公开(公告)号：US20230161323A1

公开(公告)日：2023-05-25

申请号：US17923075

申请日：2021-05-21

申请人： FANUC CORPORATION

发明人： Masataka KOIKE

IPC分类号： G05B19/414

CPC分类号： G05B19/4141 ,  G05B2219/33119

摘要： A control device comprises a plurality of command application units, a plurality of platform units, and a shared memory. The command application units are each provided with a command mediation method designation unit that outputs, to the platform unit, identification information pertaining to a platform unit to be subject to cooperative control and a mediation method classification. The platform units are each provided with: an inter-platform communication unit that transmits a command value, the identification information, and the mediation method classification between the platform units via the shared memory; and a command mediation unit that acquires the command value, the identification information, and the mediation method classification from all platform units to be subject to cooperative control, mediates the command values on the basis of the identification information and the mediation method classification, and outputs the mediated command values to the shared memory.

公开(公告)号：US20180164782A1

公开(公告)日：2018-06-14

申请号：US15838894

申请日：2017-12-12

申请人： FANUC CORPORATION

发明人： Daijirou KOGA ,  Nobuhito OONISHI ,  Manabu SAITOU

IPC分类号： G05B19/408 ,  G05B19/19 ,  G05B19/414 ,  G05B19/41

CPC分类号： G05B19/4086 ,  G05B19/19 ,  G05B19/41 ,  G05B19/4141 ,  G05B2219/34348

摘要： A numerical controller which can freely and easily specify, as a control point, various positions on a machine configuration and which can easily set coordinate systems in places on the machine configuration. A numerical controller expresses the machine configuration of a control target in graph form where constituent elements are nodes and holds the machine configuration. The numerical controller includes: a control point coordinate system specification portion that specifies, with the identifier, one or more groups of the control point and the coordinate system; a command value determination portion that uses the specified control point and the coordinate system to determine for which control point and on which coordinate system one or more command values commanded in a program correspond to a coordinate value; and a movement command portion that commands a move of the control point such that the coordinate value of the control point is the command value.

公开(公告)号：US09874866B2

公开(公告)日：2018-01-23

申请号：US14794140

申请日：2015-07-08

申请人： FANUC Corporation

发明人： Takahiro Tanaka

IPC分类号： G05B19/41 ,  G05B19/414

CPC分类号： G05B19/4141 ,  G05B2219/34015 ,  Y02P90/087 ,  Y02P90/10

摘要： A control system includes a control apparatus, identification information storage units disposed in a plurality of servo amplifiers and configured to store identification information pieces for identifying each of the plurality of servo amplifiers, communication units configured to perform communication between the control apparatus and the plurality of servo amplifiers, and an automatic setting unit configured to automatically set axis configuration parameters for assigning correspondence relations between a plurality of control axes and axes of the plurality of servo amplifiers based on the identification information and a type of a servo amplifier corresponding to each of the plurality of control axes recognized by software of the control apparatus.

公开(公告)号：US09327400B2

公开(公告)日：2016-05-03

申请号：US12736456

申请日：2009-04-08

申请人： Julien Serre ,  Brice Marnier ,  Jerome Matard

发明人： Julien Serre ,  Brice Marnier ,  Jerome Matard

IPC分类号： G06F19/00 ,  B25J13/00 ,  B25J9/16 ,  G06N3/00 ,  B25J3/04 ,  B25J5/00 ,  G05B19/414 ,  G06F11/10

CPC分类号： B25J9/161 ,  G05B19/4141 ,  G05B19/4148 ,  G05B2219/33212 ,  G05B2219/40304 ,  G06F11/1004 ,  G06N3/008

摘要： The present invention applies to a mobile robot which can have a human appearance and sophisticated functions enabling it to execute missions. To enable communications internal to the robot to be optimized and allow for a versatility that is both physical (possible substitution of parts of the robot) and software (replacement of programs to adapt it to new missions), an architecture with three computer levels is provided. The highest level comprises the intelligence of the robot which generates commands which are transmitted by an intermediate computer to low-level cards which control the sensors and actuators. Communication between the intermediate computer and the low-level cards is managed by at least one specific secure communication protocol.

摘要翻译： 本发明适用于能够具有人性化和复杂功能的移动机器人，使其能够执行任务。 为了使机器人内部的通信能够被优化，并且允许具有物理性（可能替代机器人部件）和软件（更换程序以适应新任务）的多功能性，提供具有三个计算机级别的架构 。 最高级别包括机器人的智能，其产生由中间计算机发送到控制传感器和致动器的低级卡的命令。 中间计算机和低级卡之间的通信由至少一个特定的安全通信协议来管理。

公开(公告)号：US09318895B2

公开(公告)日：2016-04-19

申请号：US14236561

申请日：2012-07-31

申请人： Masaki Nagatsuka

发明人： Masaki Nagatsuka

IPC分类号： H02B3/00 ,  H02P31/00 ,  H02J4/00 ,  G05B19/414

CPC分类号： H02J4/00 ,  G05B19/4141 ,  G05B2219/33219 ,  G05B2219/39251 ,  G05B2219/39252 ,  H02B3/00 ,  H02P31/00 ,  Y10T307/305

摘要： A load control system has a plurality of drivers provided correspondingly to a plurality of load driving elements in order to control driving of the respective load driving elements for driving loads. Each of the plurality of drivers includes a control unit that controls the load driving element directly associated with a subject driver. The respective drivers are electrically connected to one another so that a mutual control communication state, in which the control unit of the subject driver can transmit to the control units of all or a portion of target drivers of other drivers excluding the subject driver a command signal for controlling the driving of a load driving element directly associated with the all or the portion of target drivers, is created in the load control system.

摘要翻译： 负载控制系统具有相应于多个负载驱动元件设置的多个驱动器，以便控制用于驱动负载的各个负载驱动元件的驱动。 多个驱动器中的每一个包括控制单元，其控制与主体驱动器直接相关联的负载驱动元件。 相应的驱动器彼此电连接，使得相互控制通信状态，其中主体驱动器的控制单元可以向除了主体驱动器的其他驱动器的目标驱动器的全部或一部分的控制单元发送命令信号 在负载控制系统中创建用于控制与目标驱动器的全部或部分直接相关联的负载驱动元件的驱动。

公开(公告)号：US20140152096A1

公开(公告)日：2014-06-05

申请号：US14236561

申请日：2012-07-31

申请人： Masaki Nagatsuka

发明人： Masaki Nagatsuka

IPC分类号： H02J4/00

CPC分类号： H02J4/00 ,  G05B19/4141 ,  G05B2219/33219 ,  G05B2219/39251 ,  G05B2219/39252 ,  H02B3/00 ,  H02P31/00 ,  Y10T307/305

摘要： A load control system has a plurality of drivers provided correspondingly to a plurality of load driving elements in order to control driving of the respective load driving elements for driving loads. Each of the plurality of drivers includes a control unit that controls the load driving element directly associated with a subject driver. The respective drivers are electrically connected to one another so that a mutual control communication state, in which the control unit of the subject driver can transmit to the control units of all or a portion of target drivers of other drivers excluding the subject driver a command signal for controlling the driving of a load driving element directly associated with the all or the portion of target drivers, is created in the load control system.

摘要翻译： 负载控制系统具有相应于多个负载驱动元件设置的多个驱动器，以便控制用于驱动负载的各个负载驱动元件的驱动。 多个驱动器中的每一个包括控制单元，其控制与主体驱动器直接相关联的负载驱动元件。 相应的驱动器彼此电连接，使得相互控制通信状态，其中主体驱动器的控制单元可以向除了主体驱动器的其他驱动器的目标驱动器的全部或一部分的控制单元发送命令信号 在负载控制系统中创建用于控制与目标驱动器的全部或部分直接相关联的负载驱动元件的驱动。

公开(公告)号：US20130110278A1

公开(公告)日：2013-05-02

申请号：US13571803

申请日：2012-08-10

申请人： Tadashi OKITA ,  Yasusuke IWASHITA

发明人： Tadashi OKITA ,  Yasusuke IWASHITA

IPC分类号： G05B19/18

CPC分类号： G05B19/4141 ,  G05B19/186 ,  G05B2219/50216

摘要： A control device (1) of a gear processing machine has a bus (51) that communicates by directly connecting between a tool axis controller (22) and a workpiece axis controller (12), and, in this control device, the position of a tool axis (40) that is detected by a tool axis position detection sensor (25) is supplied to a workpiece axis controller via a bus, an upper controller (10) supplies a predetermined synchronization ratio and a superimposition command for applying a twisting operation to a workpiece axis controller, and the workpiece axis controller adds a value that is generated by multiplying the position of the tool axis that is supplied via the bus, by the synchronization ratio, and the superimposition command, and generates a motion command for a workpiece axis (30).

摘要翻译： 齿轮加工机的控制装置（1）具有通过工具轴控制器（22）和工件轴控制器（12）之间的直接连接进行连通的总线（51），在该控制装置中， 通过工具轴位置检测传感器（25）检测到的刀具轴（40）经由总线被供给到工件轴控制器，上控制器（10）将施加扭转操作的预定同步比和叠加命令提供给 工件轴控制器，工件轴控制器通过乘以通过总线提供的刀具轴的位置乘以同步比和叠加命令而生成的值，并且生成用于工件轴的运动命令 （30）。

公开(公告)号：US08334669B2

公开(公告)日：2012-12-18

申请号：US12739525

申请日：2008-10-27

申请人： Yoshifumi Nagato

发明人： Yoshifumi Nagato

IPC分类号： G05B19/29 ,  G05B11/01 ,  H02P7/00

CPC分类号： G05B19/4141 ,  G05B2219/33176 ,  G05B2219/33187

摘要： In the multi-axis driver control method for transmitting a command from an external device to the drive-axis basis controller of the multi-axis driver to set operation and/or parameters of the drive-axis basis controller, the external device is connected to the multi-axis driver on a one-to-one basis, and the external interface is connected to the drive-axis basis controller via a multi-dropped connecting portion. The drive-axis basis controller determines whether the command is self-addressed or not and, if the command is self-addressed, the drive-axis basis controller executes the command and transmits response data corresponding to the command and a transmission permission flag to the multi-dropped connecting portion. The multi-dropped connecting portion opens a transmission port in response to the transmission permission flag and transmits the response data to the external device, and after transmission is finished, the multi-dropped connecting portion closes the transmission port.

摘要翻译： 在用于从外部设备向多轴驱动器的驱动轴基础控制器发送命令以设置驱动轴基础控制器的操作和/或参数的多轴驱动器控制方法中，外部设备连接到 所述多轴驱动器是一对一的，所述外部接口通过多重连接部连接到所述驱动轴基础控制器。 驱动轴基础控制器确定命令是否是自寻址的，并且如果命令是自寻址的，则驱动轴基础控制器执行该命令并将对应于命令的响应数据和发送许可标志发送到 多连接部分。 多连接部分响应于传输许可标志打开传输端口并将响应数据发送到外部设备，并且在传输完成之后，多点连接部分关闭传输端口。

公开(公告)号：US08219253B2

公开(公告)日：2012-07-10

申请号：US12091142

申请日：2007-03-29

申请人： Jurgen Arbter ,  Thomas Kintzel ,  Gerhard Nolle ,  Klaus Rautenbach

发明人： Jurgen Arbter ,  Thomas Kintzel ,  Gerhard Nolle ,  Klaus Rautenbach

IPC分类号： G05D7/00

CPC分类号： G05B19/0421 ,  F15B13/0817 ,  F15B13/086 ,  F15B13/0867 ,  F15B21/08 ,  G05B19/0426 ,  G05B19/4141 ,  G05B19/43 ,  G05B2219/25312 ,  G05B2219/25445 ,  Y10T137/87885

摘要： A regulator module serves for the regulation of an actuator, in particular a pneumatic drive, and has a regulator communication interface for for output of the regulation target value and receiving an input actual value. The regulator module comprises concatenating contacts for in line arrangement on a fluid power and in particular pneumatic valve cluster with several valve modules, arranged in a row direction adjacent to each other for the fluid control of fluid power actuators and that the regulator module has an internal bus interface for connection with an internal communication bus of the valve cluster and that the regulator module is able to be connected by way of the internal communication bus with a valve cluster communication means for external communication of the valve cluster.

摘要翻译： 调节器模块用于调节致动器，特别是气动驱动器，并且具有用于输出调节目标值并接收输入实际值的调节器通信接口。 调节器模块包括用于串联布置的流体动力的触点，特别是具有多个阀模块的气动阀组，其排列成彼此相邻的行方向，用于流体动力致动器的流体控制，并且调节器模块具有内部 总线接口，用于与阀组的内部通信总线连接，并且调节器模块能够通过内部通信总线与阀组通信装置连接，用于阀组的外部通信。

公开(公告)号：US20100259209A1

公开(公告)日：2010-10-14

申请号：US12739525

申请日：2008-10-27

申请人： Yoshifumi Nagato

发明人： Yoshifumi Nagato

IPC分类号： G05B19/414

CPC分类号： G05B19/4141 ,  G05B2219/33176 ,  G05B2219/33187

摘要： Provided is a multi-axis driver control method that enables communications with drive-axis basis controllers of a multi-axis driver with use of a single general-purpose external interface.In the multi-axis driver control method for transmitting a command from an external device to the drive-axis basis controller of the multi-axis driver to set operation and/or parameters of the drive-axis basis controller, the external device is connected to the multi-axis driver on a one-to-one basis, and the external interface is connected to the drive-axis basis controller via a multi-dropped connecting portion. The drive-axis basis controller determines whether the command is self-addressed or not and, if the command is self-addressed, the drive-axis basis controller executes the command and transmits response data corresponding to the command and a transmission permission flag to the multi-dropped connecting portion. The multi-dropped connecting portion opens a transmission port in response to the transmission permission flag and transmits the response data to the external device, and after transmission is finished, the multi-dropped connecting portion closes the transmission port.

摘要翻译： 提供了一种多轴驱动器控制方法，其可以使用单个通用外部接口与多轴驱动器的驱动轴基础控制器进行通信。 在用于从外部设备向多轴驱动器的驱动轴基础控制器发送命令以设置驱动轴基础控制器的操作和/或参数的多轴驱动器控制方法中，外部设备连接到 所述多轴驱动器是一对一的，所述外部接口通过多重连接部连接到所述驱动轴基础控制器。 驱动轴基础控制器确定命令是否是自寻址的，并且如果命令是自寻址的，则驱动轴基础控制器执行该命令并将对应于命令的响应数据和发送许可标志发送到 多连接部分。 多连接部分响应于传输许可标志打开传输端口并将响应数据发送到外部设备，并且在传输完成之后，多点连接部分关闭传输端口。