen, wird im Interpolator (NCI) bei jedem Bestimmen des nächsten Interpolationsschritts (i2) für jede Achse mit Software-Endschalter (SWEX) geprüft, ob diese Achse bei einer Bremsung mit ihrer maximalen axialen Bremsbeschleunigung rechtzeitig zum Stehen kommen kann, und Achsen (AX), für die dies nicht der Fall ist, werden nicht weiter interpoliert, sondern sofort mit ihrer jeweiligen maximalen axialen Bremsbeschleunigung abgebremst und aus ihrem bisherigen Interpolationsverband gelöst. Die im Interpolationsverband verbleibenden Achsen (AY) werden mit der bearbeitungsbahnspezifischen Bremsbeschleunigung abgebremst.

摘要翻译： 在轴向驱动的处理路径的内插之前停止以结束通过在特定轴的软件端交换机指定的阶段。 据确定性开采，对于轴是否车轴可以与最大制动时被带到一个停止对每个各个内插级。 轴向制动减速。 如果轴不能及时停止，这不是进一步插值。 车轴立即与它的最大制动。 轴向刹车减速，并从它的插值释放。 哪些是静静地内插的轴，然后与处理路径特定的制动减速制动。

公开(公告)号：EP0302078B1

公开(公告)日：1994-06-15

申请号：EP87903119.3

申请日：1987-04-15

申请人： GLASSTECH INTERNATIONAL L.P.

发明人： BRINKER, Gary, D. ,  KLOPPING, Jeffrey, N. ,  FINTEL, Eric, D.

IPC分类号： G05B19/403 ,  G05B19/29

CPC分类号： G05B19/4141 ,  G05B19/291 ,  G05B2219/33342 ,  G05B2219/34368 ,  G05B2219/34388 ,  G05B2219/35391 ,  G05B2219/42179 ,  G05B2219/43008 ,  G05B2219/43015 ,  G05B2219/43048 ,  G05B2219/49219 ,  G05B2219/50031 ,  G05B2219/50043 ,  G05B2219/50048 ,  G05B2219/50198

摘要： A position controller (40) for a glass sheet processing system (10) having a central control system including an operator interface (58) and a master computer (44), the position controller (40) including a slave computer (42), means (50) for two-way communication of multi-character command and data signals between the master computer (44) and the slave computer (42), a digital to analog converter (56), a variable speed drive (46) for driving a movable component in the glass processing system, means for communicating a signal from the slave computer (42) through the digital to analog converter (56) for driving the variable speed drive, and absolute position encoder (48) fixed to the movable component in the system, and means (52) for communicating the digital signal representative of the position of the movable component to the slave computer (42). The slave computer system (42) includes logic means for receiving data and command input from the master computer (44) in the central control system, processing this information as required, generating a signal capable of operating a variable speed drive (46), and reporting an echo back signal to the master computer (44) indicating that the driven component has reached the desired position. The slave computer (42) also includes logic means for transmitting current position and stored end point and velocity profile information back to the master computer (44) for output to a monitor at the operator's request.

公开(公告)号：EP0266427A4

公开(公告)日：1989-11-07

申请号：EP87902711

申请日：1987-04-09

申请人： FANUC LTD

发明人： IWAGAYA TAKASHI FANUC HINOSHAT

IPC分类号： B23Q16/02 ,  G05B19/23

CPC分类号： B23Q16/02 ,  G05B19/231 ,  G05B2219/41309 ,  G05B2219/43008 ,  G05B2219/43181 ,  G05B2219/50047 ,  G05B2219/50249 ,  G05B2219/50253

摘要： A turret dividing device which makes it possible to set easily a position where a turret (2), which is approaching a tool selection position at which machining by means of a selected tool is carried out, begins to slow down. Tool selection position and magnitude of slow down interval are set in advance through a manual data input device (17). Following the turn of the turret for proceeding to the next machining process, a reversible counter (5) counts pulses outputted from a pulse coder (4). A microcomputer (10) performs a closing operation of a flow rate control valve (8) through a valve driving means (6) when it discriminates that the turret has arrived at a slow-down start position on the basis of the result of comparison between a value obtained by deducting the magnitude of slow-down interval from the tool selection position and counting value of a counter. As a result, supply of pressure oil to a hydraulic motor decreases, causing the turret to slow down.

摘要翻译： 本发明提供一种转塔分割装置，该转塔分割装置能够容易地设定接近进行通过选择工具的加工的工具选择位置的转塔（2）的位置，从而开始减速。 通过手动数据输入装置（17）预先设定减速间隔的刀具选择位置和大小。 在转台转动以进行下一个加工过程之后，可逆计数器（5）对从脉冲编码器（4）输出的脉冲进行计数。 当微型计算机（10）根据比较的结果识别出转台已经到达减速开始位置时，通过阀驱动装置（6）执行流量控制阀（8）的关闭操作 通过从工具选择位置减去减速间隔的大小和计数器的计数值而获得的值。 结果，液压马达的压力油供应减少，导致转塔减速。

公开(公告)号：EP1403556A1

公开(公告)日：2004-03-31

申请号：EP03017408.0

申请日：2003-07-31

申请人： Keihin Corporation

发明人： Abe, Hidefumi, Keihin Corp. Tochigi Res. & Dev. Cr ,  Sugawara, Takaharu, Keihin Corp. Tochigi R&D Cente ,  Yamada, Morihiro, Keihin Corp. Tochigi R&D Cente

IPC分类号： F16H25/20

CPC分类号： G05B19/4015 ,  F16H25/2015 ,  G05B2219/37094 ,  G05B2219/37105 ,  G05B2219/37184 ,  G05B2219/41321 ,  G05B2219/43008 ,  H02P6/16

摘要： A positioning controller includes a gear mechanism having a rotating gear for positioning a movable member, a brushless motor to drive the rotating gear, and a motor control circuit to rotate a rotor of the brushless motor by sequentially supplying a driving pulse to a plurality of fixed coils of the brushless motor. The motor control circuit includes a present stage number detector to detect a present stage number of the movable member in accordance with an output signal from a magneto-sensitive device of the brushless motor, and a driving pulse generator to generate a driving pulse to rotate the rotor until a target stage number converted from a specified position of the movable member is equal to the present stage number. The controller in an apparatus including a motor driving unit allows positioning of the movable member without using a component for the detection of the position of the movable member.

摘要翻译： 控制器具有无刷电动机驱动旋转齿轮。 马达控制电路通过驱动脉冲旋转马达的转子。 检测器根据来自电动机的磁感应装置的输出信号检测可移动单元的当前级数。 发电机（25）产生驱动脉冲以使转子旋转，直到目标级数从指定位置转换为当前数。

公开(公告)号：EP0322503A3

公开(公告)日：1991-09-25

申请号：EP88112065.3

申请日：1988-07-26

申请人： DAIHATSU DIESEL MFG. CO., LTD.

发明人： Mibu, Kazuo DAIHATSU DIESEL MFG. CO., Ltd. ,  Ohi, Yoshihide DAIHATSU DIESEL MFG. CO., Ltd. ,  Yamamoto, Hiromitsu DAIHATSU DIESEL MFG. CO., Ltd.

IPC分类号： G05B19/21 ,  G05B19/23

CPC分类号： F15B15/2823 ,  F15B15/264 ,  F15B2015/1495 ,  G05B19/232 ,  G05B2219/41281 ,  G05B2219/41282 ,  G05B2219/41301 ,  G05B2219/41306 ,  G05B2219/43008 ,  G05B2219/43087

摘要： A fluid apparatus includes a pneumatic cylinder (1) having a main body (2), a piston (3), and a hollow rod (4). A ball screw shaft (6) engaged with a ball nut (5) fixed to the piston (3) is rotatably and axially unmovably mounted in the cylinder (1) and extends in the hollow rod (4). A magnetic brake (7) for braking the ball screw shaft (6) is fixed to an end portion of the main body (2) of the cylinder (1). The number of revolutions of the ball screw shaft (6) is detected and outputted in a signal form by a rotary encoder (8). A primary solenoid controlled valve (13) reciprocates the piston (3) by connecting a pressure source (9) either to a first or second port (P₁, P₂) of the cylinder (1), and secondary solenoid controlled valves (17, 18) connect a pressure source (14) either to a first braking pressure port (P₁′) or to a second braking pressure port (P₂′). A controller (19) outputs a drive signal (S₃, S₃′) for controlling the primary solenoid controlled valve (13), and outputs a primary braking signal (S₄, S₄′) and a secondary braking signal (S₅) according to a corresponding operational section (I₁,...,I n ) as well as deviation of the number of revolutions of the ball screw shaft (6) from a target value (V₁,...,V n ). The primary braking signal (S₄, S₄′) switches on or off the secondary solenoid controlled valves (18, 17) to apply back pressure to the piston (3), and the secondary braking signal (S₅) is for operating the magnetic brake (7).

摘要翻译： 流体装置包括具有主体（2），活塞（3）和空心杆（4）的气压缸（1）。 与固定在活塞（3）上的滚珠螺母（5）啮合的滚珠丝杠轴（6）可旋转且轴向不可移动地安装在滚筒（1）中并延伸到中空杆（4）中。 用于制动滚珠丝杠轴（6）的电磁制动器（7）固定在气缸（1）的主体（2）的端部。 滚珠丝杠轴（6）的转数通过旋转编码器（8）以信号形式被检测和输出。 通过将压力源（9）连接到气缸（1）的第一或第二端口（P 1，P 2），主电磁控制阀（13）使活塞（3）往复运动，并且次电磁控制阀（17,18 ）将压力源（14）连接到第一制动压力端口（P 1'）或第二制动压力端口（P 2'）。 控制器（19）输出一个用于控制主电磁控制阀（13）的驱动信号（S 3，S 3'），并根据相应的输出信号（S 4，S 4'）和辅助制动信号 （I 1，...，In）以及滚珠丝杠轴（6）的转数与目标值（V 1，...，V n）的偏差。 主制动信号（S 4，S 4'）接通或断开次级电磁控制阀（18,17）以向活塞（3）施加反压，次级制动信号（S 5）用于操作磁制动器 7）。

公开(公告)号：EP0300823A3

公开(公告)日：1990-04-25

申请号：EP88306784.5

申请日：1988-07-22

申请人： Hewlett-Packard Company

发明人： Majette, Mark W. ,  Wickeraad, John A. ,  Walsh, William J.

IPC分类号： G05B19/418 ,  G05B19/23

CPC分类号： G05B19/231 ,  B41J19/202 ,  G01D5/2457 ,  G05B2219/37153 ,  G05B2219/37296 ,  G05B2219/42118 ,  G05B2219/42237 ,  G05B2219/43008 ,  G05B2219/45187 ,  G06K15/22

摘要： A control system providing a control of position, velocity, and direction of movement of a member in an axis of freedom which employs a scale (13) having scale divisions (13a) thereon and bands or zones (A,B,C) defining limits of constant velocity control, acceleration and deceleration zone limits, and a rest or parking position. The scale spans and parallels the axis of freedom. A single channel transducer or encoder (12) mounted on and moving with the member produces time varying output signals in response to the sensing of scale divisions along the scale and signals of different characteristic in response to encoder sensing of the limit bands. The time varying output signals are employed as scale division count signals for position determination and as scale division count signals per unit of time, for velocity feed-back. The signals of different characteristic produced upon entering and during crossing of the limit bands, are utilized in a system of logic for computing control sytem signals to compensate control uncertainties in differing functional modes of the control system.

公开(公告)号：EP0322503A2

公开(公告)日：1989-07-05

申请号：EP88112065.3

申请日：1988-07-26

申请人： DAIHATSU DIESEL MFG. CO., LTD.

发明人： Mibu, Kazuo DAIHATSU DIESEL MFG. CO., Ltd. ,  Ohi, Yoshihide DAIHATSU DIESEL MFG. CO., Ltd. ,  Yamamoto, Hiromitsu DAIHATSU DIESEL MFG. CO., Ltd.

IPC分类号： G05B19/21 ,  G05B19/23

CPC分类号： F15B15/2823 ,  F15B15/264 ,  F15B2015/1495 ,  G05B19/232 ,  G05B2219/41281 ,  G05B2219/41282 ,  G05B2219/41301 ,  G05B2219/41306 ,  G05B2219/43008 ,  G05B2219/43087

摘要： A fluid apparatus includes a pneumatic cylinder (1) having a main body (2), a piston (3), and a hollow rod (4). A ball screw shaft (6) engaged with a ball nut (5) fixed to the piston (3) is rotatably and axially unmovably mounted in the cylinder (1) and extends in the hollow rod (4). A magnetic brake (7) for braking the ball screw shaft (6) is fixed to an end portion of the main body (2) of the cylinder (1). The number of revolutions of the ball screw shaft (6) is detected and outputted in a signal form by a rotary encoder (8). A primary solenoid controlled valve (13) reciprocates the piston (3) by connecting a pressure source (9) either to a first or second port (P₁, P₂) of the cylinder (1), and secondary solenoid controlled valves (17, 18) connect a pressure source (14) either to a first braking pressure port (P₁′) or to a second braking pressure port (P₂′). A controller (19) outputs a drive signal (S₃, S₃′) for controlling the primary solenoid controlled valve (13), and outputs a primary braking signal (S₄, S₄′) and a secondary braking signal (S₅) according to a corresponding operational section (I₁,...,I n ) as well as deviation of the number of revolutions of the ball screw shaft (6) from a target value (V₁,...,V n ). The primary braking signal (S₄, S₄′) switches on or off the secondary solenoid controlled valves (18, 17) to apply back pressure to the piston (3), and the secondary braking signal (S₅) is for operating the magnetic brake (7).

摘要翻译： 流体装置包括具有主体（2），活塞（3）和中空杆（4）的气动缸（1）。 与固定在活塞（3）上的滚珠螺母（5）啮合的滚珠丝杠轴（6）可旋转和轴向地不可移动地安装在气缸（1）中并在中空杆（4）中延伸。 用于制动滚珠丝杠轴（6）的磁性制动器（7）固定到气缸（1）的主体（2）的端部。 通过旋转编码器（8）以信号形式检测并输出滚珠丝杠轴（6）的转数。 主电磁控制阀（13）通过将压力源（9）连接到气缸（1）的第一或第二端口（P1，P2）和第二电磁阀（17,18）来使活塞（3）往复运动 ）将压力源（14）连接到第一制动压力端口（P1min）或第二制动压力端口（P2min）。 控制器（19）输出用于控制主电磁控制阀（13）的驱动信号（S3，S3min），并根据相应的控制器输出主制动信号（S4，S4min）和次制动信号（S5） 操作部（I1，...，In）以及滚珠丝杠轴（6）的转数与目标值（V1，...，Vn）的偏差。 主制动信号（S4，S4min）打开或关闭辅助电磁控制阀（18,17）以向活塞（3）施加背压，并且次级制动信号（S5）用于操作磁性制动器 7）。

公开(公告)号：EP0300823A2

公开(公告)日：1989-01-25

申请号：EP88306784.5

申请日：1988-07-22

申请人： Hewlett-Packard Company

发明人： Majette, Mark W. ,  Wickeraad, John A. ,  Walsh, William J.

IPC分类号： G05B19/418 ,  G05B19/23

CPC分类号： G05B19/231 ,  B41J19/202 ,  G01D5/2457 ,  G05B2219/37153 ,  G05B2219/37296 ,  G05B2219/42118 ,  G05B2219/42237 ,  G05B2219/43008 ,  G05B2219/45187 ,  G06K15/22

摘要： A control system providing a control of position, velocity, and direction of movement of a member in an axis of freedom which employs a scale (13) having scale divisions (13a) thereon and bands or zones (A,B,C) defining limits of constant velocity control, acceleration and deceleration zone limits, and a rest or parking position. The scale spans and parallels the axis of freedom. A single channel transducer or encoder (12) mounted on and moving with the member produces time varying output signals in response to the sensing of scale divisions along the scale and signals of different characteristic in response to encoder sensing of the limit bands. The time varying output signals are employed as scale division count signals for position determination and as scale division count signals per unit of time, for velocity feed-back. The signals of different characteristic produced upon entering and during crossing of the limit bands, are utilized in a system of logic for computing control sytem signals to compensate control uncertainties in differing functional modes of the control system.

摘要翻译： 一种控制系统，其提供在自由轴上的部件的位置，速度和运动方向的控制，所述自由轴使用在其上具有比例尺（13a）的刻度（13）和限定限制的带或区（A，B，C） 恒定速度控制，加速和减速区域限制以及休息或停车位置。 尺度跨越并平行于自由轴。 安装在构件上并与构件一起移动的单通道换能器或编码器（12）响应于响应于限制带的编码器感测而沿着尺度的尺度划分和不同特性的信号的感测而产生时变输出信号。 对于速度反馈，时变输出信号用作用于位置确定的比例分割计数信号和每单位时间的比例分割计数信号。 在限制带的进入和交叉期间产生的不同特性的信号被用在用于计算控制系统信号的逻辑系统中，以补偿控制系统的不同功能模式中的控制不确定性。

公开(公告)号：EP1400880A2

公开(公告)日：2004-03-24

申请号：EP03017407.2

申请日：2003-07-31

申请人： Keihin Corporation

发明人： Abe, Hidefumi, Keihin Corp. Tochigi Res. & Dev. Cr ,  Sugawara, Takaharu, Keihin Corp. Tochigi R&D Cente ,  Yamada, Morihiro, Keihin Corp. Tochigi Res. & Dev.

IPC分类号： G05B19/401

CPC分类号： G05B19/4015 ,  G05B2219/37094 ,  G05B2219/37105 ,  G05B2219/37184 ,  G05B2219/41321 ,  G05B2219/43008 ,  H02P6/17

摘要： A positioning apparatus according to the present invention includes a brushless motor, a positioning mechanism to position a movable member within a predetermined movable range in accordance with rotation of the brushless motor, and a motor control circuit to rotate a rotor of the brushless motor by sequentially supplying a driving pulse to a plurality of fixed coils of the brushless motor. The motor control circuit includes, a driving pulse generator to generate the driving pulse, a present stage number detector to detect a present stage number of the rotor in accordance with an output signal from a magneto-sensitive device of the brushless motor, an initializer to move the movable member to at least a forward traveling limit or a backward traveling limit within the movable range so as to set the rotor present stage number as a forward traveling limit stage number or a backward traveling stage number when the movable member reaches the forward traveling limit or the backward traveling limit, and a speed reducer to reduce a rotating speed of the brushless motor by reducing power of the driving pulse when the rotor present stage number is equal to at least the forward traveling limit stage number or the backward traveling stage number.

摘要翻译： 根据本发明的定位装置包括：无刷电动机;定位机构，用于根据无刷电动机的旋转将可动构件定位在预定的可移动范围内;以及电动机控制电路，用于顺序旋转无刷电动机的转子 向无刷电动机的多个固定线圈提供驱动脉冲。 马达控制电路包括用于产生驱动脉冲的驱动脉冲发生器，根据来自无刷马达的磁敏装置的输出信号检测转子的当前级数的当前级数检测器，初始化器 将可动构件移动到可动范围内的至少前进行驶限制或后退行驶限制，以便当可动构件到达前进行驶时，将转子当前级数设定为前进行驶极限级数或后退级数 极限或后退行驶极限，以及减速器，其通过在转子存在级数至少等于前进行驶极限级数或后退行驶级数时降低驱动脉冲的功率来减小无刷电动机的转速 。