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公开(公告)号：US20080120566A1
公开(公告)日：2008-05-22
申请号：US11984436
申请日：2007-11-16
CPC分类号： G05B19/4069 , G05B2219/35319 , G05B2219/35349
摘要： A device for displaying a moving locus in which a moving body is supported at its both ends by a pair of feed axes of a tandem structure so as to move in a opposite direction of the pair of feed axes, and has a point where a position is to be controlled at an internally dividing point to divide a distance between the pair of feed axes into a predetermined ratio, and the moving locus of the point where the position is to be controlled is drawn, the device having a data storage portion for storing a first position data and second position data of the moving body detected on the pair of feed axes when the pair of feed axes are driven maintaining synchronization; a data calculating portion for calculating a third position data of the point where the position is to be controlled from the first position data and second position data on the pair of feed axes stored in the data storage portion; and a locus display portion for drawing the moving locus of a point where the position is to be controlled based on the third position data calculated by the data calculating portion.
摘要翻译： 一种用于显示移动轨迹的装置，其中移动体在其两端由一对串列结构的进给轴线支撑，以便沿所述一对进给轴线的相反方向移动，并且具有位置 被控制在内部分割点处，以将一对进给轴线之间的距离分成预定比例，并且绘制要控制位置的点的移动轨迹，该装置具有用于存储的数据存储部分 当一对进给轴被驱动时在一对进给轴上检测到的移动体的第一位置数据和第二位置数据保持同步; 数据计算部分，用于根据存储在数据存储部分中的第一位置数据和第一位置数据计算要控制位置的点的第三位置数据; 以及轨迹显示部，其基于由数据计算部计算出的第三位置数据来绘制要控制位置的点的移动轨迹。
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公开(公告)号：US08190287B2
公开(公告)日：2012-05-29
申请号：US12793337
申请日：2010-06-03
CPC分类号： G05B19/4097
摘要： Time information t and positional information about each axis are obtained, and the three-dimensional coordinates of tool center point Pe at time t are calculated to display the path of the tool center point Pe at time t. Then, whether a fixed time has elapsed or not is decided. If the fixed time has elapsed, the coordinates of the tool vector start point Ps at time t are calculated to display a line segment connecting between tool vector start point Ps and tool center point Pe, which is the end point of the tool vector. This display enables the orientation of the tool at each tool center point to be grasped at a glance.
摘要翻译： 时间信息t和关于每个轴的位置信息被获得，并且计算在时间t的工具中心点Pe的三维坐标，以在时间t显示工具中心点Pe的路径。 然后，确定是否经过固定时间。 如果经过固定时间，则计算时刻t的刀具矢量开始点Ps的坐标，以显示连接刀具矢量开始点Ps和作为刀具矢量的终点的刀具中心点Pe之间的线段。 该显示使得能够一目了然地掌握各工具中心点处的工具的取向。
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3.发明授权Motor control apparatus having a function to calculate amount of cogging torque compensation 有权具有计算齿槽转矩补偿量的功能的马达控制装置公开(公告)号：US08058827B2
公开(公告)日：2011-11-15
申请号：US12880108
申请日：2010-09-12
IPC分类号： B23Q5/04
CPC分类号： H02P6/10 , G05B19/404 , G05B2219/41138 , H02P23/14
摘要： A motor control apparatus that can calculate a proper amount of cogging torque compensation even in cases where components due to other factors than cogging torque (for example, components due to gravitational torque, etc.) are superimposed on a torque command being output during constant slow-speed feed operation. The motor control apparatus includes: a torque command monitoring unit which monitors a torque command when the motor is caused to operate at a constant speed; an approximation calculation unit which calculates a torque command approximation component by approximation from the torque command monitored over an interval equal to an integral multiple of the cogging torque period of the motor; a second torque command calculation unit which calculates a second torque command by subtracting the torque command approximation component from the torque command; a second torque command frequency analyzing unit which extracts frequency components, each at an integral multiple of the fundamental frequency of the cogging torque, by performing frequency analysis on the thus calculated second torque command; and a cogging compensation amount calculation unit which calculates the amount of cogging compensation from the amplitude and phase of the extracted frequency components.
摘要翻译： 即使在由于比齿槽转矩（例如由于重力转矩等构成的其他因素）的分量叠加在恒定速度下输出的转矩指令的情况下，也能够计算恰当量的齿槽转矩补偿量的电动机控制装置 速度进料操作。 电动机控制装置包括：转矩指令监视单元，其在电动机以恒定速度运行时监视转矩指令; 近似计算单元，其通过在等于电机的齿槽转矩周期的整数倍的间隔上监视的转矩指令近似计算转矩指令近似分量; 第二转矩指令计算单元，通过从所述转矩指令中减去所述转矩指令近似分量来计算第二转矩指令; 第二转矩指令频率分析单元，通过对所计算出的第二转矩指令进行频率分析，提取频率分量，每个频率成分以齿槽转矩的基频的整数倍; 以及齿槽补偿量计算单元，根据所提取的频率分量的振幅和相位来计算齿槽补偿量。
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公开(公告)号：US08018192B2
公开(公告)日：2011-09-13
申请号：US12822249
申请日：2010-06-24
IPC分类号： G05B19/18
CPC分类号： G05B19/4068 , G05B2219/35349
摘要： A trajectory display device capable of correctly quantifying an error of a three-dimensional trajectory of a machine tool, and displaying or outputting the error. The trajectory display device has a command line segment defining part adapted to define a command line segment which connects two temporally adjacent points, in relation to each commanded position; an error calculating part adapted to define a normal line extending from the actual position to each command line segment and calculate an error of the actual position relative to a commanded trajectory, the error being determined as a shorter one between a length of a shortest normal line among the defined normal lines and a length of a line segment extending from the actual position to a commanded position which is the nearest from the actual position.
摘要翻译： 一种轨迹显示装置，其能够正确地量化机床的三维轨迹的误差，并显示或输出该误差。 轨迹显示装置具有命令线段限定部分，其适于定义相对于每个指令位置连接两个时间上相邻的点的命令线段; 误差计算部分，其适于定义从实际位置延伸到每个命令线段的法线，并计算相对于命令轨迹的实际位置的误差，所述误差被确定为最短法线的长度之间的较短的误差 在定义的法线和从实际位置延伸到距离实际位置最近的命令位置的线段的长度。
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公开(公告)号：US20110057599A1
公开(公告)日：2011-03-10
申请号：US12822249
申请日：2010-06-24
IPC分类号： G05B19/406
CPC分类号： G05B19/4068 , G05B2219/35349
摘要： A trajectory display device capable of correctly quantifying an error of a three-dimensional trajectory of a machine tool, and displaying or outputting the error. The trajectory display device has a command line segment defining part adapted to define a command line segment which connects two temporally adjacent points, in relation to each commanded position; an error calculating part adapted to define a normal line extending from the actual position to each command line segment and calculate an error of the actual position relative to a commanded trajectory, the error being determined as a shorter one between a length of a shortest normal line among the defined normal lines and a length of a line segment extending from the actual position to a commanded position which is the nearest from the actual position.
摘要翻译： 一种轨迹显示装置，其能够正确地量化机床的三维轨迹的误差，并显示或输出该误差。 轨迹显示装置具有命令线段限定部分，其适于定义相对于每个指令位置连接两个时间上相邻的点的命令线段; 误差计算部分，其适于定义从实际位置延伸到每个命令线段的法线，并计算相对于命令轨迹的实际位置的误差，所述误差被确定为最短法线的长度之间的较短的误差 在定义的法线和从实际位置延伸到距离实际位置最近的命令位置的线段的长度。
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公开(公告)号：US20070282557A1
公开(公告)日：2007-12-06
申请号：US11806920
申请日：2007-06-05
CPC分类号： G05B19/406
摘要： A data observation device for observing internal data of a control device for controlling a machine tool, an industrial machine, an industrial robot, or the like which has at least one drive shaft driven by one selected from a servo motor, a spindle motor. The device includes: means which specifies observational data targeted for observation; means which specifies trigger data used to determine a timing of a trigger for starting and/or terminating acquisition of the observational data; means which sets a trigger condition for applying the trigger based on a value of the trigger data; and means which judges whether or not the trigger condition is satisfied in the control device, selectively starts and terminates acquisition of a value of the observational data, and displays the acquired observational data.
摘要翻译： 一种用于观察用于控制机床，工业机器，工业机器人等的控制装置的内部数据的数据观察装置，其具有由伺服电动机，主轴电动机中选择的一个驱动的至少一个驱动轴。 该装置包括：指定用于观察的观察数据的手段; 指定用于确定用于启动和/或终止观测数据采集的触发的定时的触发数据的装置; 基于触发数据的值设置用于应用触发的触发条件的装置; 以及判断在控制装置中是否满足触发条件的装置，选择性地开始并终止获取观测数据的值，并显示所获取的观测数据。
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7.发明申请Time constant automatic estimation method, time constant automatic estimation apparatus and servo motor control system 审中-公开时间常数自动估算方法，时间常数自动估算装置和伺服电机控制系统公开(公告)号：US20070132421A1
公开(公告)日：2007-06-14
申请号：US11636508
申请日：2006-12-11
IPC分类号： G05F1/10
CPC分类号： G05B19/404 , G05B2219/43098 , G05B2219/43101 , H02P21/16
摘要： A time constant automatic estimation apparatus for automatically estimating a time constant at a time of acceleration of a servo motor including: an electric current value detection section for detecting a peak electric current value when the servo motor is operated in acceleration using a provisional time constant provided in advance for a test operation; and a time constant estimation section for estimating a actual time constant when the servo motor is actually driven at a desired target electric current value at a time of an actual operation, from a relation between the peak electric current value and the provisional time constant.
摘要翻译： 一种用于自动估计伺服电动机加速时的时间常数的时间常数自动估计装置，包括：电流值检测部分，用于当使用提供的临时时间常数来检测伺服电动机在加速时的峰值电流值 提前进行测试操作; 以及时间常数估计部，用于根据峰值电流值和临时时间常数之间的关系来估计在实际操作时以期望的目标电流值实际驱动伺服电动机的实际时间常数。
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公开(公告)号：US07956568B2
公开(公告)日：2011-06-07
申请号：US12329062
申请日：2008-12-05
IPC分类号： G05D23/275
CPC分类号： H02P7/2855 , H02P23/16 , H02P29/00
摘要： A servo motor controller having: a frequency identification section that performs analysis based on a frequency response method and identifies the frequency of a disturbance exhibiting a specified phase lag; an input/output gain identification section that identifies the input/output gain at the frequency identified by the frequency identification section; and a magnification factor resetting section that resets an adjustment magnification factor by performing a specified operation on a ratio between the identified input/output gain and a specified target value of the input/output gain.
摘要翻译： 一种伺服电动机控制器，具有：频率识别部，其基于频率响应方式进行分析，并识别表现出规定的相位滞后的干扰的频率; 输入/输出增益识别部分，其识别由频率识别部分识别的频率处的输入/输出增益; 以及放大倍率复位部，其通过对所识别的输入/输出增益与输入/输出增益的指定目标值之间的比率执行指定的操作来重置调整放大系数。
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9.发明授权公开(公告)号：US07757526B2
公开(公告)日：2010-07-20
申请号：US11857620
申请日：2007-09-19
IPC分类号： B21C51/00
CPC分类号： B21D24/02 , G05B19/237 , G05B2219/41251 , G05B2219/45143
摘要： A method for changing a force control gain expressed as a ratio of force error to velocity command value in a control circuit performing a force control of a servo motor driving a die cushion disposed opposite to a slide in a press machine. The method includes: obtaining a difference between a displacement of the slide and a displacement of the die cushion in a state in which the slide and the die cushion collide with and are exerting force on each other; detecting the force when the difference of the displacements is obtained; calculating a spring constant of a structural portion based on a proportionality between the difference of the displacements and the force, when regarding the structural portion including the slide and the die cushion as an elastic structure; and changing the force control gain based on the spring constant using a fixed proportionality that exists between the force control gain and a reciprocal of the spring constant.
摘要翻译： 一种用于在执行对在压机中与滑块相对设置的模座的驱动伺服电动机的力控制的控制电路中，改变表示为力误差与速度指令值的比的力控制增益的方法。 该方法包括：在滑块和模座碰撞并且彼此施加力的状态下，获得滑块的位移和模具垫的位移之间的差异; 当获得位移的差异时检测力; 当关于包括滑动件和模具衬垫的结构部分作为弹性结构时，基于位移的差异和力之间的比例来计算结构部分的弹簧常数; 并且使用存在于力控制增益和弹簧常数的倒数之间的固定比例度，基于弹簧常数来改变力控制增益。
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10.发明申请MOTOR DRIVE APPARATUS EQUIPPED WITH DYNAMIC BRAKING CIRCUIT FAULT DETECTION CAPABILITY 有权装有动态制动电路的电机驱动装置故障检测能力公开(公告)号：US20090174349A1
公开(公告)日：2009-07-09
申请号：US12324972
申请日：2008-11-28
CPC分类号： H02P3/18 , G01R31/024
摘要： A motor drive apparatus 1 having a dynamic braking circuit 5 for producing a deceleration torque utilizing a braking force caused by a synchronous motor 4 acting as a generator when the synchronous motor 4 is deenergized, is equipped with a dynamic braking circuit fault detection capability, and comprises: a DC power supply 2 which is obtained by rectifying input AC power; voltage application means 2, 3, 10, 11 for applying a voltage to the windings of the synchronous motor 4 and to the dynamic braking circuit 5 for a predetermined length of time by switching power transistors A to F connected to the DC power supply 2; current detection means 6 for detecting the value of a current flowing from the power transistors A to F; and fault checking means 11 for checking the dynamic braking circuit 5 for the presence or absence of a fault, based on the current value detected by the current detection means 6 and on a predefined threshold value. With this configuration, detection of faults in the dynamic braking circuit is accomplished without requiring the addition of a contact signal or a control circuit.
摘要翻译： 具有动力制动电路5的电动机驱动装置1配备动态制动电路故障检测能力，该动力制动电路5利用在同步电动机4断电时作为发电机的同步电动机4产生的制动力产生减速转矩， 包括：通过整流输入AC电力获得的直流电源2; 通过连接到直流电源2的功率晶体管A至F将电压施加到同步电动机4的绕组和动态制动电路5达预定时间长度的电压施加装置2,3,10,11; 用于检测从功率晶体管A到F的电流值的电流检测装置6; 以及用于根据由电流检测装置6检测到的电流值和预定义的阈值来检查动态制动电路5是否存在故障的故障检查装置11。 利用这种配置，可以在不需要添加接触信号或控制电路的情况下实现动态制动电路中的故障的检测。
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