公开(公告)号：US09592605B2

公开(公告)日：2017-03-14

申请号：US14550632

申请日：2014-11-21

申请人： CANON KABUSHIKI KAISHA

发明人： Mahito Negishi

IPC分类号： B25J9/16

CPC分类号： B25J9/163 ,  G05B2219/41177 ,  G05B2219/42124 ,  Y10S901/02 ,  Y10S901/28

摘要： An evaluation value Ek on a trajectory error ek between an actual trajectory yk and a target trajectory x is calculated. In a case where the calculated evaluation value Ek is better than a best evaluation value Ebest, the best evaluation value Ebest is updated by the evaluation value Ek and is stored. A commanded trajectory uk in this situation is employed as a best commanded trajectory ubest and stored. In a case where the calculated evaluation value Ek is worse than the best evaluation value Ebest, a compensator that calculates a correction of the trajectory Δuk+1 is changed to another compensator and the correction of the trajectory Δuk+1 is calculated. A commanded trajectory in the next-time operation uk+1 is calculated from the correction of the trajectory Δuk+1 and the best commanded trajectory ubest.

摘要翻译： 计算实际轨迹yk与目标轨迹x之间的轨迹误差ek上的评价值Ek。 在计算出的评价值Ek优于最佳评价值Ebest的情况下，通过评价值Ek更新最佳评价值Ebest，并存储。 在这种情况下，一个命令轨迹uk被用作一个最好的命令轨迹ubest和存储。 在计算出的评价值Ek比最佳评价值Ebest差的情况下，将计算出轨迹Δuk+ 1的校正的补偿器变更为另一个补偿器，并计算轨迹Δuk+ 1的校正。 下一次操作中的命令轨迹uk + 1是从轨迹Δuk+ 1的校正和最佳命令轨迹ubest计算的。

公开(公告)号：US20070100493A1

公开(公告)日：2007-05-03

申请号：US11585282

申请日：2006-10-24

申请人： Kentaro Fujibayashi ,  Masahiko Hosokawa ,  Shuji Ogawa ,  Masahiko Miyake

发明人： Kentaro Fujibayashi ,  Masahiko Hosokawa ,  Shuji Ogawa ,  Masahiko Miyake

IPC分类号： G06F19/00

CPC分类号： G05B19/4148 ,  G05B2219/42124 ,  G05B2219/42126

摘要： A numerical controller capable of shortening time required for transferring control of a spindle between different control systems. It is determined whether or not a spindle control command is included in a machining program for one control system. If the spindle control command is included, the command is carried out and information on designation of the spindle and commanded rotational velocity and direction is stored in a case of a velocity control mode, and information on designation of the spindle and commanded rotational position and velocity is stored in a case of a position control mode. When a command to cancel the control of spindle is read, the control of the designated spindle and also the stored information on the control status of the spindle are transferred to the other control system. A command to acquire the control of the spindle is read in a machining program for the other control system is read, the control of the designated spindle is started by the other control system according to the transferred control status of the spindle. The processing is performed for the programs for all the control systems.

摘要翻译： 一种数字控制器，能够缩短在不同控制系统之间转移主轴控制所需的时间。 确定在一个控制系统的加工程序中是否包括主轴控制指令。 如果包括主轴控制命令，则执行命令，并且在速度控制模式的情况下存储关于主轴的指定和指令的旋转速度和方向的信息，以及关于主轴的指定和指令的旋转位置和速度的信息 存储在位置控制模式的情况下。 读取取消主轴控制的命令时，指定主轴的控制以及主轴控制状态的存储信息被传送到其他控制系统。 在另一个控制系统读取的加工程序中读取获取主轴控制的命令，根据主轴的传送控制状态，由另一个控制系统启动指定主轴的控制。 对所有控制系统的程序执行处理。

公开(公告)号：US3818301A

公开(公告)日：1974-06-18

申请号：US35702773

申请日：1973-05-03

申请人： WARNER SWASEY CO

发明人： SINDELAR E

IPC分类号： G05B19/25 ,  G05B19/414 ,  G05B19/22

CPC分类号： G05B19/4144 ,  G05B19/251 ,  G05B2219/33128 ,  G05B2219/42124 ,  G05B2219/42231 ,  G05B2219/45125

摘要： A machine control apparatus has several machine members whose positions are to be controlled and has several servomechanism loops for controlling the members. Each servomechanism loop includes a controller, and switching is provided by which the inputs and outputs of the various controllers can be switched to control different ones of the movable machine members. Each controller has a data storage register for storing the instantaneous value of error signal of its servomechanism loop. Upon changeover of a particular member from one controller to another, the error signal data in the storage register of the outgoing controller is transferred to the error storage register of the incoming controller, so that the error signal data remains associated with the member being controlled, and no inaccuracies are introduced into the position of the controlled member.

摘要翻译： 机器控制装置具有几个机构构件，其位置将被控制并且具有用于控制构件的若干伺服机构回路。 每个伺服机构回路包括控制器，并提供切换，通过该切换可以切换各种控制器的输入和输出以控制可移动机器构件中的不同的。 每个控制器具有用于存储其伺服机构回路的误差信号的瞬时值的数据存储寄存器。 在将特定成员从一个控制器切换到另一个控制器时，输出控制器的存储寄存器中的错误信号数据被传送到输入控制器的错误存储寄存器，使得错误信号数据保持与被控制的成员关联， 并且在受控构件的位置上不引入不准确的内容。

公开(公告)号：US20170136623A1

公开(公告)日：2017-05-18

申请号：US15418194

申请日：2017-01-27

申请人： CANON KABUSHIKI KAISHA

发明人： Mahito Negishi

IPC分类号： B25J9/16

CPC分类号： B25J9/163 ,  G05B2219/41177 ,  G05B2219/42124 ,  Y10S901/02 ,  Y10S901/28

摘要： An evaluation value Ek on a trajectory error ek between an actual trajectory yk and a target trajectory x is calculated. In a case where the calculated evaluation value Ek is better than a best evaluation value Ebest, the best evaluation value Ebest is updated by the evaluation value Ek and is stored. A commanded trajectory uk in this situation is employed as a best commanded trajectory ubest and stored. In a case where the calculated evaluation value Ek is worse than the best evaluation value Ebest, a compensator that calculates a correction of the trajectory Δuk+1 is changed to another compensator and the correction of the trajectory Δuk+1 is calculated. A commanded trajectory in the next-time operation uk+1 is calculated from the correction of the trajectory Δuk+1 and the best commanded trajectory ubest.

公开(公告)号：US20150148956A1

公开(公告)日：2015-05-28

申请号：US14550632

申请日：2014-11-21

申请人： CANON KABUSHIKI KAISHA

发明人： Mahito Negishi

IPC分类号： B25J9/16

CPC分类号： B25J9/163 ,  G05B2219/41177 ,  G05B2219/42124 ,  Y10S901/02 ,  Y10S901/28

摘要： An evaluation value Ek on a trajectory error ek between an actual trajectory yk and a target trajectory x is calculated. In a case where the calculated evaluation value Ek is better than a best evaluation value Ebest, the best evaluation value Ebest is updated by the evaluation value Ek and is stored. A commanded trajectory uk in this situation is employed as a best commanded trajectory ubest and stored. In a case where the calculated evaluation value Ek is worse than the best evaluation value Ebest, a compensator that calculates a correction of the trajectory Δuk+1 is changed to another compensator and the correction of the trajectory Δuk+1 is calculated. A commanded trajectory in the next-time operation uk+1 is calculated from the correction of the trajectory Δuk+1 and the best commanded trajectory ubest.

摘要翻译： 计算实际轨迹yk与目标轨迹x之间的轨迹误差ek上的评价值Ek。 在计算出的评价值Ek优于最佳评价值Ebest的情况下，通过评价值Ek更新最佳评价值Ebest，并存储。 在这种情况下，一个命令轨迹uk被用作一个最好的命令轨迹ubest和存储。 在计算出的评价值Ek比最佳评价值Ebest差的情况下，将运算轨迹＆amp; uk + 1的校正的补偿器变更为另一个补偿器，计算轨迹＆Dgr uk + 1的校正 。 下一次操作中的命令轨迹uk + 1是从轨迹＆Dgr uk + 1和最佳指令轨迹ubest的校正计算的。

公开(公告)号：US08224478B2

公开(公告)日：2012-07-17

申请号：US11585282

申请日：2006-10-24

申请人： Kentaro Fujibayashi ,  Masahiko Hosokawa ,  Shuji Ogawa ,  Masahiko Miyake

发明人： Kentaro Fujibayashi ,  Masahiko Hosokawa ,  Shuji Ogawa ,  Masahiko Miyake

IPC分类号： G06F19/00

CPC分类号： G05B19/4148 ,  G05B2219/42124 ,  G05B2219/42126

摘要： A numerical controller that shortens time required for transferring control of a spindle between control systems. When the spindle control command is included, the command is carried out and information on designation of the spindle, commanded rotational velocity and direction is stored in a case of a velocity control mode, and information on designation of the spindle, commanded rotational position and velocity is stored in a case of a position control mode. When a command to cancel the control of spindle is read, the control of the designated spindle and also the stored information on the control status of the spindle are transferred to the other control system. A command to acquire the control of the spindle is read in a machining program for the other control system, the control of the designated spindle is started by the other control system according to the transferred control status of the spindle.

摘要翻译： 一种数字控制器，缩短了在控制系统之间转移主轴控制所需的时间。 当包括主轴控制命令时，执行命令，并且在速度控制模式的情况下存储关于主轴指定旋转速度和方向的信息，以及关于主轴指定的旋转位置和速度的信息 存储在位置控制模式的情况下。 读取取消主轴控制的命令时，指定主轴的控制以及主轴控制状态的存储信息被传送到其他控制系统。 在另一个控制系统的加工程序中读取获取主轴控制的命令，根据主轴的传送控制状态，由另一个控制系统启动指定主轴的控制。

公开(公告)号：US4223257A

公开(公告)日：1980-09-16

申请号：US960943

申请日：1978-11-15

申请人： Donald K. Miller

发明人： Donald K. Miller

IPC分类号： G05B19/39 ,  G05B11/18

CPC分类号： G05B19/39 ,  G05B2219/35438 ,  G05B2219/35439 ,  G05B2219/41089 ,  G05B2219/41091 ,  G05B2219/42104 ,  G05B2219/42124

摘要： An adaptive position control system including X, Y and .theta. stages and their associated positioning and motion detection apparatus, position detection apparatus for detecting the position of the stages relative to a fixed reference, X and Y position control subsystems responsive to signals developed by the motion and position detection apparatus and operative to generate coarse mode and precision mode drive signals for application to the X and Y stage positioning apparatus, X and Y adjust subsystems for enabling adjustment of the position detection apparatus, and a .theta. adjust subsystem operative in a coarse mode and precision mode for adjusting of the angular orientation of the .theta. stage. Operator control input to the various subsystems is accomplished by means of a joystick control mechanism and central processing unit.

摘要翻译： 包括X，Y和θ级的自适应位置控制系统及其相关的定位和运动检测装置，用于检测级相对于固定基准的位置的位置检测装置，响应于由运动产生的信号的X和Y位置控制子系统 和位置检测装置，并且可操作地产生用于应用于X和Y级定位装置的粗模式和精密模式驱动信号，X和Y调整子系统用于使位置检测装置能够调整;以及θ调整子系统，其以粗略模式 以及用于调整θ级的角取向的精确模式。 通过操纵杆控制机构和中央处理单元来实现对各种子系统的操作员控制输入。