公开(公告)号：US07480541B2

公开(公告)日：2009-01-20

申请号：US11407068

申请日：2006-04-20

申请人： Takahiko Endo ,  Yasushi Takeuchi

发明人： Takahiko Endo ,  Yasushi Takeuchi

IPC分类号： G06F19/00

CPC分类号： G05B19/414 ,  G05B2219/41206 ,  G05B2219/43093 ,  G05B2219/50218 ,  G05B2219/50233

摘要： A numerical controller capable of operating an auxiliary function at a target time or spindle position in performing operation based on table format data. An auxiliary function table is stored with auxiliary function commands M to be outputted corresponding to commanded reference times Lc and their corresponding operation delay times D. A reference time L is updated based in accordance with an override value. An auxiliary function command M and its corresponding operation delay time D are read from the auxiliary function table. The delay time D is corrected with the override value, and a reference time prior to a commanded reference time Lc by a margin equivalent to the corrected delay time is set as a command time Lr. If an override is entered, the delay time is corrected for the override amount and modified into an overridden reference time unit, and a command time for an auxiliary function is obtained and outputted based on the reference time unit. Thus, the auxiliary function is performed appropriately at a commanded value Lc of the reference time.

摘要翻译： 一种数字控制器，其能够在基于表格格式数据的执行操作中在目标时间或主轴位置操作辅助功能。 存储辅助功能表，其中辅助功能指令M将根据指令的参考时间Lc及其对应的操作延迟时间D被输出。参考时间L根据超控值被更新。 从辅助功能表读取辅助功能指令M及其对应的运行延迟时间D. 延迟时间D用覆盖值进行校正，将指定的基准时间Lc之前的等于修正后的延迟时间的余量的基准时间设定为指令时间Lr。 如果输入超驰，则针对超驰量修正延迟时间并将其修改为重写参考时间单位，并且基于参考时间单位获得辅助功能的命令时间并输出。 因此，以参考时间的指令值Lc适当地执行辅助功能。

公开(公告)号：US06765360B1

公开(公告)日：2004-07-20

申请号：US10088094

申请日：2002-06-13

申请人： Youichi Hashimoto

发明人： Youichi Hashimoto

IPC分类号： G05B1300

CPC分类号： G05B19/416 ,  G05B2219/34182 ,  G05B2219/43001 ,  G05B2219/43012 ,  G05B2219/43093

摘要： A dynamic optimization method for speed data, for compensating for a speed data maximum value and a minimum resolution that can be specified by users without depending on a speed pattern preparation cycle. A dynamic optimizing method for speed data used for preparing a speed instruction pattern fed to a motor in a positioning device, wherein a speed pattern generator (1) that calculates a desired speed pattern when a moving instruction (2) such as a moving distance, speed, acceleration time and deceleration time is input is provided, and a speed pattern preparation cycle (3) can be specified by users without the possibility that speed data maximum value and a minimum resolution of speed data are modified.

摘要翻译： 用于速度数据的动态优化方法，用于补偿用户可以指定的速度数据最大值和最小分辨率，而不依赖于速度模式准备周期。 一种速度数据的动态优化方法，其用于准备馈送到定位装置中的电动机的速度指令图案，其中，当移动指示（2）如移动距离时计算期望速度模式的速度模式发生器（1） 提供速度，加速时间和减速时间，并且用户可以指定速度模式准备周期（3），而不会改变速度数据最大值和速度数据的最小分辨率。

公开(公告)号：US06859752B2

公开(公告)日：2005-02-22

申请号：US10469010

申请日：2002-02-06

申请人： Yasuhiro Nakashima

发明人： Yasuhiro Nakashima

IPC分类号： G05B19/416 ,  G05B19/40 ,  H02P8/14 ,  H02P23/00 ,  G01P7/00

CPC分类号： G05B19/40 ,  G05B2219/43093 ,  G05B2219/43183 ,  H02P23/20

摘要： In a speed adjustment control method, amount of variation in speed ΔV(a/d) is given precedence, number of divisions of speed during speed adjustment and number of divisions of speed adjustment time are kept variable, number of divisions is made to be maximum at all time.

摘要翻译： 在速度调节控制方法中，速度DeltaV（a / d）的变化量优先，速度调整时的速度分割数和速度调整时间的分割数保持变化，分割数为最大 在任何时候。

公开(公告)号：US06597966B2

公开(公告)日：2003-07-22

申请号：US09776752

申请日：2001-02-06

申请人： Tetsuya Sugiyama ,  Takehisa Kajiyama

发明人： Tetsuya Sugiyama ,  Takehisa Kajiyama

IPC分类号： G06F1900

CPC分类号： G05B19/414 ,  G05B2219/42207 ,  G05B2219/43093 ,  G05B2219/43174 ,  Y02P90/265

摘要： Every time the cumulative number of revolutions of a spindle rotating motor reaches a cumulative number of revolutions set in a data table, a CPU reads out, from a data memory section, moving positions of a workpiece and tool at the reached cumulative number of revolutions and the next cumulative number of revolutions, and a spindle rotational speed instruction value at the reached cumulative number of revolutions. The CPU sets the reached cumulative number of revolutions as a start point and the next cumulative number of revolutions as an end point, and divides the interval between the start and end points at predetermined timings. The CPU determines moving positions of the workpiece and tool at divided timings on the basis of the readout moving positions of the workpiece and tool. The CPU outputs the spindle rotational speed instruction value as a spindle rotational speed instruction signal to a reference spindle rotational speed setting circuit to control the rotational speed of the spindle rotating motor.

摘要翻译： 每当主轴旋转电动机的累积转数达到在数据表中设定的累积转数时，CPU从数据存储部分以达到的累计转数读出工件和工具的移动位置，以及 下一个累计转数，以及达到的累计转数的主轴转速指令值。 CPU将达到的累积转数设定为开始点，将下一个累积转数设定为终点，并以预定的时间间隔开始点和结束点之间的间隔。 CPU根据工件和工具的读出移动位置，在划分的时刻确定工件和工具的移动位置。 CPU将主轴转速指令值作为主轴转速指令信号输出到基准主轴转速设定电路，以控制主轴旋转电动机的转速。

公开(公告)号：US20030009260A1

公开(公告)日：2003-01-09

申请号：US10181198

申请日：2002-07-15

发明人： Yoichi Tanaka ,  Takahiro Kurokawa ,  Seiichi Matsuo

IPC分类号： G06F019/00

CPC分类号： G05B19/19 ,  B25J9/1651 ,  B25J9/1666 ,  G05B19/4061 ,  G05B19/416 ,  G05B2219/40293 ,  G05B2219/43056 ,  G05B2219/43093 ,  G05B2219/45029 ,  H05K13/0406 ,  H05K13/0885

摘要： There are provided a positioning control method and a positioning control device, which enables high speed positioning with low power consumption without repeating two or more acceleration and deceleration operations in the travel from an original position (P0) to a target position (P2). There is also provided an electronic component mounting apparatus (100), which enables high speed positioning with low power consumption and enables mounting of electronic components for a short period of time. When a movable body (28) is moved from the original position (P0) to the target position (P2), there is set an operation passing position (P1) for avoiding a passing avoiding region (PAR), and driving of a drive unit having a smaller travel distance from the original position (P0) to the operation passing position (P1) is started later than driving start timing of a drive unit having a longer travel distance by a specified period of time (T(nullt1nullt2null))

摘要翻译： 提供了一种定位控制方法和定位控制装置，其能够在从原始位置（P0）到目标位置（P2）的行进中重复进行两次以上的加速和减速操作，能够实现低功耗的高速定位。 还提供了一种电子部件安装装置（100），其能够以低功耗进行高速定位，并且能够在短时间内安装电子部件。 当可移动体（28）从原始位置（P0）移动到目标位置（P2）时，设置用于避免通过避免区域（PAR）的操作通过位置（P1），并且驱动驱动单元 从具有较原始位置（P0）到操作通过位置（P1）的行进距离较小的行驶距离比具有较长行驶距离的驱动单元的行驶开始时刻晚（T（| t1-t2 | ））

公开(公告)号：US20140297030A1

公开(公告)日：2014-10-02

申请号：US13852337

申请日：2013-03-28

申请人： DENSO WAVE INCORPORATED

发明人： Yoshirou IWASAKI

IPC分类号： B25J9/16

CPC分类号： B25J9/1651 ,  B25J9/1664 ,  G05B19/416 ,  G05B2219/39407 ,  G05B2219/40519 ,  G05B2219/40527 ,  G05B2219/43062 ,  G05B2219/43093 ,  G05B2219/43203

摘要： In a multiaxial robot, a path along which the end effector of the robot moves in the shortest time duration is generated. The robot includes a first link and a second link positioned closer to an end effector than the first link. Start and end points are specified, and velocity patterns are generated for joints driving the first and second links based on the specified start end points. The velocity patterns enable a movement of the second link to cause i) a reaction for increasing an acceleration force generated by the first joint when the end effector is started to be moved from the start point toward the end point, and ii) a reaction for increasing a deceleration force generated by the first joint when the end effector is stopping to the end point.

摘要翻译： 在多轴机器人中，生成机器人的末端执行器在最短时间内移动的路径。 机器人包括第一连杆和位于比第一连杆更靠近端部执行器的第二连杆。 指定起点和终点，并根据指定的起始终点为关节驱动第一和第二个链接生成速度模式。 速度模式能够使第二连杆的运动导致i）当端部执行器开始从起始点朝向终点移动时，用于增加由第一关节产生的加速力的反应，以及ii） 当末端执行器停止到终点时，增加由第一关节产生的减速力。

公开(公告)号：US20060239386A1

公开(公告)日：2006-10-26

申请号：US11407068

申请日：2006-04-20

申请人： Takahiko Endo ,  Yasushi Takeuchi

发明人： Takahiko Endo ,  Yasushi Takeuchi

IPC分类号： H04L27/06 ,  H03D1/00

CPC分类号： G05B19/414 ,  G05B2219/41206 ,  G05B2219/43093 ,  G05B2219/50218 ,  G05B2219/50233

摘要： A numerical controller capable of operating an auxiliary function at a target time or spindle position in performing operation based on table format data. An auxiliary function table is stored with auxiliary function commands M to be outputted corresponding to commanded reference times Lc and their corresponding operation delay times D. A reference time L is updated based in accordance with an override value. An auxiliary function command M and its corresponding operation delay time D are read from the auxiliary function table. The delay time D is corrected with the override value, and a reference time prior to a commanded reference time Lc by a margin equivalent to the corrected delay time is set as a command time Lr. If an override is entered, the delay time is corrected for the override amount and modified into an overridden reference time unit, and a command time for an auxiliary function is obtained and outputted based on the reference time unit. Thus, the auxiliary function is performed appropriately at a commanded value Lc of the reference time.

公开(公告)号：US07062334B2

公开(公告)日：2006-06-13

申请号：US10181198

申请日：2001-01-16

申请人： Yoichi Tanaka ,  Takahiro Kurokawa ,  Seiichi Matsuo

发明人： Yoichi Tanaka ,  Takahiro Kurokawa ,  Seiichi Matsuo

IPC分类号： G05B11/32

CPC分类号： G05B19/19 ,  B25J9/1651 ,  B25J9/1666 ,  G05B19/4061 ,  G05B19/416 ,  G05B2219/40293 ,  G05B2219/43056 ,  G05B2219/43093 ,  G05B2219/45029 ,  H05K13/08

摘要： There are provided a positioning control method and a positioning control device, which enables high speed positioning with low power consumption without repeating two or more acceleration and deceleration operations during travel from an original position to a target position. There is also provided an electronic component mounting apparatus, which enables high speed positioning with low power consumption and enables mounting of electronic components in a short period of time. When a movable body is moved from the original position to the target position, there is set an operational passing position for avoiding a passing avoidance region, and driving of a drive unit having a smaller travel distance from the original position to a coordinate of the operational passing position is started later than driving start timing of a drive unit having a longer travel distance, from the original position to another coordinate of the operational passing position, by a specified period of time.

摘要翻译： 提供了一种定位控制方法和定位控制装置，其能够在低功耗的情况下进行高速定位，而不会在从原始位置行进到目标位置期间重复进行两次以上的加速和减速操作。 还提供了一种电子部件安装装置，其能够以低功耗进行高速定位，并且能够在短时间内安装电子部件。 当可移动体从原始位置移动到目标位置时，设置用于避免通过避免区域的操作通过位置，并且驱动具有从原始位置到操作的坐标的较小行进距离的驱动单元 从具有较长行程距离的驱动单元的行驶开始时刻开始到通过位置，该行驶距离从原来位置到操作通过位置的另一个坐标一定时间。

公开(公告)号：US20010029404A1

公开(公告)日：2001-10-11

申请号：US09776752

申请日：2001-02-06

申请人： STAR MICRONICS CO., LTD.

发明人： Tetsuya Sugiyama ,  Takehisa Kajiyama

IPC分类号： G06F019/00

CPC分类号： G05B19/414 ,  G05B2219/42207 ,  G05B2219/43093 ,  G05B2219/43174 ,  Y02P90/265

摘要： Every time the cumulative number of revolutions of a spindle rotating motor reaches a cumulative number of revolutions set in a data table, a CPU reads out, from a data memory section, moving positions of a workpiece and tool at the reached cumulative number of revolutions and the next cumulative number of revolutions, and a spindle rotational speed instruction value at the reached cumulative number of revolutions. The CPU sets the reached cumulative number of revolutions as a start point and the next cumulative number of revolutions as an end point, and divides the interval between the start and end points at predetermined timings. The CPU determines moving positions of the workpiece and tool at divided timings on the basis of the readout moving positions of the workpiece and tool. The CPU outputs the spindle rotational speed instruction value as a spindle rotational speed instruction signal to a reference spindle rotational speed setting circuit to control the rotational speed of the spindle rotating motor.

摘要翻译： 每当主轴旋转电动机的累积转数达到在数据表中设定的累积转数时，CPU从数据存储部分以达到的累计转数读出工件和工具的移动位置，以及 下一个累计转数，以及达到的累计转数的主轴转速指令值。 CPU将达到的累积转数设定为开始点，将下一个累积转数设定为终点，并以预定的时间间隔开始点和结束点之间的间隔。 CPU根据工件和工具的读出移动位置，在划分的时刻确定工件和工具的移动位置。 CPU将主轴转速指令值作为主轴转速指令信号输出到基准主轴转速设定电路，以控制主轴旋转电动机的转速。

公开(公告)号：US4506321A

公开(公告)日：1985-03-19

申请号：US416357

申请日：1982-09-08

申请人： Robert H. Comstock ,  William P. Curtiss ,  Donald E. Fulton

发明人： Robert H. Comstock ,  William P. Curtiss ,  Donald E. Fulton

IPC分类号： B23Q15/20 ,  G05B19/23 ,  G05B19/416 ,  G05D3/12 ,  G05B13/00

CPC分类号： G05B19/232 ,  G05B19/416 ,  G05B2219/34215 ,  G05B2219/41419 ,  G05B2219/42237 ,  G05B2219/43034 ,  G05B2219/43093 ,  G05B2219/43097

摘要： A microprocessor-based motor control system operates the rapid advance motor on a slide transfer machine to carry out rapid traverse motions in minimal time. A velocity profile is stored during the acceleration portion of the move and this data is employed to determine when deceleration should begin and to control velocity during the deceleration portion of the move. A position feedback circuit having programmable resolution is employed to develop the velocity profile.

摘要翻译： 基于微处理器的电机控制系统在滑块传送机上操作快速前进电机，以在最短的时间内进行快速移动。 在移动的加速部分期间存储速度分布，并且该数据用于确定何时开始减速，并且在移动的减速部分期间控制速度。 采用具有可编程分辨率的位置反馈电路来开发速度分布。