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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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2.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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6.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：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：US08010302B2
公开(公告)日：2011-08-30
申请号：US12821740
申请日：2010-06-23
IPC分类号： G05B19/4097 , G06F19/00
CPC分类号： G05B19/409 , G05B2219/35349
摘要： First and second screens are set for a tool path display apparatus for displaying a path of the tip of a tool attached to a machine tool. The first screen displays the three-dimensional path of the tip of the tool obtained by synthesizing the position information of the drive axes of a 5-axis machine tool. The second screen displays the waveforms of the position deviations and current instructions of the drive axes in chronological order. When a part (line segment) of the three-dimensional path of the tip of the tool is selected on the first screen, the display attribute of the corresponding time area is changed on the second screen so that the time area can be identified.
摘要翻译： 第一和第二屏幕被设置用于显示附接到机床的工具的尖端的路径的刀具路径显示装置。 第一画面显示通过合成5轴机床的驱动轴的位置信息获得的刀具尖端的三维路径。 第二个屏幕按时间顺序显示驱动轴的位置偏差和当前指令的波形。 当在第一屏幕上选择工具尖端的三维路径的部分（线段）时，在第二屏幕上改变对应时间区域的显示属性，从而可以识别时间区域。
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9.发明授权Motor driving control apparatus for controlling motor output according to power characteristics of AC power supply 有权根据交流电源的功率特性控制电机输出的电机驱动控制装置公开(公告)号：US08497649B2
公开(公告)日：2013-07-30
申请号：US13362448
申请日：2012-01-31
申请人： Junichi Tezuka , Kazuyuki Sugiyama
发明人： Junichi Tezuka , Kazuyuki Sugiyama
IPC分类号： H02P7/00 , H02P27/04 , H02P23/00 , H02M7/48 , H02M7/5387
CPC分类号： H02J3/12 , H02P29/032
摘要： A motor driving control apparatus includes a motor driving unit which drives a motor and a driving control unit which supplies to the motor driving unit a command value for the motor driving unit to drive the motor. A power characteristic acquiring unit acquires a power characteristic of an AC power supply that supplies power to the motor. A control parameter determining unit determines based on a voltage characteristic of the AC power supply whether, during driving of the motor, the voltage of the AC power supply drops to a level that adversely affects the driving of the motor, and if positive, the control parameter determining unit sets a control parameter so that the voltage of the AC power supply does not drop below that level and supplies the control parameter to the driving control unit in order for the driving control unit to determine the command value.
摘要翻译： 电动机驱动控制装置包括驱动电动机的电动机驱动单元和向电动机驱动单元供给用于驱动电动机的电动机驱动单元的指令值的驱动控制单元。 功率特性获取单元获取向马达供电的AC电源的功率特性。 控制参数确定单元基于AC电源的电压特性确定在电动机的驱动期间，AC电源的电压是否下降到对电动机的驱动产生不利影响的水平，如果是正的，则控制 参数确定单元设置控制参数，使得AC电源的电压不下降到该电平以下，并将控制参数提供给驱动控制单元，以便驱动控制单元确定命令值。
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公开(公告)号：US20050144205A1
公开(公告)日：2005-06-30
申请号：US11017651
申请日：2004-12-22
申请人： Tadashi Okita , Kazuyuki Sugiyama
发明人： Tadashi Okita , Kazuyuki Sugiyama
摘要： A waveform display apparatus which acquires data from a plurality of channels, and displays information relating to the acquired data in the form of a waveform based on the result of a mathematical operation performed in accordance with a user-entered mathematical expression, wherein at least one mathematical expression is entered and the data output from the plurality of channels are sampled (S01), the entered mathematical expression is analyzed (S02), the at least one mathematical expression is applied to the digital data of the plurality of channels based on the analysis (S03), and the information relating to the data is displayed in the form of a waveform on a display unit based on the result of the mathematical operation (S04). In this way, the user can have the result of the mathematical operation displayed in the desired manner, without having to add a new data processing method each time a necessary operation is added.
摘要翻译： 一种波形显示装置，其从多个通道获取数据，并且基于根据用户输入的数学表达式执行的数学运算的结果，以波形的形式显示与所获取的数据相关的信息，其中至少一个 输入数学表达式并对来自多个通道的数据进行采样（S 01），分析输入的数学表达式（S02），至少将一个数学表达式应用于多个通道的数字数据 基于数学运算的结果，在显示单元上以波形的形式显示分析（S 03）和与数据相关的信息（S04）。 以这种方式，用户可以以期望的方式显示数学运算的结果，而不必在每次添加必要的操作时添加新的数据处理方法。
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