公开(公告)号：US20220019197A1

公开(公告)日：2022-01-20

申请号：US17294421

申请日：2019-11-22

申请人： OMRON Corporation

发明人： Daisuke MATSUNAGA ,  Toru KOGAWARA ,  Junji SHIMAMURA

IPC分类号： G05B19/4155

摘要： A synchronous control device (10) includes a spindle control part (11a) and a driven shaft control part (11b). The driven shaft control part (11b) includes a driven shaft command position variation suppression part (114) which generates as a driven shaft command phase (Ps) a projected driven shaft command phase obtained by adding an advance angle amount (Pa) corresponding to a spindle speed to a spindle phase (Pm) in a case where a sign of the spindle speed is reverse from a previous period, and generates as the driven shaft command phase (Ps) a value in which a sign of a shift from the driven shaft command phase in the previous period is not reverse from the sign of the spindle speed in a predetermined case where the sign of the spindle speed is not reverse from the previous period.

公开(公告)号：US20210373530A1

公开(公告)日：2021-12-02

申请号：US17298856

申请日：2019-12-10

申请人： OMRON Corporation

发明人： Daisuke MATSUNAGA ,  Hidehiko SEKIMOTO ,  Toru KOGAWARA ,  Junji SHIMAMURA

IPC分类号： G05B19/414 ,  G05B19/404 ,  G05B19/406

摘要： A synchronization control device (10) includes: a main axis command calculator (Cmm) that calculates a main axis command position based on time-series target position information; a main axis modeler (Mm) that calculates a predicted main axis feedback position by a dynamic characteristic model of a main axis servo control mechanism (20) by inputting the main axis command position, a main axis feedback position, and a predicted main axis command position after a predetermined time calculated based on the target position information; and a driven axis command calculator (Cms) that calculates a driven axis command position based on the predicted main axis feedback position. This configuration achieves synchronization control that improves the accuracy of synchronous drive of the driven axis.

公开(公告)号：US20230022312A1

公开(公告)日：2023-01-26

申请号：US17787715

申请日：2020-12-16

申请人： OMRON Corporation

发明人： Taku OYA ,  Daisuke MATSUNAGA

IPC分类号： B25J9/16

摘要： A control device includes a processor that calculates one or more predetermined command values for one or more robots to undergo synchronous control in predetermined control cycles, an output unit that outputs the one or more predetermined command values in each of the predetermined control cycles, and a generator that generates an output signal for a virtual robot. The virtual robot is virtually defined in relation to the synchronous control. The processor calculates the one or more predetermined command values using the output signal for the virtual robot generated by the generator.

公开(公告)号：US20170248938A1

公开(公告)日：2017-08-31

申请号：US15382758

申请日：2016-12-19

申请人： OMRON Corporation

发明人： Eiji YAMAMOTO ,  Daisuke MATSUNAGA ,  Tomonori SHIMAMURA ,  Yoshimi KAMITANI

IPC分类号： G05B19/416

CPC分类号： G05B19/416 ,  G05B19/404 ,  G05B2219/34013 ,  G05B2219/36495

摘要： The present invention uses a simple structure to precisely control a position of a rotator. A controller (1) sends a pulse for controlling rotation of a work (34) to a servo driver (2), and the work (34) is rotated by a motor (31) according to a reduction ratio as prescribed of a decelerator in which the motor (31) is driven by the servo driver (2) using a pulse quantity of the pulse for indicating an instruction position. The controller (1) includes a counting range determining part (132), and the counting range determining part (132) determines a counting range of an instruction position counter (21a) for counting the pulse quantity. The counting range determining part (132) multiples a prescribed pulse quantity of each turn of the motor (31) by a reciprocal of the reduction ratio and a correction value, and determines the correction value which enables a multiplication result to be an integer.

公开(公告)号：US20180250817A1

公开(公告)日：2018-09-06

申请号：US15846206

申请日：2017-12-19

申请人： OMRON Corporation

发明人： Daisuke MATSUNAGA ,  IGOR JOVANOVIC ,  DIEGO ESCUDERO-RODRIGO ,  Ferran CARLAS PONCE ,  RAFFAELE VITO ,  Sandra Pallarés Gual

IPC分类号： B25J9/16 ,  B25J9/04

CPC分类号： B25J9/1666 ,  B25J9/04 ,  B25J9/044 ,  B25J9/1664 ,  B25J19/0025 ,  Y10S901/09 ,  Y10S901/15 ,  Y10S901/49

摘要： A control system, a controller, a control method and a recording medium capable of preventing damage to a cable occurring during an operation under control of a scara robot are provided. A control system includes a scara robot 300 and a controller configured to control the scara robot 300. The controller includes an acquisition unit configured to acquire a target position of a control object in the scara robot 300 and a decision unit configured to decide a rotational direction of an operation tool 332 so that a cable 333 does not collide with a component of the scara robot 300 when the control object moves to the target position.