公开(公告)号：WO1988004445A1

公开(公告)日：1988-06-16

申请号：PCT/JP1987000967

申请日：1987-12-11

Applicant: FANUC LTD ,  KURAKAKE, Mitsuo ,  SAKAMOTO, Keiji

Inventor： FANUC LTD

IPC: G05D03/12

CPC classification number: G05D17/02 ,  G05B19/404 ,  G05B2219/41036 ,  G05B2219/41084

Abstract: A numerical controller which reliably liberates the positional precision from the effect of static friction and dynamic friction applied as disturbance to the servo loop in the case when a servo system is constructed in the form of a semi-closed loop to numerically control a machine tool driven by a servo motor and to determine its position. The numerical controller has a backlash correction function and supplies the servo system with a backlash correction data (BL(i)) that is distinguished from the ordinary motion command (MC(i)). In response to the backlash correction data (BL(i)), an offset command that corresponds to a friction torque Fa in the mechanical system is given to the servo system as a torque correction signal (FR(i)).

Abstract translation: 数值控制装置使得位置精度值不敏感的静摩擦和动摩擦的施加干扰到控制回路的影响当在半闭环控制的形式的伺服系统 用伺服电机驱动的机床数值并确定其位置。 数控装置具有追赶功能，并向伺服系统提供与常规位移指令（MC（i））不同的间隙数据（BL（i））。 响应于所述间隙调整数据（BL（i））的，对应于在机械系统发一个摩擦转矩的换档命令发送到伺服系统作为转矩补偿信号（FR（I） ），则将与机械系统中的摩擦转矩Fa相对应的偏移指令以转矩修正信号（FR（i））的形式发送到伺服系统。

公开(公告)号：WO1988003074A1

公开(公告)日：1988-05-05

申请号：PCT/JP1987000815

申请日：1987-10-23

Applicant: MITSUBISHI DENKI KABUSHIKI KAISHA ,  SUZUKI, Toshio; ,  MAGARA, Takuji;

Inventor： MITSUBISHI DENKI KABUSHIKI KAISHA

IPC: B23Q15/00

CPC classification number: B23H7/20 ,  G05B19/232 ,  G05B19/404 ,  G05B2219/41036 ,  G05B2219/45221 ,  G05B2219/49169 ,  G05B2219/49194 ,  G05B2219/49219

Abstract: In an electric discharge apparatus of the type wherein an electrode (1) such as a wire electrode or a diesinking electrode and a workpiece (6) are disposed in such a manner as to face each other with a very small gap between them, a working solution (7) is put into the very small gap, discharge is caused between the electrode (1) and the workpiece (6), and the electrode (1) and the workpiece (6) are moved relatively by driving shafts (37), (67) such as ball screws in order to electrically discharge the workpiece (6) into a desired shape, the present invention determines correction data for correcting the driving quantity of the driving shafts (37), (67) under a plurality of different load and temperature conditions, stores in advance these correction data in a memory (41), selects a correction data suitable for the actual working condition from among the correction data thus stored in the memory and corrects the driving quantity to be given to the driving shafts (37), (67) in accordance with the selected correction data. Even if the driving shafts (37), (67) undergo expansion or contraction due to heat from surroundings, or deformation or expansion/contraction due to load by the weight of the workpiece (6) and the working solution (7), the driving quantity of the driving shafts (37), (67) can be corrected correctly. Accordingly, the relative position between the workpiece (6) and the electrode (1) can be controlled accurately, and high precision working can be performed.

Abstract translation: 在这样的放电装置中，其中诸如线电极或去耦电极的电极（1）和工件（6）以彼此之间以非常小的间隙彼此面对的方式设置，工作 溶液（7）被放入非常小的间隙中，在电极（1）和工件（6）之间引起放电，并且电极（1）和工件（6）通过驱动轴（37）相对移动， （67），以便将工件（6）电气放电成所需的形状，本发明确定用于校正多个不同负载下的驱动轴（37），（67）的驱动量的校正数据 和温度条件，将这些校正数据预先存储在存储器（41）中，从存储在存储器中的校正数据中选择适合于实际工作状态的校正数据，并校正要提供给驱动轴的驱动量（ 37），（67） e选择校正数据。 驱动轴（37），（67）由于来自周围环境的热量而发生膨胀或收缩，或者由于工件（6）和工作液（7）的重量造成的负荷引起的变形或膨胀/收缩，驱动 可以正确地校正驱动轴（37），（67）的数量。 因此，可以精确地控制工件（6）和电极（1）之间的相对位置，并且可以进行高精度的加工。

公开(公告)号：WO1991008528A1

公开(公告)日：1991-06-13

申请号：PCT/JP1990001461

申请日：1990-11-09

Applicant: FANUC LTD ,  SASAKI, Takao ,  FUJIBAYASHI, Kentaro ,  HAGA, Makoto

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/251 ,  G05B19/41 ,  G05B2219/34156 ,  G05B2219/41036

Abstract: A system for correcting a change in the position of a machine tool that has at least two control axes. A positional change check simulator (14) finds a ratio (R2) of displacements (Xe1, Ye1) of the axes found from the outputs of position detectors (8X, 8Y) that detect the position of the machine tool. Further, presuming that the servo system is a first-order lag system, a ratio (R1) of estimated displacements of the axes is found based on the machine position that is estimated based on the distribution pulses (Xp5, Yp5) of the axes. Position correction means (12) produces correction pulses (Xc1, Yc1) such that the ratio (R2) of displacements will become equal to the ratio (R1) of estimated displacements. The correction pulses (Xc1, Yc1) are added to instruction pulses (Xp1, Yp1). This makes it possible to suppress sudden error in the worked shape near the work starting point and work finishing point or at the corners.

公开(公告)号：WO1983001130A1

公开(公告)日：1983-03-31

申请号：PCT/SE1982000281

申请日：1982-09-13

Applicant: FACIT AKTIEBOLAG ,  ROZSA, Kalman

Inventor： FACIT AKTIEBOLAG

IPC: G05D03/12

CPC classification number: G05B19/23 ,  G05B2219/41036

Abstract: A drive mechanism comprising a power driven screw (16) and a nut means (17) co-operating with the screw includes a device for the correction of backlash prevailing between the screw and the nut means. The correction takes place electronically by modification of two pulse trains (A, B) which are generated by a pulse generator (19) which is synchronized with the movement of the screw. Out of the two pulse trains information as to position and direction of movement is derived for a movable unit (11), which is connected to the nut means and which, for instance, can be a printing unit in a printer or a typewriter. A measured or estimated value of the backlash is digitally stored with a resolution of one quarter of the period of the pulse trains. This resolution is four times the smallest distance through which the movable unit can be moved. The two pulse trains (A, B) are combined in a signal modifying device (21) in four different ways and in a selected one of two opposite successions to perform displacement of a predetermined flank (8) in one (B) of the pulse trains as many steps of one quarter of the period as correspond to the stored backlash value and in a direction corresponding to the selected succession.

Abstract translation: 包括动力驱动螺钉（16）和与螺钉配合的螺母装置（17）的驱动机构包括用于校正螺杆和螺母装置之间的间隙的装置。 通过修改由与螺杆的运动同步的脉冲发生器（19）产生的两个脉冲序列（A，B）以电子方式进行校正。 在两个脉冲序列中，对于连接到螺母装置并且例如可以是打印机或打字机中的打印单元的可移动单元（11），导出关于位置和运动方向的信息。 测量值或估计值的间隙以脉冲序列周期的四分之一的分辨率数字存储。 该分辨率是移动单元可移动的最小距离的四倍。 两个脉冲串（A，B）以四种不同的方式组合在信号修改装置（21）中，并且在两个相继的相继的选定的一个中，以在一个（B）的脉冲中执行预定的侧翼（8）的位移 按照对应于所存储的反向间隙值和对应于所选择的继承的方向，训练四分之一周期的许多步骤。

公开(公告)号：WO2013014714A1

公开(公告)日：2013-01-31

申请号：PCT/JP2011/004276

申请日：2011-07-28

Applicant: 新日本工機株式会社 ,  西橋 信孝 ,  金谷 寛浩

Inventor： 西橋　信孝 ,  金谷　寛浩

IPC: G05B19/404 ,  B23Q1/44 ,  B23Q1/48

CPC classification number: G05B19/404 ,  G05B2219/41036 ,  G05B2219/41214

Abstract: 対象物を特定の位置に配置する場合に各移動装置の駆動装置が示す対応する機械軸方向についての理論的機械軸座標と前記対象物を前記特定の位置に実際に配置した場合に前記各移動装置の前記駆動装置が実際に示す対応する前記機械軸方向についての実測機械軸座標との差からなる誤差データを格納する誤差データ格納部と、機械軸座標算出部によって算出された前記機械軸毎の座標を前記誤差データ格納部に格納された前記誤差データに基づいて補正することにより前記機械軸毎の補正座標を算出する補正演算部と、前記補正演算部により算出された前記機械軸毎の前記補正座標に従ってその機械軸に対応する前記支持体が動くようにその支持体を動かす前記駆動装置の駆動を制御する駆動制御部とを備えている。

Abstract translation: 本发明包括：误差数据存储单元，用于存储当物体被布置在特定位置时由运动装置的驱动装置指示的与对应的机器轴方向相关的理论机床坐标之间的差异构成的误差数据，以及测量的机器轴 当物体实际上被布置在特定位置时，与由移动装置的驱动装置实际表示的对应的机器轴方向相关的坐标; 校正计算单元，用于通过根据存储在误差数据存储单元中的误差数据，校正由机床轴坐标计算单元计算出的每个机器轴的坐标，来计算每个机床轴的校正坐标; 以及驱动控制器，用于控制用于移动支撑体的驱动装置的驱动，使得对应于机床轴线的支撑体根据由校正计算单元计算的每个机床轴线的校正坐标而移动。

公开(公告)号：WO1991016173A1

公开(公告)日：1991-10-31

申请号：PCT/JP1991000498

申请日：1991-04-10

Applicant: FANUC LTD ,  SASAKI, Takao ,  FUJIBAYASHI, Kentaro ,  OTSUKI, Toshiaki ,  EGUCHI, Ryouji

Inventor： FANUC LTD

IPC: B23Q15/00

CPC classification number: G05B19/231 ,  G05B2219/41036 ,  G05B2219/41055 ,  G05B2219/41063

Abstract: A system for correcting a pitch error of a ball screw in a numerical control machine tool. Pitch error calculation means (4) reads a current value from a current value register (3), reads pitch error correction data (εn,εpn) of a corresponding zone and outputs equidistantly the pitch error correction quantities in the zone as a pitch error correction pulse (CP). This pitch error correction pulse (CP) is added to an interpolation pulse (CP) by an adder (5). Accordingly, since pitch error correction quantities are not outputted all at once, the movement of the machine becomes smooth and a cut surface can be improved.

公开(公告)号：WO1991015334A1

公开(公告)日：1991-10-17

申请号：PCT/JP1991000433

申请日：1991-04-01

Applicant: FANUC LTD ,  SASAKI, Takao ,  FUJIBAYASHI, Kentaro ,  OTSUKI, Toshiaki ,  EGUCHI, Ryouji

Inventor： FANUC LTD

IPC: B23Q15/00

CPC classification number: G01M13/021 ,  G05B19/231 ,  G05B2219/34072 ,  G05B2219/35354 ,  G05B2219/41036 ,  G05B2219/41055 ,  G05B2219/49197

Abstract: A gear pitch error correction system of a numerical controller for a machine tool including at least one pair of gears disposed in an intermediate position on a transmission path for transmitting the torque of a servo motor to a material to be driven. A pitch error correction value per predetermined rotating angle of a gear is individually measured for each gear for each rotation period of each gear and is stored in a non-volatile memory (14b). Pitch error calculation means (E) refers to a current value register (D), reads out a pitch error data corresponding to the current position from the non-volatile memory (14b) and calculates a superposed pitch error correction value by adding the pitch error data. This superposed pitch error correction value is added to an interpolation pulse from interpolation means (B) by an adder (C) to gernerate an output pulse having the corrected pitch error, and this output pulse is outputed to an axis control circuit (18). Accordingly, a fine pitch error correction can be made in proportion to the superposition level of the gear pitch error correction value of each gear even when the number of the gear pitch error correction values for each gear is not much great.

公开(公告)号：WO1994019733A1

公开(公告)日：1994-09-01

申请号：PCT/US1994001988

申请日：1994-02-22

Applicant: OHIO ELECTRONIC ENGRAVERS, INC.

Inventor： OHIO ELECTRONIC ENGRAVERS, INC. ,  FRASER, John, W. ,  WOODS, Curtis

IPC: G05D03/18

CPC classification number: G05B19/404 ,  G05B19/186 ,  G05B2219/41036 ,  G05B2219/41038 ,  G05B2219/41055 ,  G05B2219/41077 ,  G05B2219/45212

Abstract: A leadscrew driving arrangement which is corrected to eliminate the effect of pitch errors. The leadscrew (32) is mapped to create a table of differences between the leadscrew angular of a perfect leadscrew which has been advanced the same axial distance. The differences are used to create a correction table which is stored in a PROM (44). During operation of the leadscrew (32), the correction table is used to adjust the leadscrew driving signal.

Abstract translation: 一种丝杠驱动装置，其被校正以消除螺距误差的影响。 丝杠（32）被映射以产生已经推进相同轴向距离的完美丝杠的丝杠角之间的差异表。 差异用于创建存储在PROM（44）中的校正表。 在丝杠（32）的操作期间，使用校正表来调节丝杠驱动信号。

公开(公告)号：WO1990011559A1

公开(公告)日：1990-10-04

申请号：PCT/JP1990000293

申请日：1990-03-06

Applicant: FANUC LTD ,  FUJITA, Naoki ,  MATSUMURA, Teruyuki ,  NAGASHIMA, Noritake

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40937 ,  G05B19/40936 ,  G05B2219/36201 ,  G05B2219/41036 ,  G05B2219/41055 ,  Y02P90/265 ,  Y10T408/08

Abstract: A system for preparing an NC sentence for two-step drilling according to which a hole formed by the first-step drill is further deepened by the second-step drill of a smaller diameter. Data related to a machining shape are input (S1), and data related to machining conditions are input (S2, S3) inclusive of a first clearance and a second clearance. An NC sentence is prepared (S4) for the first-step drilling and the second-step drilling from the bottom of the hole formed in the first-step drilling to the final point of machining. This helps reduce the time for the second-step drilling.

公开(公告)号：WO1988004446A1

公开(公告)日：1988-06-16

申请号：PCT/JP1987000968

申请日：1987-12-11

Applicant: FANUC LTD ,  KURAKAKE, Mitsuo ,  SAKAMOTO, Keiji

Inventor： FANUC LTD

IPC: G05D03/12

CPC classification number: G05D17/02 ,  G05B19/404 ,  G05B2219/41036 ,  G05B2219/41084 ,  G05B2219/41426

Abstract: A servo motor controller wherein positioning response lag caused by backlash or friction is improved. The NC apparatus and the robot controller send a position command (MC(i)), a backlash correction command (BL(i)) and a backlash correction flag (BLF(i)) to the servo mechanism. The correction circuit (A) discriminates the inversion of quadrant of the moving part on the basis of the correction flag (BLF(i)), and produces a torque correction command (FR) that corresponds to the friction torque. The correction command (FR) is added to a torque command which is calculated from the position command (MC(i)) and the position signal (POS(i)), and is sent to the servo motor.