公开(公告)号：US20170160705A1

公开(公告)日：2017-06-08

申请号：US15367119

申请日：2016-12-01

申请人： FANUC Corporation

发明人： Takehiro YAMAGUCHI

IPC分类号： G05B13/02 ,  G05B19/402

CPC分类号： G05B13/0265 ,  G05B19/402 ,  G05B19/427 ,  G05B2219/36039 ,  G05B2219/42191 ,  G05B2219/43203

摘要： A controller teaches a teaching point of a slave axis corresponding to a master axis so as to perform a synchronous operation. The controller calculates a teaching range based on one moving speed pattern selected from a plurality of moving speed patterns of the master axis which are preliminarily registered, a preliminarily-set allowable speed in an operation of the slave axis, and a calculated teaching range, in which teaching can be performed, of a following teaching point, so as to display the teaching range on a display device.

公开(公告)号：US20060125438A1

公开(公告)日：2006-06-15

申请号：US11297425

申请日：2005-12-09

申请人： Kentaro Fujibayashi ,  Tetsuo Hishikawa ,  Takashi Idei

发明人： Kentaro Fujibayashi ,  Tetsuo Hishikawa ,  Takashi Idei

IPC分类号： G05B19/33

CPC分类号： G05B19/4142 ,  G05B2219/42186 ,  G05B2219/42191

摘要： A synchronous controller capable of gently changing a synchronous multiplying factor and setting the gentleness of changing of the synchronous multiplying factor without shocking a machine. A block for gently changing the synchronous multiplying factor is added between blocks before and after the changing of the synchronous multiplying factor. Synchronous multiplying factors a and b before and after changing of the synchronous multiplying factor designated in the added block, a motion amount p of master axis, a motion amount of a slave axis, and a residual motion amount v of the master axis after the completion of changing the synchronous multiplying factor (or a preliminary motion amount u of the master axis from the start of motion of the block concerned to a position for the start of changing of the synchronous multiplying factor) are read out. A gradient of changing the synchronous multiplying factor and the preliminary motion amount u (or the residual motion amount v) are obtained based on these data. The slave axis is controlled based on the motion amounts u and v and the gradient of changing the synchronous multiplying factor. The synchronous multiplying factor is changed so gently that the machine cannot be shocked. The synchronous multiplying factor gradient can be settled depending on the designated data p, q and v (or u).

摘要翻译： 同步控制器能够轻轻地改变同步倍率，并设定同步倍率的变化的温和度，而不会影响机器。 在改变同步倍率之前和之后，在块之间加上轻轻地改变同步倍率的块。 在添加的块中指定的同步倍增因子改变之前和之后的同步倍增因子a和b，主轴的运动量p，从轴的运动量和完成后的主轴的剩余运动量v 读出将同步倍率（或主轴的初步运动量u从有关块的运动开始的初步运动量u）改变为同步倍率的变化开始的位置。 基于这些数据获得改变同步倍增因子和初步运动量u（或残余运动量v）的梯度。 从轴基于运动量u和v以及改变同步倍率的梯度来控制。 同步倍率因此被轻轻地改变，机器不能被震动。 可以根据指定的数据p，q和v（或u）来确定同步倍增因子梯度。

公开(公告)号：US20170364041A9

公开(公告)日：2017-12-21

申请号：US15226293

申请日：2016-08-02

申请人： FANUC CORPORATION

发明人： Noboru Hirose

IPC分类号： G05B13/02 ,  G05B19/402 ,  G05B15/02

CPC分类号： G05B19/416 ,  G05B15/02 ,  G05B2219/42191 ,  G05B2219/43048 ,  G05B2219/50234

摘要： In a synchronization operation instruction of a synchronization control of moving a slave axis at a certain ratio with respect to a master axis movement amount, a master axis movement amount before start of change of a synchronization magnification, used in an operation based on a synchronization magnification changing instruction, is determined by referring to a parameter of the synchronization operation instruction so that the operation based on the synchronization magnification changing instruction ends at a set synchronization start master axis position. With such a configuration, the synchronization control is started based on the synchronization operation instruction from the synchronization start master axis position set in the synchronization operation instruction.

公开(公告)号：US20170038746A1

公开(公告)日：2017-02-09

申请号：US15226293

申请日：2016-08-02

申请人： FANUC CORPORATION

发明人： Noboru Hirose

IPC分类号： G05B13/02 ,  G05B19/402

CPC分类号： G05B19/416 ,  G05B15/02 ,  G05B2219/42191 ,  G05B2219/43048 ,  G05B2219/50234

摘要： In a synchronization operation instruction of a synchronization control of moving a slave axis at a certain ratio with respect to a master axis movement amount, a master axis movement amount before start of change of a synchronization magnification, used in an operation based on a synchronization magnification changing instruction, is determined by referring to a parameter of the synchronization operation instruction so that the operation based on the synchronization magnification changing instruction ends at a set synchronization start master axis position. With such a configuration, the synchronization control is started based on the synchronization operation instruction from the synchronization start master axis position set in the synchronization operation instruction.

摘要翻译： 在相对于主轴移动量以一定比率移动从动轴的同步控制的同步动作指令中，在基于同步倍率的动作中使用的同步倍率变更开始前的主轴移动量 通过参照同步操作指令的参数确定改变指令，使得基于同步倍率变化指令的操作在设定的同步起始主轴位置结束。 通过这样的结构，根据在同步动作指令中设定的同步起动主轴位置的同步动作指令，开始同步控制。

公开(公告)号：US07859214B2

公开(公告)日：2010-12-28

申请号：US11297425

申请日：2005-12-09

申请人： Kentaro Fujibayashi ,  Tetsuo Hishikawa ,  Takashi Idei

发明人： Kentaro Fujibayashi ,  Tetsuo Hishikawa ,  Takashi Idei

IPC分类号： G05B19/18

CPC分类号： G05B19/4142 ,  G05B2219/42186 ,  G05B2219/42191

摘要： A synchronous controller capable of gently changing a synchronous multiplying factor and setting the gentleness of changing of the synchronous multiplying factor without shocking a machine. A block for gently changing the synchronous multiplying factor is added between blocks before and after the changing of the synchronous multiplying factor. Synchronous multiplying factors a and b before and after changing of the synchronous multiplying factor designated in the added block, a motion amount p of master axis, a motion amount of a slave axis, and a residual motion amount v of the master axis after the completion of changing the synchronous multiplying factor (or a preliminary motion amount u of the master axis from the start of motion of the block concerned to a position for the start of changing of the synchronous multiplying factor) are read out. A gradient of changing the synchronous multiplying factor and the preliminary motion amount u (or the residual motion amount v) are obtained based on these data. The slave axis is controlled based on the motion amounts u and v and the gradient of changing the synchronous multiplying factor. The synchronous multiplying factor is changed so gently that the machine cannot be shocked. The synchronous multiplying factor gradient can be settled depending on the designated data p, q and v (or u).

摘要翻译： 同步控制器能够轻轻地改变同步倍率，并设定同步倍率的变化的温和度，而不会影响机器。 在改变同步倍率之前和之后，在块之间加上轻轻地改变同步倍率的块。 在添加的块中指定的同步倍增因子改变之前和之后的同步倍增因子a和b，主轴的运动量p，从轴的运动量和完成后的主轴的剩余运动量v 读出将同步倍率（或主轴的初步运动量u从有关块的运动开始的初步运动量u）改变为同步倍率的变化开始的位置。 基于这些数据获得改变同步倍增因子和初步运动量u（或残余运动量v）的梯度。 从轴基于运动量u和v以及改变同步倍率的梯度来控制。 同步倍率因此被轻轻地改变，机器不能被震动。 可以根据指定的数据p，q和v（或u）来确定同步倍增因子梯度。