公开(公告)号：WO1984004981A1

公开(公告)日：1984-12-20

申请号：PCT/JP1984000302

申请日：1984-06-12

Applicant: FANUC LTD ,  OTA, Naoto

Inventor： FANUC LTD

IPC: G05D03/12

CPC classification number: G05B19/232 ,  G05B2219/41021 ,  G05B2219/42104 ,  G05B2219/43115

Abstract: A positional loop gain control method in which a positional control feedback system composed of a speed control circuit (101c), a spindle motor (102), a position coder (104), a fixed-position stop control unit (101e), and a changeover switch (101b), determines the gain of a digital-to-analog converter (301) constituting the fixed-position stop control unit so that the positional loop gain of the positional control feedback system has a set value Kp. When controlling the position at which a spindle stops, the method comprises a step of operating the spindle motor at a predetermined speed Nb, a step of measuring a deceleration time Tf required for the speed of the spindle motor to drop from Nb to zero, and a step of determining a gain KDA of the digital-to-analog converter using the set value Kp, the predetermined speed Nb, the decelaration time Tf, and a distance D between a fixed position and a changeover point at which a speed-control mode is shifted to a position-control mode.

公开(公告)号：WO2014076809A1

公开(公告)日：2014-05-22

申请号：PCT/JP2012/079750

申请日：2012-11-16

Applicant: 富士機械製造株式会社

Inventor： 城戸　隆志 ,  藤田　政利 ,  永田　良 ,  飼沼　諒

IPC: H05K13/04

CPC classification number: H05K13/0413 ,  G05B2219/42097 ,  G05B2219/42104 ,  G05B2219/42109 ,  G05B2219/42117 ,  G05B2219/42126

Abstract: 　本発明は、基体部材と作業部材と駆動部と作業制御部とを備えた作業機器であって、作業制御部は、作業部材が基準位置から作業位置まで延伸するストローク長さの途中に切替位置を設定して粗動駆動領域および低速駆動領域を設定する切替設定手段と、粗動駆動領域内で作業部材の延伸速度を高速に制御しつつ振動を抑制する粗動制御手段と、低速駆動領域内で作業部材の延伸速度を低速に制御しつつ許容速度以下となってから作業位置まで延伸するように制御する低速制御手段と、作業部材が切替位置を通過するときの延伸速度および加速度が滑らかに変化するように調整する切替調整手段とを有する。これにより、作業部材の延伸速度を高速化して作業時間を短縮化し、作業部材が作業対象物に当接するときの衝撃荷重を低減しつつ作業位置精度を確保できる。

Abstract translation: 本发明是一种工作装置，其包括基部构件，工作构件，驱动单元和工作控制单元。 工作控制单元具有：切换设定单元，其将工作构件从基准位置向工作位置伸长的行程长度设定为切换位置，设定粗动驱动区域， 低速驱动区; 粗动移动控制装置，其将粗动驱动区域中的工件的伸缩速度控制为高速并抑制振动; 低速控制装置，其将低速驱动区域中的工件的伸缩速度控制到低速，并且一旦所述速度下降到没有，则控制工件向工作位置扩展/收缩 超过额定转速; 以及切换调节装置，其调节为当工件通过切换位置时，​​伸缩速度和加速度平滑地改变。 结果，工件的伸缩速度增加，工作时间缩短，工件与工件相接触时的冲击载荷减小，工件位置精度得以保持。

公开(公告)号：WO1989002104A1

公开(公告)日：1989-03-09

申请号：PCT/JP1988000875

申请日：1988-08-31

Applicant: FANUC LTD ,  KURAKAKE, Mitsuo ,  KINOSHITA, Jiro

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/232 ,  G05B19/186 ,  G05B2219/37135 ,  G05B2219/37154 ,  G05B2219/37297 ,  G05B2219/42104

Abstract: A spindle control method for a numerical controller (CNC). A microprocessor (11), a memory (12), and two counters (13, 15) for counting pulses from encoders form a servo control circuit (10) which is connected to a CNC bus (1). There are provided a power amplifier (21) for controlling the rotation of the spindle motor upon receiving an instruction from the servo control circuit (10), and a separate encoder (25) coupled to the spindle for feeding pulses back to the counter (13) to control the profile. One counter (13) of the servo control circuit (10) is used for detecting the rotation position of the spindle motor (22) and another counter (15) counts the pulses that are fed back for operations such as threading. Therefore, the spindle motor (22) is controlled for its position and rotations by the servo control circuit (10).

公开(公告)号：WO2004027349A1

公开(公告)日：2004-04-01

申请号：PCT/SE2003/001375

申请日：2003-09-04

Applicant: TRIMBLE AB ,  WESTERMARK, Magnus ,  HERTZMAN, Mikael ,  BERG, Ulf ,  KLANG, Thomas

Inventor： WESTERMARK, Magnus ,  HERTZMAN, Mikael ,  BERG, Ulf ,  KLANG, Thomas

IPC: G01C15/00

CPC classification number: G01C15/002 ,  G05B19/19 ,  G05B2219/42091 ,  G05B2219/42104

Abstract: In a position control arrangement (30) for controlling the rotational position of a movable unit (2), especially for a surveying instrument, an electric motor (12) is arranged to rotate said movable unit around an axis (9) of rotation, and there are control means (31-34, 17) for enabling the motor to stop said movable unit in a desired rotational position. The motor is a direct drive motor, the shaft of which forms the axis of rotation for said movable unit, and the motor is arranged to selectively operate in either a first, normal mode for rotating the movable unit to a desired position, or in a second, friction mode for providing resistance to a forced rotation of the movable unit from a predetermined position to a new position. A control unit (36) detects the presence of a forced rotation and automatically changes the mode of operation in response thereto. There is also provided a surveying instrument having such features.(Fig.3)

Abstract translation: 在用于控制可移动单元（2）的旋转位置的位置控制装置（30）中，特别是用于测量仪器，电动机（12）被布置成使所述可移动单元围绕旋转轴线（9）旋转，并且 存在用于使马达能够在所需旋转位置停止所述可动单元的控制装置（31-34,17）。 电动机是直接驱动电动机，其轴形成用于所述可移动单元的旋转轴线，并且电动机被布置成选择性地以第一正常模式操作以将可移动单元旋转到期望位置，或者以 第二，用于提供对可移动单元的强制旋转从预定位置到新位置的阻力的摩擦模式。 控制单元（36）检测强制旋转的存在，并响应于此自动改变操作模式。 还提供了具有这种特征的测量仪器（图3）

公开(公告)号：WO1989005005A1

公开(公告)日：1989-06-01

申请号：PCT/JP1988001178

申请日：1988-11-21

Applicant: FANUC LTD ,  KAWAMURA, Hideaki ,  FUJIBAYASHI, Kentaro ,  SATO, Morimasa

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/237 ,  G05B19/056 ,  G05B19/4147 ,  G05B2219/34426 ,  G05B2219/41409 ,  G05B2219/42104 ,  Y10T29/5153

Abstract: A numerical controller in which a servo motor is used selectively for position control or speed control. A distribution processing unit (3) forms a position instruction signal based on a part program (1) decoded by a decode processing unit (2). A mode control processing and speed instruction unit (41) or PMC (5) forms a mode signal and a speed instruction signal. A servo control processing unit (71) drives a servo motor (9) based on a mode signal, position instruction signal and speed instruction signal that are input through an axis control processing unit (61).

Abstract translation: 数字控制器，其中伺服电机有选择地用于定位或速度控制。 分配处理单元（3）基于由解码处理单元（2）解码的零件程序（1）形成位置命令信号。 模式控制和速度指令处理单元（41）或PMC（5）形成模式信号和速度指令信号。 伺服控制单元（71）根据经由模拟信号，位置指令信号和速度指令信号施加的伺服电动机（9） 轴控制处理单元（61）。

公开(公告)号：WO1989006394A1

公开(公告)日：1989-07-13

申请号：PCT/JP1988001341

申请日：1988-12-28

Applicant: FANUC LTD ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

Inventor： FANUC LTD

IPC: G05D03/12

CPC classification number: G05B19/237 ,  G05B19/39 ,  G05B2219/41007 ,  G05B2219/42104 ,  G05B2219/42114 ,  G05B2219/42203 ,  G05B2219/42215 ,  G05B2219/43127 ,  G05B2219/43194

Abstract: A spindle orientation controller couples a spindle motor (2) via coupling means (5) with a main spindle (4) which produces a signal (LS) indicating its approximate stop position and a signal (MS) indicating its definite stop position. This controller is adapted to stop the spindle in position according to a speed instruction that varies depending upon the speed of the spindle motor (2). Speed pulses for detecting the rotating speed of the motor are used as position pulses, and a speed instruction value is decreased by the amount of feedback pulses. When the speed instruction value of the main spindle decreases to a predetermined level, the instruction value is clamped at that level. When the signal (LS) from the main spindle is detected in the clamped state, the signal (MS) from the main spindle is used as a speed instruction value. This makes it possible to stop the main spindle in position quickly.

公开(公告)号：WO1987000478A1

公开(公告)日：1987-01-29

申请号：PCT/JP1986000363

申请日：1986-07-16

Applicant: MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD. ,  DOI, Makoto ,  NAKADA, Akiyoshi ,  INOUE, Toshitsugu ,  HASEGAWA, Mikio ,  SOGAWA, Kenji ,  IDE, Toshihiro

Inventor： MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD.

IPC: B25J09/10

CPC classification number: G05B19/39 ,  B25J9/046 ,  B25J9/1633 ,  G05B19/18 ,  G05B2219/36417 ,  G05B2219/36503 ,  G05B2219/37207 ,  G05B2219/37405 ,  G05B2219/42104 ,  G05B2219/42123 ,  G05B2219/42237 ,  G05B2219/49362 ,  G05B2219/50198 ,  Y10S414/13

Abstract: An industrial robot equipped with a control unit that can be controlled in a position control mode, a speed control mode and a current control mode. The control unit is equipped with a switching unit (20) for making a selection between the position control mode and the current control mode. An arm unit is driven in a power control mode which consists of a combination of the speed control mode and the current control mode. The position at which the arm unit has come into contact with an object and has come into halt is detected relying upon a signal sent from a position detector (15). Further, a plurality of detected values obtained by repeating the contact with the object at different positions are compared with reference data. A calculation unit (24) calculates the change in the position of the object from the reference position, and the robot detects for itself the two-dimensional or three-dimensional position and attitude of the object.

Abstract translation: 工业机器人配有控制单元，可控制位置控制模式，速度控制模式和电流控制模式。 控制单元配备有在位置控制模式和电流控制模式之间进行选择的切换单元（20）。 手臂被驱动到由速度控制模式和电流控制模式组成的功率控制模式。 基于来自位置检测器（15）的信号检测手臂接触对象并停止的位置。 另外，通过将与不同位置处的物体重复接触而获得的多个检测值与参考数据进行比较。 计算单元（24）计算物体相对于参考位置的位置变化，并且机器人自动检测物体的二维或三维位置和姿态。

公开(公告)号：WO1993015876A1

公开(公告)日：1993-08-19

申请号：PCT/JP1993000092

申请日：1993-01-26

Applicant: FANUC LTD ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: B23Q15/26

CPC classification number: G05B19/232 ,  G05B2219/42104

Abstract: A main spindle positioning method which makes the most of deceleration of a spindle motor and speeds up a spindle positioning operation. It is assumed that the spindle motor is running under speed control. In response to a command for a stop at a given position, the spindle motor is decelerated to a speed N below a maximum rotating speed N1 determining a constant torque region on the basis of the speed control (Step S1), and the speed control is switched to a position control at the position at which the speed N is reached. At this time, a value which takes into consideration the present position at one rotating position of the spindle and a target stop position as an initial position error are set to an error counter (Steps S5 to S11). Thereafter, a position feedback quantity Pf from a position sensor is received by the error counter so as to execute linear acceleration/deceleration control to a final stop position (Step S12) and a speed command Vcmd is determined (Step S13), and a speed loop processing follows.

公开(公告)号：WO1990001829A1

公开(公告)日：1990-02-22

申请号：PCT/JP1989000779

申请日：1989-07-28

Applicant: FANUC LTD ,  KOHARI, Katsuo ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: H02P05/00

CPC classification number: H02P5/50 ,  G05B19/182 ,  G05B2219/42104 ,  G05B2219/50221 ,  G05B2219/50234 ,  G05B2219/50387

Abstract: A method of controlling synchronized operation of a machine tool and an apparatus therefor. In a machine tool having two main spindles (14, 15), a work (18) is gripped by the first spindle and the second spindle controlled by control circuits (19, 20) that include a speed control unit and a position control unit. When the work is to be machined under this condition, digital speed instructions are fed to the two spindles simultaneously from, for example, a numerical controller. On each of the main spindles, separation means (sw2) is controlled to separate the position control unit from the speed control unit, the synchronized operation mode is set to switch the speed instruction to the position instruction, and the digital speed instructions are processed as position instructions to carry out the same position control. Therefore, the running speed of the two main spindles are brought into synchronism with each other, and the work is separated into two without giving excess force to the work.

公开(公告)号：WO1985002373A1

公开(公告)日：1985-06-06

申请号：PCT/SE1984000401

申请日：1984-11-22

Applicant: TELEFONAKTIEBOLAGET L M ERICSSON ,  NILSSON, Ulf, Peter

Inventor： TELEFONAKTIEBOLAGET L M ERICSSON

IPC: B41J07/36

CPC classification number: B41J19/202 ,  G05B19/39 ,  G05B2219/42104 ,  G05B2219/45187

Abstract: A method in a printer of controlling printwheel and carriage movements, position and velocity signals (at 10 and 8) corresponding to the printing wheel respective carriage positions and instant velocities being such that the operations of the printwheel and carriage motors are controlled in response to the velocity signal (at 8) until the printwheel or carriage has reached an area in the vicinity of a desired printing position. At the transition to this area, control in response to the velocity signal is switched off and the operation of the printwheel or carriage motor is controlled solely in response to the position signal (at 10) until the desired position has been reached.