公开(公告)号：WO00039648A1

公开(公告)日：2000-07-06

申请号：PCT/US1999/030157

申请日：1999-12-16

IPC: G05B19/29 ,  G05B19/404

CPC classification number: G05B19/19 ,  G05B19/414 ,  G05B2219/41255 ,  G05B2219/42126 ,  G05B2219/42186 ,  G05B2219/43174 ,  G05B2219/50231

Abstract: A motion controller and a method of controlling the motion of a plurality of axes which prevents a discontinuous position command being generated to a follower axis. A follower mode transfer function circuit or routine generates a position command in response to a master axis position. This function can be in the form of electronic gearing or camming. A bias latch is utilized to offset any change in position resulting from a change in mode, such as changing from electronic gearing to electronic camming, changing cam profiles or gearing ratios, or changing the master axis. The latch is summed with the transfer function position command and a standard move command profile generator position command to provide the follower axis position command. The latch is recalculated each time the follower mode is changed. A halt command can be used to selectively block or enable an independent move command signal, allowing the follower axis to remain in motion when the follower mode is turned off (not following the master axis), or allowing the follower mode to be turned on while the follower axis is in motion without a sudden change in position. Trigger calculation circuitry is used to precalculate timing for activating the follower mode when follower mode is changed from off to on while the follower axis is already in motion such that the axes are in phase after ramping time.

Abstract translation: 一种运动控制器和控制多个轴的运动的方法，其防止对从动轴产生不连续的位置指令。 跟随器模式传递函数电路或程序响应于主轴位置产生位置命令。 该功能可以是电子齿轮或凸轮的形式。 利用偏置锁存器来抵消模式变化引起的位置变化，例如从电子齿轮传动到电子凸轮转换，改变凸轮轮廓或传动比或改变主轴。 锁定器与传递函数位置指令和标准移动指令轮廓发生器位置指令相加，以提供从动轴位置指令。 每次随动模式改变时，重新计算锁存器。 可以使用停止命令来选择性地阻止或启用独立的移动指令信号，从而当跟随器模式被关闭（不跟随主轴）时，从动轴保持运动，或允许跟随器模式打开， 从动轴运动而不突然改变位置。 触发计算电路用于在跟随器模式从关闭状态变为导通状态而使从动轴已经运动时使激光跟随器模式激活时，以使轴在斜坡时间之后处于同相状态。

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：WO1997008599A1

公开(公告)日：1997-03-06

申请号：PCT/JP1996002471

申请日：1996-09-02

Applicant: FANUC LTD ,  IWASHITA, Yasusuke ,  OKITA, Tadashi

Inventor： FANUC LTD

IPC: G05D03/12

CPC classification number: G05B19/39 ,  G05B2219/42008 ,  G05B2219/42011 ,  G05B2219/42123 ,  G05B2219/42126

Abstract: A method for a switching control mode of a servo control system which reduces a shock generated when switching from a torque control mode to a position/velocity control mode, the method comprising the steps of, in a torque control mode, rewriting a value in an integrator in a velocity loop for the position/velocity control mode to a value of a torque command of the torque control to thereby set a value of the integrator identical to that of the torque command, and obtaining, when switching from the torque control mode to the position/velocity control mode, a torque command value for a servo motor by using a value of the integrator of the velocity loop that is rewritten during the torque control mode, whereby continuous torque command values are given to the motor when a control mode is switched.

Abstract translation: 一种伺服控制系统的切换控制模式的方法，其减少从转矩控制模式切换到位置/速度控制模式时产生的冲击，所述方法包括以下步骤：在转矩控制模式中，将值 用于位置/速度控制模式的速度回路中的积分器与转矩控制的转矩指令的值，从而将积分器的值设置为与转矩指令的值相同，并且当从转矩控制模式切换到 位置/速度控制模式，通过使用在转矩控制模式期间重写的速度环的积分器的值来确定伺服电动机的转矩指令值，由此当控制模式为 切换。

公开(公告)号：WO1988000518A1

公开(公告)日：1988-01-28

申请号：PCT/JP1987000541

申请日：1987-07-24

Applicant: FANUC LTD ,  KAMIGUCHI, Masao ,  UMEMOTO, Hiroshi

Inventor： FANUC LTD

IPC: B29C45/76

CPC classification number: G05B19/232 ,  B29C45/76 ,  G05B2219/42126 ,  G05B2219/45244

Abstract: In an injection molding machine employing a servo motor as a source for driving the injection axle to drive the screw in the axial direction, a method is provided to smoothly shift the dwelling step to the metering/kneading step, in order to prevent the error register in the servo circuit from overflowing and to prevent the injection molding machine from coming into halt. When the dwelling step is finished, the error register is followed up (steps S6 to S8) such that the error quantity stored in the error register of the servo circuit that drives the servo motor for injection axle becomes zero. Then, a torque limit value to be applied to the servo motor is switched from a setpoint value for dwelling to a setpoint value for metering and kneading (step S11). The error register is then followed up again over a predetermined period of time from when the torque limit value is switched (step S13), and the step is shifted to the metering/kneading step (step S14).

公开(公告)号：WO1987005559A1

公开(公告)日：1987-09-24

申请号：PCT/JP1987000174

申请日：1987-03-20

Applicant: FANUC LTD ,  OTAKE, Hiromasa ,  KOBAYASHI, Toshio

Inventor： FANUC LTD

IPC: B29C45/77

CPC classification number: G05B19/232 ,  B29C45/5008 ,  B29C45/76 ,  B29C45/77 ,  B29C2045/1792 ,  B29C2045/5032 ,  G05B2219/42126 ,  G05B2219/45244

Abstract: An injection controller used for an injection molding machine which performs the injection and dwell control by means of a numerical control unit (30). Such a device is offered that the switching operation from the injection control to the dwell control is controlled according to the injection time and the resin pressure to improve reliability in the operation of the injection molding machine and to produce molded articles of good quality. Dwell control is started by dwell control means (30, 50, 60) when the resin pressure in the mold as detected by pressure detecting means (26) becomes greater than a preset pressure or when a predetermined period of time has passed from the start of the injection. When the pulse distribution is not completed up to the position of dwell completion when the dwell control is completed, an error register (51) of a servo circuit (50) is followed up by a follow-up means (30), so that the pulses are distributed forcibly.

公开(公告)号：WO1984000827A1

公开(公告)日：1984-03-01

申请号：PCT/US1983001200

申请日：1983-08-05

Applicant: MTS SYSTEMS CORPORATION

Inventor： MTS SYSTEMS CORPORATION ,  DOLLERSCHELL, John, O.

IPC: G05B11/18

CPC classification number: B30B15/166 ,  G05B7/02 ,  G05B2219/41309 ,  G05B2219/42123 ,  G05B2219/42126

Abstract: A "mode switch" (45) is used for smoothly switching a servovalve controlled device such as an SMC press (10), in particular, from control under one parameter to control by another. The mode switch (45) provides a very smooth transfer of control from displacement control (47) between two relatively movable parts (20, 23) to force control (46) to provide for controlling the force exerted by actuators acting between the two parts (20, 23). The mode switch (45) electronically tracks the signals so that when the switching (64, 65) is made the signals are precisely equal to prevent abrupt changes in the control signals. This smooth transfer is achieved even under active control, that is when both control signals are changing in value.