公开(公告)号：US06625498B1

公开(公告)日：2003-09-23

申请号：US09568588

申请日：2000-05-11

申请人： Mitsuo Kurakake ,  Kentaro Fujibayashi ,  Seiji Akashi

发明人： Mitsuo Kurakake ,  Kentaro Fujibayashi ,  Seiji Akashi

IPC分类号： G05B1918

CPC分类号： G05B19/4141 ,  G05B19/0421 ,  G05B2219/33337 ,  G05B2219/33338 ,  G05B2219/34397

摘要： In a master unit, clock signals from a clock are counted by a counter, and clock data is generated. This clock data is outputted to a slave unit by a driver, and stored in clock data storage memory. The slave unit stores clock data received by a receiver in the clock data storage memory. A processor for a program controller of the master and slave units starts up, and executes the synchronized operation of an operating program of axes that are synchronized on the basis of clock data stored in the clock data storage memory. It is also possible to commence operation of an axis under other conditions without relying on clock data. If override is applied to clock data, override will apply only to an axis that is synchronized and operated in accordance with clock data.

摘要翻译： 在主单元中，来自时钟的时钟信号由计数器计数，并产生时钟数据。 该时钟数据由驱动器输出到从单元，并存储在时钟数据存储器中。 从单元将接收器接收的时钟数据存储在时钟数据存储器中。 用于主单元和从单元的程序控制器的处理器启动，并且执行基于存储在时钟数据存储存储器中的时钟数据同步的轴的操作程序的同步操作。 也可以在不依赖时钟数据的情况下在其他条件下开始轴的运行。 如果覆盖应用于时钟数据，则覆盖将仅应用于根据时钟数据同步和操作的轴。

公开(公告)号：US5583409A

公开(公告)日：1996-12-10

申请号：US531203

申请日：1995-09-19

申请人： Mitsuo Kurakake ,  Yoshiaki Ikeda

发明人： Mitsuo Kurakake ,  Yoshiaki Ikeda

IPC分类号： G05B19/409 ,  G05B19/4093 ,  G05B19/41

CPC分类号： G05B19/409 ,  G05B2219/35433

摘要： A numerical control apparatus allows a portion of a prototype or the like to be easily machined without an operator being concerned with a coordinate system, origins, and other data. A guidance function executing unit displays guidance information on a display unit. According to the displayed guidance information, the operator enters machining commands using a keyboard, etc. A pulse distributing unit sends present positions from present position registers to the guidance function executing unit. The guidance function executing unit calculates a movement command from command values commanded by the operator and the present positions, and sends the calculated movement command to the pulse distributing unit, which outputs distributed pulses to drive the machine tool.

摘要翻译： 数字控制装置允许在没有操作者关心坐标系，起点和其他数据的情况下容易地加工原型等的一部分。 引导功能执行单元在显示单元上显示引导信息。 根据显示的引导信息，操作员使用键盘等输入加工命令。脉冲分配单元将当前位置从当前位置寄存器发送到引导功能执行单元。 引导功能执行单元从由操作者指令的命令值和当前位置计算移动指令，并将所计算的移动命令发送到脉冲分配单元，该脉冲分配单元输出分配脉冲以驱动机床。

公开(公告)号：US5010492A

公开(公告)日：1991-04-23

申请号：US343150

申请日：1989-04-17

申请人： Mitsuo Kurakake ,  Jiro Kinoshita

发明人： Mitsuo Kurakake ,  Jiro Kinoshita

IPC分类号： G05B19/19 ,  G05B19/18 ,  G05B19/23 ,  G05B19/416

CPC分类号： G05B19/232 ,  G05B19/186 ,  G05B2219/37135 ,  G05B2219/37154 ,  G05B2219/37297 ,  G05B2219/42104

摘要： A spindle control system for a numerical control apparatus (CNC). A servo control circuit (10) includes a microprocessor (11), a memory (12), and two counters (13, 15) for counting pulses from encoders, and is connected to a CNC bus (1). A power amplifier (21) is able to receive a command from the servo control circuit (10) and control the rotation of a spindle motor, and a separate encoder (25) is able to feed pulses back to the counter (13) for contour control, and is coupled to a spindle. The counter (13) of the servo control circuit (10) is used to detect the rotational position of the spindle motor (22), whereas the other counter (15) counts the feedback pulses for thread cutting or the like. Therefore, the servo control circuit (10) can control both the position and rotation of the spindle motor (22).

公开(公告)号：US4904915A

公开(公告)日：1990-02-27

申请号：US251378

申请日：1988-09-13

申请人： Mitsuo Kurakake

发明人： Mitsuo Kurakake

IPC分类号： H02P29/00 ,  G05B19/23 ,  H02P6/16

CPC分类号： G05B19/232 ,  H02P6/17 ,  G05B2219/42162

摘要： A velocity control apparatus according to the present invention controls the velocity of the distal end of a load such as a robot upon estimating the velocity of a servomotor from a detected position signal. In order to raise the speed at which estimated values of position and velocity are computed by an observer, a model serving as the object under the control of the observer is reconstructed as a simplfied servo-control system, and an estimated value (V.sub.L) of the velocity of the distal end of the mechanical load is computed upon regarding a difference value in the amount of rotation of the servomotor every fixed period as being the rotational velocity (V) thereof.

公开(公告)号：US4890100A

公开(公告)日：1989-12-26

申请号：US102562

申请日：1987-09-01

申请人： Mitsuo Kurakake ,  Shoichi Otsuka ,  Yutaka Muraoka

发明人： Mitsuo Kurakake ,  Shoichi Otsuka ,  Yutaka Muraoka

IPC分类号： G11C11/401 ,  G06F12/00 ,  G06T11/40 ,  G09G5/36 ,  G09G5/393

CPC分类号： G09G5/393

摘要： The present invention is directed to a picture processing apparatus for painting a picture memory of a CRT display unit or similar apparatus by paint data. In accordance with this picture processing apparatus, a dual-port memory (4) is used as a frame buffer for storing picture information. In order to store paint information in a memory cell array (7), the information is internally transferred from predetermined storage circuit (9) via a data register (8) having a serial input function. The number of times the dual-port memory (4) is accessed from the processor (1) is greatly reduced so that the burden on the processor (1) can be alleviated. It is also possible to shorten the time required for the paint information to be stored in the memory cell array (7).

公开(公告)号：US4890046A

公开(公告)日：1989-12-26

申请号：US231853

申请日：1988-07-29

申请人： Mitsuo Kurakake ,  Keiji Sakamoto

发明人： Mitsuo Kurakake ,  Keiji Sakamoto

IPC分类号： G05D3/12 ,  G05B19/404 ,  G05D17/02 ,  H02P29/00

CPC分类号： G05D17/02 ,  G05B19/404 ,  G05B2219/41036 ,  G05B2219/41084

摘要： A numerical control apparatus according to the invention reliably eliminates the influence on positional accuracy of static resistance and dynamic resistance, which act as disturbance upon a servo loop, when a semi-closed loop forms a servo system for positioning, by numerical control, a machine tool or the like driven by a servomotor. The numerical control apparatus has a backlash correction function and supplies the servo system with a backlash correction data BL(i) distinguished from an ordinary move command BL(i). In order to eliminate a shift from a commanded position due to the aforementioned disturbance, an offset command corresponding to frictional torque Fa in the mechanical system of the machine tool or the like is applied to the servo system as a torque correction signal FR(i) in accordance with the backlash correction data BL(i).

公开(公告)号：US4887015A

公开(公告)日：1989-12-12

申请号：US221243

申请日：1988-06-29

申请人： Mitsuo Kurakake ,  Keiji Sakamoto

发明人： Mitsuo Kurakake ,  Keiji Sakamoto

IPC分类号： G05D3/12 ,  G05B19/19 ,  H02P23/00

CPC分类号： G05B19/19 ,  H02P23/16 ,  G05B2219/41029 ,  G05B2219/41156 ,  G05B2219/41424 ,  G05B2219/42093

摘要： A position control system has a speed control loop for generating a torque command signal for a motor from the speed deviation between a speed command and an actual speed. The position control system includes command subdividing means (2) for subdividing the speed deviation (.epsilon.(i)) into a predetermined minute amount (.epsilon..sub.2 (i)=.alpha.) and a remaining amount (.epsilon..sub.1 (i)=.epsilon.(i)-.alpha.), integrating meand (3) for integrating the remaining amount (.epsilon..sub.1 (i)), and incompletely integrating means (4) for incompletely integrating the minute amount (.epsilon..sub.2 (i)). The output from the integrating means (3) and the output from the incompletely integrating means (4) are added, and the sum is issued as a torque command signal.

公开(公告)号：US4837487A

公开(公告)日：1989-06-06

申请号：US113344

申请日：1987-10-26

申请人： Mitsuo Kurakake ,  Hideo Miyashita ,  Shoichi Otsuka

发明人： Mitsuo Kurakake ,  Hideo Miyashita ,  Shoichi Otsuka

IPC分类号： H04L29/02 ,  B25J9/18 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  G05B19/414 ,  G06T1/00

CPC分类号： B25J19/021 ,  G05B19/4147 ,  G06T1/0014

摘要： A system for coupling a visual sensor processor (B) and a robot controller (A), so that the processing of the whole system is sped up and the configuration of the system is low-cost. To this end, the visual sensor processor (B) and the robot controller (A) are coupled together via a bidirectional high-speed data transfer channel (10, 28, l.sub.1, l.sub.2) for an exchange therebetween of required information. A nonvolatile memory (6) and a serial interface (12) for connection to an external input/output device, are installed in the robot controller (A), and are shared by the visual sensor processor (B) and the robot controller (A) through utilization of the channel.

摘要翻译： 一种用于耦合视觉传感器处理器（B）和机器人控制器（A）的系统，使得整个系统的处理加快，并且系统的配置是低成本的。 为此，视觉传感器处理器（B）和机器人控制器（A）经由双向高速数据传输通道（10,28,112,12）耦合在一起，用于在其间进行所需信息之间的交换。 用于连接到外部输入/输出设备的非易失性存储器（6）和串行接口（12）安装在机器人控制器（A）中，并由视觉传感器处理器（B）和机器人控制器（A ）通过利用渠道。

公开(公告)号：US4680518A

公开(公告)日：1987-07-14

申请号：US908701

申请日：1986-09-08

申请人： Mitsuo Kurakake ,  Keiji Sakamoto ,  Yukio Toyosawa

发明人： Mitsuo Kurakake ,  Keiji Sakamoto ,  Yukio Toyosawa

IPC分类号： H02P29/00 ,  G05B19/23 ,  G05B19/416 ,  H02P23/00 ,  G05B13/00

CPC分类号： G05B19/237 ,  G05B19/416 ,  H02P23/16 ,  G05B2219/33075 ,  G05B2219/37344

摘要： A servomotor velocity control system according to the present invention control velocity by using an observer for obtaining a sensed value of velocity while estimating motor load torque. When resolution of a rotary encoder is a problem in a region of low motor velocities, this is compensated for to improve the velocity sensing precision in the low-velocity region. In a region of high motor velocities, velocity processing is executed based on the output of the rotary encoder considering the processing time of a CPU. Use or non-use of the observer for obtaining the estimated value of velocity is selected in dependence upon the velocity of the motor.

摘要翻译： PCT No.PCT / JP86 / 00010 Sec。 371日期1986年9月8日第 102（e）1986年9月8日PCT PCT申请日1986年1月11日PCT公布。 出版物WO86 / 04194 日本1986年7月17日。根据本发明的伺服电动机速度控制系统通过使用观察者来控制速度，以在估计电动机负载转矩的同时获得感测的速度值。 当旋转编码器的分辨率在电动机速度低的区域中是一个问题时，这被补偿以提高低速区域中的速度感测精度。 在高电机速度的区域中，考虑到CPU的处理时间，基于旋转编码器的输出执行速度处理。 根据电机的速度选择使用或不使用观察者来获取速度的估计值。

公开(公告)号：US4629958A

公开(公告)日：1986-12-16

申请号：US642664

申请日：1984-08-17

申请人： Mitsuo Kurakake ,  Keiji Sakamoto

发明人： Mitsuo Kurakake ,  Keiji Sakamoto

IPC分类号： H02P21/00 ,  H02P6/06 ,  H02P25/02 ,  H02P27/04 ,  H02P27/06 ,  H02P5/40

CPC分类号： H02P25/024

摘要： A synchronous motor control system includes a sensor (112) for sensing the rotational angle of a synchronous motor (101), and a control circuit (108) for generating a sinusoidal value corresponding to the rotational angle sensed by the sensor (112) and for multiplying the sinusoidal value by an effective value current command. The multiplied output of the control circuit (108) is applied as a current command value to the armature winding of the synchronous motor (101). In this case, the arrangement is such that the control circuit (108) compensates the sensed rotational angle by the actual velocity of the synchronous motor (101) or by a rotational command velocity for the synchronous motor.

摘要翻译： PCT No.PCT / JP83 / 00439 Sec。 371日期1984年8月17日 102（e）日期1984年8月17日PCT提交1983年12月16日PCT公布。 出版物WO84 / 02619 日本1984年7月5日。一种同步电动机控制系统，包括用于感测同步电动机（101）的旋转角度的传感器（112），以及用于产生对应于由 传感器（112），用于将正弦值乘以有效值电流指令。 控制电路（108）的相乘输出作为电流指令值被施加到同步电动机（101）的电枢绕组。 在这种情况下，这种布置使得控制电路（108）通过同步电动机（101）的实际速度或同步电动机的旋转指令速度补偿感测的旋转角度。