公开(公告)号：US06293006B1

公开(公告)日：2001-09-25

申请号：US09332675

申请日：1999-06-14

申请人： Takeshi Takeda ,  Osamu Nakao ,  Akira Shiomi

发明人： Takeshi Takeda ,  Osamu Nakao ,  Akira Shiomi

IPC分类号： H05K330

CPC分类号： H05K13/0409 ,  Y10S29/044 ,  Y10T29/4913 ,  Y10T29/5303 ,  Y10T29/53174 ,  Y10T29/53178

摘要： A method of controlling a mounting unit having a shaft operated under servo control using a current driven actuator, comprises the steps of detecting interrruption of the servo control, and switching from a positioning control mode to a constant current control mode for supplying an constant amount of current to the shaft actuator to suspend the shaft. In an embodiment the method further includes engaging a gripping device, for holding the shaft, so as to keep the shaft from free-falling when interruption of the servo control is detected, and maintaining the constant current control mode at least until the gripping device grips the shaft. Still further, the current control mode optionally includes the steps of maintaining the supply of the constant amount of current for a predetermined period of time, and disengaging power supplied to the actuator after the predetermined period of time has elapsed.

摘要翻译： 一种控制具有使用电流驱动致动器在伺服控制下操作的轴的安装单元的方法包括以下步骤：检测伺服控制的中断，以及从定位控制模式切换到恒定电流控制模式，以提供恒定量的 电流到轴致动器以悬挂轴。 在一个实施例中，该方法还包括接合用于保持轴的夹紧装置，以便在检测到伺服控制的中断时保持轴免于自由落下，并且保持恒定电流控制模式至少直到握持装置抓握 轴。 此外，电流控制模式可选地包括以下步骤：在预定时间段内保持恒定电流量的供应，并且在经过预定时间段之后分离供给到致动器的电力。