公开(公告)号：US20040036691A1

公开(公告)日：2004-02-26

申请号：US10334929

申请日：2002-12-31

发明人： Jung-Hong Joo

IPC分类号： G06F015/167

CPC分类号： G05B19/414 ,  G05B2219/33099 ,  G05B2219/34076

摘要： A internal data display apparatus for a machine tool is provided, which includes a computerized numerical controller (CNC ) being provided with an internal common memory in which internal data is stored; a shared-memory routine module configured to share said internal common memory of said CNC and to receive data from said internal common memory; a hot-link routine module configured to receive data from said shared-memory routine module and to process said received data; a data-view routine module configured to receive data from said hot-link routine module and to display said processed data; a shared-memory data-view file including information on a common memory from which the internal data will be read; and a display data-view file including information on which data of data stored in said shared memory is displayed.

摘要翻译： 提供了一种用于机床的内部数据显示装置，其包括具有内部公共存储器的计算机化数字控制器（CNC），其中存储有内部数据; 共享存储器程序模块，被配置为共享所述CNC的所述内部公共存储器并从所述内部公共存储器接收数据; 配置为从所述共享存储器例程模块接收数据并处理所述接收的数据的热链接例程模块; 数据视图例程模块，被配置为从所述热链接例程模块接收数据并显示所述处理的数据; 共享存储器数据视图文件，其包括关于将从其读取内部数据的公共存储器的信息; 以及包括显示存储在所述共享存储器中的数据的信息的显示数据视图文件。

公开(公告)号：US4953074A

公开(公告)日：1990-08-28

申请号：US215805

申请日：1988-07-06

申请人： Masatsugu Kametani ,  Kengo Sugiyama ,  Takashi Kogawa

发明人： Masatsugu Kametani ,  Kengo Sugiyama ,  Takashi Kogawa

IPC分类号： G05B15/02 ,  B25J9/18 ,  G05B19/414

CPC分类号： G05B19/4141 ,  G05B2219/33104 ,  G05B2219/33129 ,  G05B2219/33156 ,  G05B2219/33168 ,  G05B2219/34013 ,  G05B2219/34076

摘要： A function-distributed control apparatus comprises a first bus, a second bus, and at least one base processor element which includes a first main processing unit connected to at least the first bus, a second main processing unit connected to at least the second bus, and a dual-port memory with a mutual interrupt circuit connected to both these main processing units for communications between them. The first bus and the first main processing unit are chiefly for intelligent processing required for controlling a machine, while the second bus and the second main processing unit are chiefly for motion control of the machine. Those buses are also connected to various intelligent subsystems each including a processing unit and a dual-port memory with a mutual interrupt circuit for communications with the base processor element.

摘要翻译： 功能分布控制装置包括第一总线，第二总线和至少一个基本处理器元件，其包括连接到至少第一总线的第一主处理单元，连接到至少第二总线的第二主处理单元， 以及具有相互中断电路的双端口存储器，连接到这两个主处理单元以用于它们之间的通信。 第一总线和第一主处理单元主要用于控制机器所需的智能处理，而第二总线和第二主处理单元主要用于机器的运动控制。 这些总线也连接到各种智能子系统，每个智能子系统包括处理单元和具有用于与基本处理器元件进行通信的相互中断电路的双端口存储器。

公开(公告)号：US4873476A

公开(公告)日：1989-10-10

申请号：US110727

申请日：1987-09-23

申请人： Mitsuo Kurakake ,  Keiji Sakamoto ,  Takashi Iwamoto

发明人： Mitsuo Kurakake ,  Keiji Sakamoto ,  Takashi Iwamoto

IPC分类号： B25J9/10 ,  G05B19/18 ,  G05B19/23 ,  G05B19/414 ,  G05D3/12

CPC分类号： G05B19/4141 ,  G05B19/237 ,  G05B2219/33337 ,  G05B2219/34076 ,  G05B2219/39178 ,  G05B2219/41426

摘要： A robot control apparatus has servo CPUs (c.sub.1, c.sub.2) provided in control loops of respective servomotors (e.sub.1, e.sub.2) for driving and controlling loads about plural drive axes (.theta..sub.1, .theta..sub.2) of a robot arm. Since these servo CPUs execute drive torque calculations necessary for servomotor control, the cost of the control apparatus can be reduced. Also provided is a shared RAM (b) capable of being accessed commonly by the servo CPUs. Information about other axes stored in the RAM is read out and, when current loop processing is not being carried out, non-linear torque calculations necessary for servo-control are performed. As a result, current loop processing is not impeded and servomotor control can be carried out in a highly precise manner.

公开(公告)号：US20050071802A1

公开(公告)日：2005-03-31

申请号：US10952598

申请日：2004-09-29

申请人： Michael Brakelmann ,  Mathias Eugster

发明人： Michael Brakelmann ,  Mathias Eugster

IPC分类号： G05B19/18 ,  G05B17/02 ,  G05B19/05 ,  G05B19/4069 ,  G05B19/414 ,  G05B19/42 ,  G06F9/44 ,  G06G7/48

CPC分类号： G05B19/4069 ,  G05B2219/34076 ,  G05B2219/36388 ,  G05B2219/36394

摘要： In a numerical control with a machine-tool simulator, a special device is provided for the exchange of information between the numerical control or an allocated PLC and the machine-tool simulator. This device includes a jointly utilized memory, via which information is able to be exchanged between the numerical control and the machine-tool simulator, the jointly utilized memory being writeable and readable both by the numerical control and by the machine-tool simulator.

摘要翻译： 在具有机床模拟器的数控中，提供了一种专用装置，用于在数控或分配的PLC与机床模拟器之间交换信息。 该装置包括共同利用的存储器，通过该存储器可以在数值控制和机床模拟器之间交换信息，共同使用的存储器可通过数字控制和机床模拟器来写入和读取。

公开(公告)号：US4962338A

公开(公告)日：1990-10-09

申请号：US371668

申请日：1988-06-21

申请人： Kenneth E. Daggett ,  Eimei M. Onaga ,  Richard J. Casler, Jr. ,  Booth Barrett L. ,  Vincent P. Jalbert

发明人： Kenneth E. Daggett ,  Eimei M. Onaga ,  Richard J. Casler, Jr. ,  Booth Barrett L. ,  Vincent P. Jalbert

IPC分类号： G05B19/414

CPC分类号： G05B19/4141 ,  G05B2219/31094 ,  G05B2219/33053 ,  G05B2219/33167 ,  G05B2219/33169 ,  G05B2219/33209 ,  G05B2219/33337 ,  G05B2219/34044 ,  G05B2219/34076 ,  G05B2219/34194 ,  G05B2219/34196 ,  G05B2219/34225 ,  G05B2219/34428 ,  G05B2219/35585 ,  G05B2219/40523 ,  G05B2219/42062 ,  G05B2219/45083 ,  Y02P90/18

摘要： The partitioning of circuitry and software on electronic boards in a robot control is arranged to enable respective controls for varied types of robots to be readily assembled and packaged with use of a few standard boards.The basic control system is formed from an arm interface (AIF) board and a torque processor (TP) board and a servo control (SCM) board. The AIF board has a VME bus terminated in multiple pin connectors for interconnection with the TP and SCM boards and any other boards or additional units to be included in a particular robot control. An AIF connector is also provided for TP board connection on a VMX bus.Robot controls with extended control performance are packaged by including additional boards. For example, the system control board includes a VME bus connector for connection to the AIF board to provide a robot control with higher control capacity.Input/output devices such as programmable controllers, peripherals such as CRTs, and supervisory computers can also be coupled to the control through AIF interconnectors.The AIF board contains robot dependent circuitry so that different AIF boards can be used to assemble different controls for different robots. For example, different board circuitry is used for absolute position feedback as opposed to incremental position feedback or for brush type DC motors are opposed to brushless DC motors.

摘要翻译： 机器人控制器中的电子板上的电路和软件的分割被布置成使得能够使用几个标准板容易地组装和封装各种类型的机器人的相应控制。 基本控制系统由臂接口（AIF）板和扭矩处理器（TP）板和伺服控制（SCM）板组成。 AIF板有一个VME总线端接在多个引脚连接器中，用于与TP和SCM板以及要包含在特定机器人控制中的任何其他板或附加单元互连。 还提供了用于VMX总线上TP板连接的AIF连接器。 具有扩展控制性能的机器人控制包括附加电路板。 例如，系统控制板包括用于连接到AIF板的VME总线连接器，以提供具有更高控制能力的机器人控制。 诸如可编程控制器，诸如CRT的外围设备和监控计算机之类的输入/输出设备也可以通过AIF互连器耦合到控制器。 AIF板包含机器人相关电路，以便不同的AIF板可用于组装不同机器人的不同控制。 例如，与增量位置反馈相比，不同的电路板电路用于绝对位置反馈，或者刷式直流电动机与无刷直流电动机相对。

公开(公告)号：US4878002A

公开(公告)日：1989-10-31

申请号：US263503

申请日：1988-10-27

申请人： Eric Heatzig ,  Alexander Slocum ,  Debra Thurston-Slocum

发明人： Eric Heatzig ,  Alexander Slocum ,  Debra Thurston-Slocum

IPC分类号： G05B19/414

CPC分类号： G05B19/4141 ,  G05B2219/33156 ,  G05B2219/33337 ,  G05B2219/34047 ,  G05B2219/34076 ,  G05B2219/34157 ,  G05B2219/34225 ,  G05B2219/41195 ,  G05B2219/41248 ,  G05B2219/42152

摘要： A multi-axis Digital Signal Processor based servo controller system in which all servo and sensor interface boards are connected to a common backplane bus system enabling inter-board communication, with parallel processing using dual port memory and multiple DSP chips, and with each servo board having access to position data from other axis feedback sensors as well as their own, and a self-tuning control software architecture that uses the hardware architecture high speed to allow it to self-tune control constants to optimize performance.

摘要翻译： 一种基于多轴数字信号处理器的伺服控制器系统，其中所有伺服和传感器接口板连接到公共背板总线系统，实现板间通信，并行处理使用双端口存储器和多个DSP芯片，以及每个伺服板 可以访问其他轴反馈传感器及其自身的位置数据，以及使用硬件架构高速度自我调节控制常数以优化性能的自整定控制软件体系结构。

公开(公告)号：US4868472A

公开(公告)日：1989-09-19

申请号：US180703

申请日：1988-04-05

申请人： Kenneth E. Daggett

发明人： Kenneth E. Daggett

IPC分类号： G05B19/414

CPC分类号： G05B19/4141 ,  G05B2219/31094 ,  G05B2219/33053 ,  G05B2219/33167 ,  G05B2219/33169 ,  G05B2219/33209 ,  G05B2219/33337 ,  G05B2219/34044 ,  G05B2219/34076 ,  G05B2219/34194 ,  G05B2219/34196 ,  G05B2219/34225 ,  G05B2219/34428 ,  G05B2219/35585 ,  G05B2219/40523 ,  G05B2219/42062 ,  G05B2219/45083 ,  Y02P90/18

摘要： A servo control operates in a control loop for a robot control system and performs control support tasks and calculation tasks for the control loop for all of the robot joint motors. The servo includes first and second microprocessors. The first microprocessor performs calculation tasks including the computation of output control commands from stored algorithms for the one control loop for each joint motor. The second microprocessor supervises the operation of the servo control and performs servo control support tasks in the one control loop for each joint motor including the routing of control command, status and feedback data to and from the first microprocessor.A communication interface couples the first and second microprocessors so as to enable the servo control to operate the one control loop for each joint motor and control the controlled variable for the one control loop.The communication interface includes a first memory bank and a second memory bank. The first microprocessor is coupled to one of the banks to write command and feedback data thereto and to read calculated control data therefrom. The second microprocessor is coupled to the other of the banks to read command and feedback data therefrom and to write calculated control data thereto.The microprocessors and the memory banks are cross-switched at the control sampling rate so that the first microprocessor can supply new control calculations for control loop operation based on new control commands and feedback data in each control cycle.

摘要翻译： 伺服控制在机器人控制系统的控制回路中运行，并执行所有机器人关节电机的控制回路的控制支持任务和计算任务。 伺服包括第一和第二微处理器。 第一个微处理器执行计算任务，包括对于每个关节电机的一个控制回路的存储算法计算输出控制命令。 第二个微处理器监控伺服控制的操作，并在每个关节电机的一个控制回路中执行伺服控制支持任务，包括控制命令，状态和反馈数据到第一个微处理器的路由。 通信接口耦合第一和第二微处理器，以使得伺服控制能够为每个接头电动机操作一个控制回路，并控制一个控制回路的受控变量。 通信接口包括第一存储体和第二存储体。 第一微处理器耦合到其中一个存储体以向其写入命令和反馈数据并从其读取计算的控制数据。 第二微处理器耦合到另一个存储体以从其读取命令和反馈数据，并向其写入计算的控制数据。 微处理器和存储体以控制采样率进行交叉切换，使得第一微处理器可以在每个控制周期中基于新的控制命令和反馈数据提供用于控制回路操作的新的控制计算。

公开(公告)号：US07873484B2

公开(公告)日：2011-01-18

申请号：US11658241

申请日：2005-06-17

申请人： Andreas Balleisen

发明人： Andreas Balleisen

IPC分类号： G06F11/30

CPC分类号： G05B9/03 ,  G05B19/4063 ,  G05B2219/34076 ,  G05B2219/34482

摘要： A method for reliable position monitoring includes: (a) transmitting two measured position values from a position measuring device to a first processing unit; (b) transmitting a setpoint value from a setpoint value generator to a second processing unit; (c) transmitting one of the two measured position values to the second processing unit; (d) transmitting the setpoint value to the first processing unit; (e) performing mutually independent comparisons between the setpoint value and the measured position values by the first processing unit and the second processing unit; and (f) monitoring the measured position values for an electronic shaft break between the position measuring device and the first processing unit. The position values are different and have a defined relationship with respect to each other, and the transmitting (a) includes alternately transmitting the two measured position values to the first processing unit.

摘要翻译： 一种用于可靠位置监测的方法包括：（a）将两个测量位置值从位置测量装置传送到第一处理单元; （b）将设定点值从设定值发生器传送到第二处理单元; （c）将所述两个测量位置值中的一个发送到所述第二处理单元; （d）将设定值发送到第一处理单元; （e）由所述第一处理单元和所述第二处理单元执行所述设定点值和所测量的位置值之间的相互独立的比较; 以及（f）监测位置测量装置和第一处理单元之间的电子轴断裂的测量位置值。 位置值是不同的并且彼此具有确定的关系，并且发送（a）包括将两个测量位置值交替地发送到第一处理单元。

公开(公告)号：US5027045A

公开(公告)日：1991-06-25

申请号：US415349

申请日：1989-09-07

申请人： Takashi Iwagaya

发明人： Takashi Iwagaya

IPC分类号： G05B19/18 ,  G05B19/4103

CPC分类号： G05B19/184 ,  G05B19/4103 ,  G05B2219/34076 ,  G05B2219/34167 ,  G05B2219/41326

摘要： A high-precision pulse interpolation method for interpolating the amount of movement of individual axes of a numerical control apparatus (1) with high precision. An interpolation pulse is output twice or more in one task and is written into a shared RAM (2). A servo control circuit (3) outputs the interpolation pulses in the shared RAM at regular intervals, to control a servometer (5) with a high-precision pulse interpolation.

公开(公告)号：US4908556A

公开(公告)日：1990-03-13

申请号：US932983

申请日：1986-11-20

申请人： Kenneth E. Daggett ,  Eimei M. Onaga ,  Richard J. Casler, Jr. ,  Barrett L. Booth

发明人： Kenneth E. Daggett ,  Eimei M. Onaga ,  Richard J. Casler, Jr. ,  Barrett L. Booth

IPC分类号： G05B19/414

CPC分类号： G05B19/4141 ,  G05B2219/31094 ,  G05B2219/33053 ,  G05B2219/33167 ,  G05B2219/33169 ,  G05B2219/33209 ,  G05B2219/33337 ,  G05B2219/34044 ,  G05B2219/34076 ,  G05B2219/34194 ,  G05B2219/34196 ,  G05B2219/34225 ,  G05B2219/34428 ,  G05B2219/35585 ,  G05B2219/40523 ,  G05B2219/42062 ,  G05B2219/45083 ,  Y02P90/18

摘要： A modular digital robot control includes an electronic arm interface board provided with circuitry for performing robot arm dependent functions. Included are circuitry for generating power amplifier control signals in response to input voltage command signals and circuitry for processing and manipulating position, velocity and motor current feedback signals.An electronic torque processor board is provided with paired torque microprocessors for operating each of respective torque control loops for respective robot joint motors. The torque microprocessors generate the voltage commands in response to input torque commands and feedback motor current signals.An electronic servo control board is provided with paired position/velocity microprocessors for operating position and velocity control loops for the respective joint motors. The position/velocity microprocessors generate the torque commands in response to input position commands and feedback position and velocity signals. The servo control board further includes system resource facilities providing general support for the operation of the microprocessors and includes a DMC controller and two asynchronous controllers for communications interfacing with local input/output devices and other systems and devices.When executed in one of the position/velocity microprocessors, a stored motion program uses trajectory planning and interpolation to generate position commands in accordance with predefined moves set forth in a robot program. The servo control, torque processor and arm interface boards are interconnected to provide a complete basic control for the robot joint motors. An optional fourth electronic board can be connected to the basic control. It is called a system board and it includes paired system microprocessors that execute the motion program enabling the expanded control to provide extended robot control performance.

摘要翻译： 模块化数字机器人控制器包括电子臂接口板，其具有用于执行机器人手臂相关功能的电路。 包括用于响应于输入电压命令信号产生功率放大器控制信号的电路和用于处理和操纵位置，速度和电动机电流反馈信号的电路。 电子扭矩处理器板设置有用于操作各个机器人接头电动机的每个扭矩控制回路的成对的扭矩微处理器。 扭矩微处理器根据输入转矩指令和反馈电机电流信号产生电压指令。 电子伺服控制板上设有配置的位置/速度微处理器，用于操作各个接头电机的位置和速度控制回路。 位置/速度微处理器根据输入位置指令和反馈位置和速度信号产生扭矩指令。 伺服控制板还包括提供对微处理器的操作的一般支持的系统资源设施，并且包括DMC控制器和用于与本地输入/输出设备和其他系统和设备进行通信的通信的两个异步控制器。 当在一个位置/速度微处理器中执行时，存储的运动程序使用轨迹规划和插值来根据机器人程序中提出的预定义的动作来生成位置命令。 伺服控制，扭矩处理器和臂接口板互连，为机器人关节电机提供完整的基本控制。 可选的第四个电子板可以连接到基本控制。 它被称为系统板，它包括配对的系统微处理器，执行运动程序，使扩展控制能够提供扩展的机器人控制性能。