METHOD FOR CONTROLLING POSITION AND/OR SPEED

A method regulates the position and/or speed of a device which can be moved along a predefined course using an electric motor. The regulating operation is carried out continuously in such a manner that targeted fluctuation of the controlled variables of position and/or speed around their desired values is respectively achieved within a predefinable tolerance range by selecting a manipulated variable. 1. Method for regulating the position and/or speed of a device which can be moved along a predefined course using an electric motor (1) , characterized in that the regulating operation is carried out continuously in such a manner that targeted fluctuation of the controlled variables of position and/or speed around their desired values (POS_desired , V_desired) is respectively achieved within a predefinable tolerance range by selecting a manipulated variable.2. Method according to claim 1 , characterized in that the electric motor (1) is controlled using pulse width modulation (PWM).3. Method according to or claim 1 , characterized in that the current position (POS_actual) and/or the speed (V_actual) is/are determined from the current rotational speed of the electric motor (1).4. Method according to claim 1 , or claim 1 , characterized in that the current rotational speed of the electric motor (1) is detected using at least one Hall sensor (2).5. Method according to one of to claim 1 , characterized in that only integer arithmetic operations claim 1 , in particular addition or subtraction and a comparison operation claim 1 , are used during the regulating operation.6. Method according to one of to claim 1 , characterized in that an array (5) containing the expected position (POS_desired) of the device at a particular time (t) is used during the regulating operation.7. Method according to one of to claim 1 , characterized in that two first tables for determining the degree of deviation of the controlled variables are used during the regulating operation.8. Method ...

MOTOR CONTROL APPARATUS

When a failure of a feedback control operation of an electric motor is sensed, a control unit changes the feedback control operation to an open loop control operation. At the time of executing the open loop control operation, the control unit sequentially changes the exciting phase of the motor without executing feedback of information of the count value of the encoder counter and rotates a rotor of the motor until a count value of an exciting phase change counter reaches an open loop target count value, which corresponds to a target rotational position of the rotor. When the control unit changes the feedback control operation to the open loop control operation, the control unit sets the open loop target count value by correcting a feedback target count value based on an exciting phase deviation correction value for the count value of the encoder counter. 1. A motor control apparatus comprising:an encoder that outputs a pulse signal every time when a rotor of an electric motor, which rotates a rotatable member of a control subject, is rotated by a predetermined rotational angle;an encoder counter that counts up or down the pulse signal of the encoder;an exciting phase change counter that counts up or down every time when an exciting phase of the electric motor is changed;a feedback controlling unit that executes a feedback control operation of the electric motor by sequentially changing the exciting phase of the electric motor based on a count value of the encoder counter to rotate the rotor until the count value of the encoder counter reaches a feedback target count value, which corresponds to a target rotational position of the rotor;a failure monitoring unit that monitors whether a failure exists in the feedback control operation of the electric motor; anda fail-safe unit that changes the feedback control operation to an open loop control operation when the failure of the feedback control operation is sensed with the failure monitoring unit, wherein when the fail ...

TRANSPORT SYSTEM AND METHOD

A transport system is provided. The transport system includes a stocker configured to store an assigned wafer carrier and having a gate port. The transport system also includes a semiconductor apparatus configured to transmit a request signal comprising a processed time according to a processing wafer carrier loaded on the semiconductor apparatus. The transport system further includes a vehicle configured to transport the assigned wafer carrier from the gate port to the semiconductor apparatus and a control system configured to control the vehicle. When the control system receives the request signal, the control system controls the stocker to transport the assigned wafer carrier inside of the stocker to the gate port at a start time, which is earlier than the processed time, and the control system controls the vehicle to transport the assigned wafer carrier from the gate port to the semiconductor apparatus. 1. A transport system , comprising:a stocker, configured to store an assigned wafer carrier, having a gate port;a semiconductor apparatus, configured to transmit a request signal comprising a processed time according to a processing wafer carrier loaded thereon, wherein the processed time is defined as a point of a time that a plurality of wafers of the processing wafer carrier have been processed by the semiconductor apparatus;a vehicle configured to transport the assigned wafer carrier from the gate port to the semiconductor apparatus; anda control system configured to control the vehicle,wherein when the control system receives the request signal, the control system controls the stocker to transport the assigned wafer carrier inside of the stocker to the gate port at a start time, which is earlier than the processed time, and the control system controls the vehicle to transport the assigned wafer carrier from the gate port to the semiconductor apparatus.2. The transport system as claimed in claim 1 , wherein the semiconductor apparatus comprises a load port ...

SERVO MOTOR CONTROLLER

A servo motor controller includes: a servo motor; a driven member which is driven by the servo motor and in which a load acting on a drive axis is varied depending on the position of the driven member; a position detection portion and a speed detection portion for the driven member; and a motor control portion, where the motor control portion includes: a position control portion which calculates a speed command based on a positional error between a position command for the driven member and the position FB; a speed control portion which calculates a torque command by multiplying a speed error between the speed command and the speed FB by a speed gain and/or adding a torque offset to the speed error; and a change portion which changes at least one of the speed gain and the torque offset according to the position of the driven member. 1. A servo motor controller comprising: a servo motor;a driven member which is driven by the servo motor and in which a load acting on a drive axis is varied depending on a position of the driven member;a position detection portion which detects the position of the driven member;a speed detection portion which detects a speed of the driven member; anda motor control portion which controls the servo motor,wherein the motor control portion includes:a position control portion which calculates a speed command based on a positional error between a position command for the driven member and position feedback detected by the position detection portion;a speed control portion which calculates a torque command by multiplying a speed error between the speed command calculated by the position control portion and speed feedback detected by the speed detection portion by a speed gain and/or adding a torque offset to the speed error; anda change portion which changes at least one of the speed gain and the torque offset according to the position of the driven member.2. The servo motor controller according to claim 1 , wherein the change portion uses ...

RANGE SWITCHING DEVICE

A range switching device provides a feedback control for rotating a motor toward a target rotation position. When a target shift range is switched, the range switching device rotates the motor toward a target rotation position by sequentially switching power supply phases of the motor based on an encoder count value. When the motor rotates within a predetermined stop range, the feedback control ends and a power supply to the motor is stopped. However, if the motor has not rotated to the target rotation position after a predetermined time has elapsed from the stopping of the power supply to the motor, an open drive is performed, in which the power supply phase of the motor is sequentially switched by open-loop control and the motor is rotated in small and/or minute steps toward the target rotation position. In such manner, position accuracy of the shift range switching is improved. 1. A range switching device comprising:a range switching mechanism having a plurality of range detention concave parts;a motor driving the range switching mechanism to switch a shift range between a plurality of shift ranges;a detent mechanism having a latch that selectively engages one of the plurality of range detention concave parts to hold the range switching mechanism at one of the plurality of shift ranges;an encoder sensing a rotation of the motor and outputting a pulse signal in synchronization with the rotation of the motor; anda control unit that (i) controls the motor according to a feedback control, when a target shift range is selected, to rotate the motor toward a target rotation position that corresponds to the target shift range, by switching power supply phases of the motor based on a count value of the outputted pulse signal of the encoder, and (ii) ends the feedback control of the motor to stop a power supply to the motor when a rotation position of the motor enters a stop range that includes the target rotation position, whereinthe control unit controls the motor ...

ENCODER, SERVO MOTOR, AND SERVO SYSTEM

An encoder includes a disc and a sensor. The disc has a circular surface with a central axis and is rotatable around the central axis. The disc has a slit row provided on the circular surface. The slit row includes slits arranged in a circumferential direction of the circular surface around the central axis and in a radial direction of the circular surface. The sensor is provided opposite to the slit row on circular surface. The sensor has a first light receiver and a second light receiver. The first light receiver is configured to output a first light receiving signal as the slit row rotates along the circumferential direction when the disc rotates around the central axis. The second light receiver is configured to output a second light receiving signal as the slit row moves along the radial direction when the disc rotates around the central axis. 1. An encoder comprising:a disc having a circular surface with a central axis and being rotatable around the central axis, the disc having a slit row provided on the circular surface, the slit row including slits arranged in a circumferential direction of the circular surface around the central axis and in a radial direction of the circular surface; and a first light receiver configured to output a first light receiving signal as the slit row rotates along the circumferential direction when the disc rotates around the central axis; and', 'a second light receiver configured to output a second light receiving signal as the slit row moves along the radial direction when the disc rotates around the central axis., 'a sensor provided opposite to the slit row and comprising2. The encoder according to claim 1 , wherein the disc has a plurality of slit rows including the slit row claim 1 , the slit rows being provided on the circular surface along the circumferential direction and positioned from an inner side toward an outer side along the radial direction claim 1 , each of the slit rows including slits arranged in the ...

MOTOR CONTROL DEVICE AND MOTOR CONTROL METHOD

A motor control device capable of promptly positioning a driven object at a target position, while suppressing backlash. The motor control device includes an operation command generation section for generating a first operation command and a second operation command for first and second motors to move the driven object; a preload command generation section for generating a first preload command which is added to the first operation command and a second preload command which is added to the second operation command in order that drive axes of the first motor and the second motor provide the driven object forces in opposite directions; and a preload command adjustment section for adjusting the first preload command and the second preload command in order that an absolute value of the above forces is decreased when an operation amount exceeds a predetermined threshold value. 1. A motor control device configured to control a first motor and a second motor which drive a driven object in the same direction , the motor control device comprising:an operation command generation section configured to generate a first operation command for the first motor to move the driven object in cooperation with the second motor and a second operation command for the second motor to move the driven object in cooperation with the first motor;a preload command generation section configured to generate a first preload command to be added to the first operation command and a second preload command to be added to the second operation command in order for a drive axis of the first motor and a drive axis of the second motor to apply forces in opposite directions to the driven object; anda preload command adjustment section configured to adjust the first preload command and the second preload command so as to reduce an absolute value of the forces when an operation amount acquired from at least one of the first operation command and the second operation command exceeds a predetermined threshold ...

PROCESSING DATA CREATION METHOD, LASER PROCESSING METHOD, PROCESSING DATA CREATION SYSTEM, PROCESSING SYSTEM, PROCESSING DATA CREATION PROGRAM, AND PROCESSING PROGRAM

A processing data creation method of creating processing data to be used when a target object is formed inside a material by laser processing includes setting an impingement path for a laser beam inside the material in accordance with shape data indicating a shape of the target object, and creating the processing data by adjusting a location of the impingement path in an impingement direction of the laser beam in accordance with a refractive index of the material. 17-. (canceled)8: A processing data creation method of creating processing data to be used when a target object is formed inside a material by laser processing , the method comprising:setting an impingement path for a laser beam inside the material in accordance with shape data indicating a shape of the target object; andcreating the processing data by adjusting a location of the impingement path in an impingement direction of the laser beam in accordance with a refractive index of the material.9: The processing data creation method according to claim 8 , whereinthe impingement path is formed using point group data; andthe creating step includes using the refractive index to carry out adjustment for each point included in the point group data.10: A laser processing method comprising impinging the laser beam in accordance with the processing data created through the creation method set forth in to form the target object inside the material.11: A processing data creation system to create processing data to be used when a target object is formed inside a material by laser processing claim 8 , the system comprising:a setting processor configured or programmed to set an impingement path for a laser beam inside the material in accordance with shape data indicating a shape of the target object; anda processing data creation processor configured or programmed to create the processing data by adjusting a location of the impingement path in an impingement direction of the laser beam in accordance with a refractive ...

Mechanical arm system and mechanical arm control method

A mechanical arm system includes at least two links, at least two control devices and at least two motor devices. Each of the control devices includes a first control unit, a mechanical arm control unit and a driving unit. The first control unit receives an end-position command to output a first torque signal. The mechanical arm control unit includes a rigid mechanical unit and a mechanical model unit. The rigid mechanical unit receives the first torque signal to obtain a rigid mechanical torque, and the mechanical model unit receives the rigid mechanical torque and operates the flexible mechanical model to establish the mechanical arm model for obtaining the target torque, and the target position signal is output according to the target torque. The driving unit generates a driving signal according to the target position signal to adjust a rotation angle of the corresponding motor device.

Actuator control method and actuator control device

An actuator control method and an actuator control device that perform energy evaluation control that compares kinetic energy of a controlled object and work that can be done by braking and switches driving to braking at a point of time at which the kinetic energy of the controlled object and the work become equal, and also repeatedly makes a comparison between the kinetic energy of the controlled object and the work at each preset time, as a new control method that replaces PID control in mechanics for effectively utilizing vehicle energy to improve vehicle fuel consumption and control methods thereof, a control result is obtained by a simpler method.

NUMERICAL CONTROLLER

A numerical controller includes a motion start point determination unit that calculates a cycle motion start point where the screw thread cutting cycle is to be started, an acceleration/deceleration control unit that moves the tool from the cycle motion start point to a screw thread cutting start point with motions of a plurality of axes overlapped, and a control unit that controls motions of a machining device based on control instructions received from an instruction analysis unit and the acceleration/deceleration control unit. The cycle motion start point is a point from which acceleration or deceleration of a first axis and a second axis orthogonal to the first axis is started so as to make a speed of the first axis reach a specified cutting feed speed and to make a speed of the second axis substantially become zero at time of arrival at the screw thread cutting start point. 1. A numerical controller that machines a workpiece by controlling a machining device including a tool based on a machining program and that carries out optimal approach of the tool in a screw thread cutting cycle , the numerical controller comprising:an instruction analysis unit that analyzes the machining program;a cycle motion start point determination unit that calculates a cycle motion start point where a screw thread cutting cycle (including a rapid traverse of X axis and a cutting feed of Z axis) is to be started toward an end face of the workpiece;an acceleration/deceleration control unit that moves the tool from the cycle motion start point to the screw thread cutting start point with motions of a plurality of axes overlapped; anda control unit that controls motions of the machining device based on control instructions received from the instruction analysis unit and the acceleration/deceleration control unit, whereinthe cycle motion start point is a point from which acceleration or deceleration of a first axis parallel to a direction of the cutting feed and a second axis orthogonal ...

VIRTUAL RAIL BASED CRUISE METHOD AND APPARATUS AND ROBOT USING THE SAME

The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved. 1. A computer-implemented virtual rail based cruise method for a robot comprising executing on a processor of the robot steps of:obtaining area data of a virtual rail, and performing a rasterization on a digital map based on the area data of the virtual rail to obtain the digital map including the virtual rail;performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; andobtaining one or more control parameters of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the one or more control parameters.2. The method of claim 1 , wherein the step of performing the path planning based on the virtual rail claim 1 , the current position of the robot claim 1 , and the cruise end point to obtain the cruise path comprises:performing the path planning through a preset path planning algorithm based on the current position of the robot and the cruise end point to obtain the cruise path, in response to the current position of the robot and the cruise end point being both within the ...

CONTROL METHOD FOR ELECTRONICALLY CONTROLLED SERVO MECHANISM AND ELECTRONICALLY CONTROLLED SERVO MECHANISM AND ROBOT THEREOF

The present disclosure provides a control method for an electronically controlled servo mechanism as well as an apparatus and a robot thereof. The method is for an electronically controlled servo mechanism including a servo having a PI controller, which includes: obtaining related parameter(s) of the PI controller before tuning, where the related parameters includes a proportional coefficient and an integral coefficient; obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; and tuning the related parameter(s) of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation. In such a manner, the parameter(s) of the PI controller are tuned to make it equivalent to a P controller, thereby avoiding the large oscillation caused by external interference. 1. A computer-implemented control method for an electronically controlled servo mechanism comprising a servo having a PI controller , comprising executing on a processor steps of:obtaining one or more related parameters of the PI controller before tuning, wherein the related parameters comprises a proportional coefficient and an integral coefficient;obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; andtuning the one or more related parameters of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation.2. The method of claim 1 , wherein the step of obtaining the current rotational angle of the output shaft of the servo claim 1 , and calculating the angular deviation between the obtained current rotational angle and the expected rotational angle of the output shaft of the servo comprises: ...

MOTOR CONTROL DEVICE, MOTOR CONTROL SYSTEM AND MOTOR CONTROL METHOD

A motor control device includes circuitry which reads a command value in synchronization with a control period, reads an output of an encoder connected to a motor, controls an output current to the motor based on the command value and the output of the encoder, and offsets a timing for reading the output of the encoder with respect to a timing for reading the command value. 1. A motor control device , comprising: read a command value in synchronization with a control period,', 'read an output of an encoder connected to a motor,', 'control an output current to the motor based on the command value and the output of the encoder, and', 'offset a timing for reading the output of the encoder with respect to a timing for reading the command value., 'circuitry configured to'}2. The motor control device according to claim 1 , wherein the circuitry is configured to offset the timing for reading the output of the encoder by a time period equal to or greater than a time period required for reading the output of the encoder with respect to a timing for starting control of the output current.3. The motor control device according to claim 2 , wherein the circuitry is configured to offset the timing for reading the output of the encoder by a time period equal to or greater than a sum of a time period required for reading the output of the encoder and a time period in which a filter is applied to the output of the encoder with respect to a timing for starting control of the output current.4. The motor control device according to claim 1 , wherein the circuitry is configured to offset the timing for reading the output of the encoder during operation for reading the command value.5. The motor control device according to claim 1 , wherein the circuitry is configured to offset the timing for reading the output of the encoder during operation for controlling the output current.6. The motor control device according to claim 1 , wherein the circuitry is configured to offset the timing for ...

NUMERICAL CONTROLLER CAPABLE OF CHANGING MACHINING CONDITION IN ACCORDANCE WITH MACHINING INFORMATION

A numerical controller reads out an instruction block included in a machining program, obtains machining information indicating a feature of a tool path instructed by the read instruction block, and stores a machining conditions related to a movement of a tool in association with the obtained machining information. Further, the machining information obtained together with the instruction block is determined, and a machining condition in the movement of the tool instructed by the instruction block is changed based on the determined machining information and the stored machining condition. 1. A numerical controller for controlling a machine equipped with a tool , based on a program including an instruction block that instructs a movement of the tool , comprising:an instruction analyzing unit configured to read out the instruction block and obtain machining information that is information indicating a feature of a tool path instructed by the instruction block;a machining condition storing unit configured to store a machining condition that is a condition related to the movement of the tool in association with the machining information;a machining information determining unit configured to determine the machining information obtained together with the instruction block; anda machining condition changing unit configured to change the machining condition in the movement of the tool instructed by the instruction block, based on the machining information determined by the machining information determining unit and the machining condition stored in the machining condition storing unit.2. The numerical controller according to claim 1 , further comprising:a machining condition setting unit configured to set the machining condition stored in the machining condition storing unit.3. The numerical controller according to claim 1 , wherein the feature of the tool path includes any one of:a pick feed as an aim of the movement of the tool instructed by the instruction block;an ...

System and Method for Controlling Redundant Actuators with Different Dynamics

A system includes a first actuator and a second actuator arranged such that joint motions of the first actuator and the second actuator position a controlled parameter. A trajectory generator determines a first trajectory of the first actuator minimizing the motion of the first actuator that positions the second actuator such that each point of the reference trajectory is within a range of the second actuator. The motion of the first actuator is controlled according to the first trajectory. The trajectory generator determines a second trajectory of the second actuator based on a difference between the reference trajectory and the positions the second actuator with respect to the reference trajectory governed by the first trajectory. The motion of the second actuator is controlled according to the second trajectory. 1. A system for positioning a controlled parameter according to a reference trajectory , comprising:redundant actuators including at least a first actuator and a second actuator arranged such that joint motions of the first actuator and the second actuator position the controlled parameter of the system;a memory to store the reference trajectory including a sequence of points defining positions of the controlled parameter of the system as a function of time;a trajectory generator including a processor to determine a first trajectory of the first actuator minimizing the motion of the first actuator that positions the second actuator such that each point of the reference trajectory is within a range of the second actuator and to determine a second trajectory of the second actuator based on a difference between the reference trajectory and the positions the second actuator with respect to the reference trajectory governed by the first trajectory enabling the joint motions of the first actuator and the second actuator to position the controlled parameter of the system along the reference trajectory;a first controller for controlling the motion of the first ...

PROCESSING DEVICE, PARAMETER ADJUSTING METHOD, AND STORAGE MEDIUM

A processing device is provided and electrically connected to a drive controller for driving a control object. The drive controller has a predetermined control structure that includes a feedback system and a control model part, and that enables model follow-up control according to the control models, and has the predetermined control structures corresponding to the control objects, respectively. The processing device determines a common control gain to set a predetermined control gain in the control model part of each predetermined control structure corresponding to the control objects to the common control gain for all the control model parts when synchronous control of the control objects is performed, and instructs the drive controller to set the common control gain for the control model part corresponding to each predetermined control structure. 1. A processing device that is electrically connected to a drive controller for driving a control object , wherein a predetermined control structure that includes a feedback system having one or a plurality of controllers to which a feedback signal relevant to a motion of the control object is input, and a control model part having control models realized by modeling the feedback system and the control object, and that is configured to enable model follow-up control according to the control models which the control model part has; and', 'a calculating part that performs a calculating process of a predetermined signal for drive control of the control object in the predetermined control structure,, 'the drive controller includesthe drive controller performs the drive control on a plurality of the control objects and has a plurality of the predetermined control structures corresponding to the control objects respectively, and a determination part configured to perform a determining process of determining a common control gain to set a predetermined control gain in the control model part of each of the plurality of ...

NUMERICAL CONTROLLER

A numerical controller, which is configured to correct a machine position error based on a torque difference between a master axis and a slave axis, acquires the torque difference after movement of the master and slave axes that move in response to a movement command, and corrects the machine position error by a correction amount based on a value obtained by excluding a torque difference derived from a mechanical strain from the acquired torque difference. The corrected machine position error is added to the movement command for next time. 1. A numerical controller configured to correct a machine position error based on a torque difference ΔT between a master axis and a slave axis , the numerical controller comprising:a movement command unit configured to move the master axis and the slave axis in response to a movement command;a torque difference acquisition unit configured to acquire the torque difference ΔT after the movement; anda machine position error correction unit configured to correct a machine position error by a correction amount based on a value obtained by excluding a torque difference Tm derived from a mechanical strain from the torque difference ΔT,wherein the movement command unit adds the correction amount fed back from the machine position error correction unit to the movement command for next time.2. The numerical controller according to claim 1 , further comprising a correction amount calculation unit for calculating the torque difference Tm claim 1 , whereinthe movement command unit moves the master axis and the slave axis to a plurality of observation points,the torque difference acquisition unit measures the torque difference ΔT at each of the plurality of observation point, andthe correction amount calculation unit defines an average of the torque differences ΔT measured individually at the plurality of observation points as the torque difference Tm. The present application claims priority to Japanese Patent Application Number 2018-031201 ...

Numerical control apparatus and machining method

A numerical control apparatus includes: a thread-whirling motor controller controlling, based on a thread lead representing a movement amount of a thread whirling tool per rotation of a workpiece, a reference differential speed representing a difference between a predetermined reference rotational speed of the thread whirling tool and a rotational speed of the workpiece, the number of tool blades of the thread whirling tool, and a workpiece spindle speed representing the rotational speed of the workpiece, a first motor moving the thread whirling tool, a second motor rotating the thread whirling tool, and a third motor rotating the workpiece. The thread-whirling motor controller controls: the first motor based on the thread lead and the reference differential speed; the second motor based on the thread lead, the reference differential speed, the number of tool blades, and the workpiece spindle speed; and the third motor based on the workpiece spindle speed.

Encoder, servo amplifier, controller, and information exchange method in servo system

An encoder includes a storing unit that retains information concerning a servo amplifier connected in the past. The encoder detects an operation state of a servomotor driven by a servo amplifier connected anew.

MACHINING METHOD AND APPARATUS

Disclosed is a method and apparatus for machining a workpiece (). The method comprises: specifying a path along which a cutting tool () is to be moved during machining of the workpiece (), the path comprising a plurality of segments (); defining, for each segment (), an entry point and an entry path () from a point remote from the workpiece () to that entry point; moving a first cutting tool () along the tool path from a first point to a second point and machining the workpiece (); after the first cutting tool () has been moved to the second point, moving the first cutting tool () to a point remote from the workpiece (); moving a second cutting tool () along the entry path () of the segment () that contains the second point, and then from the entry point to the second point. 12. A method of machining a workpiece () , the method comprising:{'b': 6', '6', '2', '26', '28', '30, 'specifying a tool path for a cutting tool (), the tool path being a path along which the cutting tool () is to be moved during machining of the workpiece (), wherein the tool path comprises a plurality of tool path segments (, , );'}{'b': 26', '28', '30', '26', '28', '30', '26', '28', '30, 'defining, for each tool path segment (, , ), an entry point, wherein the entry point of a tool path segment (, , ) is a point on that tool path segment (, , );'}{'b': 26', '28', '30', '32', '34', '36', '32', '34', '36', '26', '28', '30', '6', '2', '26', '28', '30, 'defining, for each tool path segment (, , ), an entry path (, , ), wherein the entry path (, , ) of a tool path segment (, , ) is a path for a cutting tool () from a point that is remote from the workpiece () to the entry point of that tool path segment (, , );'}{'b': '6', 'moving a first cutting tool () along the tool path from a first point on the tool path to a second point on the tool path;'}{'b': 6', '6', '2, 'as the first cutting tool () is moved from the first point to the second point, machining, by the first cutting tool (), the workpiece ...

CONTROL DEVICE AND MOTOR CONTROL SYSTEM

An adaptive control device according to the present invention includes: a processor that generates a second command value for a motor on the basis of at least one of a first command value received from a numerical control device, feedback data received from a motor control device that controls the motor on the basis of the first command value, and sensor data received from a sensor; and a communication circuit that transmits the second command value to the numerical control device. 1. A control device comprising: a first command value received from a numerical controller;', 'feedback data received from a motor controller that controls the motor on the basis of the first command value; and', 'sensor data received from a sensor;, 'circuitry configured to generate a second command value for a motor on a basis of at least one ofa communication circuit to transmit the second command value to the numerical controller; anda signal relay circuit to allow the first command value transmitted from the numerical controller to pass therethrough to the motor controller without change to the first command value, and allow the feedback data transmitted from the motor controller to pass therethrough to the numerical controller without change to the feedback data, the signal relay circuit being connected to a communication line between the numerical controller and the motor controller.2. (canceled)3. The control device according to claim 1 , wherein the communication circuit further transmits the second command value to the motor controller.4. The control device according to claim 1 , further comprisinga memory to store at least one of the first command value, the feedback data, and the sensor data.5. The control device according to claim 1 , wherein at least one of the first command value claim 1 , the feedback data claim 1 , and the sensor data is stored in an external memory provided outside.6. The control device according to claim 1 , wherein claim 1 ,when detecting an ...

System and Method for Designing Scleral Lenses

A system and method for designing scleral lenses includes a computer, a camera and a lathe connected by a network. The camera captures a set of sagittal images at each of a set of sagittal planes of an eye. A combined sagittal image is created from each set of sagittal images. A spline curve is defined for each combined sagittal image creating a set of spline curves. A set of back surface curves is created from the set of spline curves. A back lens surface is generated from the set of surface curves. A front lens surface is generated adjacent the back lens surface. A point cloud is generated from the back lens surface and the front lens surface. The point cloud is converted to a lens image. The lens is converted to a text file for use by the lathe to cut the scleral lens.

Waveform display device and waveform display method

A waveform display device includes a position information acquisition unit configured to acquire, from a controller for controlling a machine tool, position information indicating a position of a driving axis of the machine tool during machining of a workpiece, a machine information acquisition unit configured to acquire machine information indicating axis configuration of the machine tool, a machining point coordinate calculation unit configured to calculate a coordinate of a machining point of a tool installed to the machine tool, on the basis of the position information and the machine information, a reference surface setting unit configured to set a targeted machining surface of the workpiece as a reference surface, a distance calculation unit configured to calculate distance from each of a plurality of the machining to the reference surface, and a waveform display unit configured to display the calculated distances of the plurality of machining points in a wave form.

END MILLING APPARATUS, CAM APPARATUS, AND NC PROGRAM

An end milling apparatus has an end mill and a support member. The end mill has a cutting portion and a non-cutting portion. The support member supports the non-cutting portion in at least one direction toward the periphery of the end mill. The width of the support member as measured in the direction orthogonal to the direction of the center axis of the end mill and to the direction in which the support member is located as viewed from the end mill is smaller than the outer diameter of the end mill. 1. (canceled)2. (canceled)3. (canceled)4. (canceled)5. (canceled)6. (canceled)7. (canceled)8. (canceled)9. (canceled)10. (canceled)11. (canceled)12. (canceled)13. (canceled)14. (canceled)15. (canceled)16. An end milling apparatus comprising:an end mill comprising a cutting portion and a non-cutting portion; andat least one support member which supports the non-cutting portion of the end mill in at least one direction toward a periphery of the end mill,wherein a width of the support member as measured in a direction orthogonal to a direction of a center axis of the end mill and to a direction in which the support member is located as viewed from the end mill is smaller than an outer diameter of the end mill.17. The end milling apparatus according to claim 16 , further comprising a cutting fluid supply portion which supplies cutting fluid to the end mill claim 16 , wherein the support member supports the non-cutting portion of the end mill via the cutting fluid.18. The end milling apparatus according to claim 16 , further comprising a lubrication oil supply portion which supplies lubrication oil to the end mill claim 16 , wherein the support member comprises a flow passage through which the lubrication oil supplied from the lubrication oil supply section flows claim 16 , and a lubrication oil supply opening for supplying the lubrication oil to the non-cutting portion of the end mill.19. The end milling apparatus according to claim 18 , wherein the support member supports ...

TRAJECTORY MEASURING DEVICE, NUMERICAL CONTROL DEVICE, AND TRAJECTORY MEASURING METHOD

A trajectory measuring device that measures a moving trajectory of a moving target in a machine including three or more movable axes for the moving target, the trajectory measuring device including a trajectory calculating unit that calculates, for each plane having two movable axes among the movable axes as coordinate axes, the moving trajectory on the plane by using command conditions to the moving target including an inter-axis phase difference among the movable axes, command signals to the movable axes generated on the basis of the inter-axis phase difference, and feedback signals indicating positions of the movable axes at time when the movable axes are feedback-controlled such that the positions of the movable axes follow the command signals. 110-. (canceled)11. A trajectory measuring device that measures a moving trajectory of a moving target in a machine provided with three or more movable axes for the moving target , the trajectory measuring device comprising:a display-target-axis designating unit that designates two movable axes, as display targets, out of measurement target movable axes that are the three or more movable axes; and command conditions for the moving target including a radius of a circular command and feed velocity used in measuring the moving trajectory,', 'command signals for the measurement target movable axes common to the measurement target movable axes generated as a sine wave signal that has an amplitude equal to the radius of the circular command and that has a frequency equal to a value obtained by dividing the feed velocity by the radius, and', 'feedback signals indicating positions of the measurement target movable axes when the movable axes are being controlled by using feedback such that the positions of the measurement target movable axes follow the command signals,, 'a trajectory calculating unit that calculates, on the basis of'}the moving trajectory in displaying the moving trajectory on a plane defined by the two movable ...

Coordinated Effects System for an Automated Luminaire

A coordinated effects system and automated luminaire are provided. The automated luminaire includes a light source, an optical device, a first prism system, a second prism system, and a control system. The light source is configured to emit a light beam. The optical device is configured to produce a first image in the light beam. The first and second prism systems include corresponding first and second pluralities of prisms and are configured to position selected ones of their respective prisms in the light beam or to remove all of their prisms from the light beam. The first prism system is configured to rotate the selected one of its prisms to produce a modified image from the image. The second prism system is configured to rotate the selected one of its prisms to produce an output image from the modified image. The control system is configured to control the first and second prism systems. 1. A coordinated effects system , comprising:a first prism system comprising a first plurality of prisms, the first prism system configured to position a selected one of the first plurality of prisms in a light beam passing through the first prism system or to remove all of the first plurality of prisms from the light beam passing through the first prism system, the first prism system further configured to rotate at least one of the first plurality of prisms; anda second prism system optically coupled to the first prism system and comprising a second plurality of prisms, the second prism system configured to position a selected one of the second plurality of prisms in the light beam passing through the first prism system or to remove all of the second plurality of prisms from the light beam passing through the first prism system, the second prism system further configured to rotate at least one of the second plurality of prisms.2. The coordinated effects system of claim 1 , wherein at least one of the first prism system and the second prism system is configured to rotate all of ...

System and Method for Designing Scleral Lenses

A system and method for designing scleral lenses includes a computer, a camera and a lathe connected by a network. The camera captures a set of sagittal images at each of a set of sagittal places of an eye. A combined sagittal image is created from each set of sagittal images. A spline curve is defined for each combined sagittal image creating a set of spline curves. A set of back surface curves if created from the set of spline curves. A back lens surface is generated from the set of surface curves. A front lens surface is generated adjacent the back lens surface. A point cloud is generated from the back lens surface and the front lens surface. The point cloud is converted to a lens image. The lens is converted to a test file for use by the lathe to cut the scleral lens. 122-. (canceled)23. A method of designing a scleral contact lens comprising:capturing a sagittal image of the anterior surface of an eye;extracting a surface curve from the sagittal image;creating a back surface curve from the surface curve;generating a back lens surface from the back surface curve;creating a front surface curve from the back surface curve; andgenerating a front lens surface from the front surface curve.24. The method of wherein said creating a back surface curve comprises:creating a spline curve for the sagittal image; andconverting the spline curve to a back surface curve.25. The method of wherein the sagittal image is captured by a camera.26. The method of claim 23 , wherein the step of generating a back lens surface from the back surface curve further comprises the steps of:generating a back optical surface;creating a back haptic surface curve for the back surface curve;generating a back haptic surface from the back haptic surface curve;generating a back blend surface; andcombining the back optical surface, the back haptic surface, and the back blend surface to form the back lens surface.27. The method of claim 26 , wherein the step of generating a back optical surface further ...

Rotary position control system - has magnetic tape generating incremental signals and with built-in magnetic brake

The digital control system is designed to provide rotary position control based upon a specified number of revolutions plus a number of degrees. The system uses a rotor (100) coupled to the shaft of the machine tool. A magnetic tape (18) has recorded bits that correspond to each increment of rotary motion. The bits are read by a magnetic pick-up (12) and are fed to separate counters that totalise the full revolutions and the degrees. Digital circuitry monitors the counter values to initiate a stop and hold action. A magnetic brake unit (106) is activated to hold the shaft in the correct position.

Adaptive pulsing motor control for positioning system

A motor control positioning apparatus and method are disclosed wherein variable duration pulses are fed to a DC motor. After the vicinity of the destination has been reached, the final pulsing stage is initiated, in which a short duration pulse is fed to the motor; position is then checked to determine if forward movement of the driven element has occured; and if movement has not occurred, the pulse duration is increased by an increment which is repeated until movement does occur. Thereupon a new series of such pulses is started; and this cycling continues until destination is reached.

Incrementally controllable motor drive system

The motor is to be controlled to execute steps having a preselected step length. A displacement transducer is coupled to the motor and furnishes a displacement signal having a constant first predetermined value during motor movement by a predetermined fraction of said step length and changes to a second predetermined value during motor movement by the remainder of the step length. A voltage divider circuit and a differentiator circuit are connected to the output of the transducer and furnish a proportional and a differentiated signal. The two signals are combined in an operational amplifier whose output serves as a control signal for controlling the operation of the motor. The transducer includes three light transmitter-receiver pairs which are switched on in a first sequence when the motor rotates in one direction and in a second sequence for rotation in the opposite direction. The light passing from each transmitter to receiver is controlled by a diaphragm which has a pattern comprising a light transmissive portion extending for half a step length, a light transmissive to light blocking transition extending over a full step and a light blocking portion extending over a half a step. All the light receivers are tied together at a common point and a selector circuit selectively energizes the transmitter-receiver pairs so that each furnishes a partial signal which, when added to the other partial signals forms the complete displacement signal. The selector circuit is responsive to step initiating signals. If a monitoring circuit is provided to furnish "step performed" signals each indicative of a performed step and if these step performed signals are applied to the selector circuit to constitute the step initiating signals, then synchronism between the motor motion and the displacement transducer can be maintained and the motor can readily be switched from a position-uncontrolled to a position-controlled mode.

Apparatus to effect remote automatic positioning of web slitter

Positioning apparatus to position automatically slitting devices of a slitting machine. Web of sheet material passing through machine is slit to required width by slitting devices, bases of which are mounted on rails extending transversely across web. Transmission means for moving slitting devices along rails includes a feed screw mounted for rotation adjacent to each rail and parallel therewith, a feed nut engaging the feed screw and cooperating with slitter base, a clutch means permitting relative rotation between nut and slitter base in freewheeling mode and preventing relative rotation in feed mode, and a brake means cooperating with slitter base and respective rail to lock slitter base to rail in freewheeling mode. Reversible drive means rotate the feed screws so that both slitter bases move together in feed mode. Electrical datum switch means is provided adjacent rail for each slitter base, and counter counts revolutions of feed screw from particular instant to determine position of particular slitter from respective datum. Electronic control means connected to clutch means, brake means, drive means, datum switch means and counter, processes and verifies signals for actuating the brake and clutch means and feed screws to attain desired position of slitters.

Stage device

Recording device

複数動作の作業を行なう工作機械の制御装置

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位置決め装置

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Measurement method by numerical control device

The device has a calculator for calculating and storing the difference between the number of feedback pulses generated every time a movable unit moves in a predetermined distance and the number of instruction pulses generated from a pulse distributor for controlling a motor. The difference is made to becomd zero. The detected pulses generated from a detector are counted by the calculator, giving the counted value read to the pulse distributor. The difference between the number of distributed pulses generated from the pulse distributor and the number of pulses detected by the calculator is calculated.

Control of servo motor

Control system for movement of movable member

Time division type dc motor controlling system

Position control apparatus and method by servo motor

The method for the position control of the servo motor controls the position with a linear equation expressing the exponential acceteration/deceteration of the motor speed without using the complex non-linear equation calculated at each sampling time. The calculation is performed at receiving each interrupt signal in the microprocesser. The interrupt signal is provided from the timer.

マニピユレ−タの制御装置

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Phase indexing method

Motion control apparatus

ABSTRACT OF THE INVENTION Apparatus is disclosed for controlling the movement of a moveable element between an initial starting position and a final stopping position. The apparatus comprises drive means coupled to the movable element and responsive to motor drive signals for moving the movable element along a predefined path between said starting and stopping positions; and first generating means for generating a first command velocity signal having a first state when the actual velocity of the movable element exceeds a predetermined value and a second state when the actual velocity of the movable element is less than the predetermined value. A controller periodically senses the state of the first command velocity signal when the movable element has less than a first predetermined distance and greater than a second predetermined distance to travel to the final stopping position and controls the levels of the motor drive signals to cause (a) the acceleration of the movable element by the drive means when the first command velocity signal issensed at its first state. and (b) the deceleration of the movable element by the drive means when the first command velocity signal is sensed at its second state.

Injection molding machines and methods for controlling the same

내용 없음. No content.

Control system for feeding

Patent JPS522074B1

Quadrant projection correction method in full closed loop system

Industrial robot unit with drive motor current control

내용 없음

Positioning device

본 발명은 디지털적으로 목표값을 설정하는 위치결정장치에 있어서 위치결정 정밀도를 향상시키고 또한 가격의 저감을 가능하게 하는 구성을 제공하는 것으로서, 제어목표값의 상한값 및 하한값을 클록에 동기하여 번갈아 단일한 D/A컨버터(105)에 공급하고, 이 아날로그출력을 위치검출기인 제어대상(예를들면 PBR(110))과 비교하여, 이 차전압으로 구동수단(모터(109))을 구동하여 위치결정을 행한다. 이 경우, 상하한값 설정의 상태와 차전압의 극성의 조합으로 구동수단(모터(109))의 진행방향과 구동/정지의 제어를 행하여, 제어동작중에는 상기 셀렉터의 전환동작을 정지함으로써 제어의 고속화 및 원활화가 가능해진다. 또, 위치검출을 인코더로 행함으로써 제어시스템 전체의 디지털화가 가능해지고, 시스템의 IC화가 촉진되어, 소형의 고안정 제어시스템이 실현된다.

Servo Moter Speed Loop Gain Control Unit of CNC

본 발명은 공작물의 중량에 따라 최적의 동작 정밀도를 유지하기 위하여 속도 루프 게인들을 자동 조절하여 상한돌기를 억제토록 하는 것을 특징으로 하는 상한 돌기 방지를 위한 상한 돌기 방지를 위한 공작기계의 서보모터 속도루프 게인류 제어장치 및 방법에 관한 것으로, The present invention is a servomotor speed loop of a machine tool for preventing the upper limit projection for preventing the upper limit projection, characterized in that the upper limit projection is prevented by automatically adjusting the speed loop gains in order to maintain the optimum operation accuracy according to the weight of the workpiece. It relates to a gain control device and method, 제어변수 입력수단과; 속도이득 제어 데이터 베이스와, 진동제어에 관련된 진동제어 데이터 베이스와, 마찰제어에 관련된 마찰제어 데이터 베이스를 갖는 데이터 테이블과; 공작물의 미세 이송에 의한 부하 전류의 변동치를 측정하는 전류측정수단과; 상기 전류측정수단에서 측정된 전류값을 근거로 표준 중량 대비 비교값을 산출하는 공작물 중량변환 수단과; 상기 공작물 중량변환 수단으로부터 현재 공작물의 중량을 파악하고 이에 따른 변수 데이터를 데이터 테이블로부터 전송받아 서보모터의 동작을 제어하는 제어기를 포함하여 이루어진 것이 특징이며; Control variable input means; A data table having a speed gain control database, a vibration control database related to vibration control, and a friction control database related to friction control; Current measuring means for measuring a variation of the load current due to the fine conveyance of the workpiece; Workpiece weight converting means for calculating a comparison value with respect to a standard weight based on the current value measured by the current measuring means; A controller for grasping the current workpiece weight from the workpiece weight converting means and receiving the variable data from the data table to control the operation of the servomotor; 본 발명은 공작물의 중량 데이터에 따라서 자동으로 제어변수를 제공하여 서보모터의 제어에 적용함으로써, 절삭대상의 표면을 원호 가공시 동적 정밀도를 최적화시키는 효과를 제공한다. The present invention automatically provides control variables according to the weight data of the workpiece and applies them to the control of the servomotor, thereby providing an effect of optimizing the dynamic precision during arc processing of the surface of the cutting target. 공작기계, 서보모터, 돌기 Machine Tool, Servo Motor, Turning

Precision positioning device

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Operation control device for power seat for vehicle

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Position controller

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Motor speed-based anti-pinch control apparatus and method

The apparatus and method includes a panel movable between at least two positions. An electric motor has a rotating armature. A multiple pole magnet is mounted on the armature. A sensor detects the passage of each magnet pole and generates an output signal. A control measures time periods between each pole passage. An average time period is computed over a predetermined number of time periods. The difference between average time periods is computed and compared with a threshold difference to determine if an obstacle is present in the path of movement of the panel. Transient counts are accumulated for increasing average time periods over a number of time period samples as a measurement of the force exerted on an obstacle by the panel to detect an obstacle.

Position detection assembly for a motor-driven adjustable functional element in a motor vehicle

Die vorliegende Erfindung betrifft eine Positionserfassungsanordnung für ein motorisch verstellbares Funktionselement (1) in einem Kraftfahrzeug, wobei eine Antriebsanordnung (2) über einen Antriebsstrang (3) mit dem Funktionselement (1) gekoppelt und das Funktionselement (1) dadurch motorisch verstellbar ist, wobei zwei inkrementale Drehgeber (4, 5) vorgesehen sind, die dem Antriebsstrang (3) zugeordnet sind und wobei eine Steuerungseinrichtung (6) vorgesehen ist, die mit den Drehgebern (4, 5) gekoppelt ist. Es wird vorgeschlagen, daß die Anordnung so getroffen ist, daß bei der Verstellung des Funktionselements (1) ein Versatz zwischen den Drehgebersignalen der beiden Drehgeber (4, 5) entsteht und daß die Steuerungseinrichtung (6) so ausgelegt ist, daß sie aus dem Versatz die Absolutposition des Funktionselements (1) ermittelt. The present invention relates to a position detection arrangement for a motor-adjustable functional element (1) in a motor vehicle, wherein a drive arrangement (2) via a drive train (3) coupled to the functional element (1) and the functional element (1) is thereby motor-adjustable, wherein two incremental rotary encoders (4, 5) are provided, which are associated with the drive train (3) and wherein a control device (6) is provided which is coupled to the rotary encoders (4, 5). It is proposed that the arrangement is made such that when adjusting the functional element (1) an offset between the encoder signals of the two rotary encoder (4, 5) is formed and that the control device (6) is designed so that they from the offset determines the absolute position of the functional element (1).

Position detection arrangement for a functional element which can be positioned by a motor in a motor vehicle

A first position detection arrangement for a functional element ( 1 ) which can be positioned by a motor in a motor vehicle, a drive arrangement ( 2 ) being coupled via a drive train ( 3 ) to the functional element ( 1 ) and the functional element ( 1 ) thus being positionable by a motor, there being two incremental rotary transducers ( 4, 5 ) which are assigned to the drive train ( 3 ) and there being a control ( 6 ) which is coupled to the rotary transducers ( 4, 5 ). It is suggested that the arrangement is made such that, when the functional element ( 1 ) is being positioned, an offset arises between the rotary transducer signals of the two rotary transducers ( 4, 5 ), the control means ( 6 ) being designed such that it determines the absolute position of the functional element ( 1 ) from the offset.

Position detection assembly for a motor-driven adjustable functional element in a motor vehicle

The position detection arrangement has a drive arrangement coupled through a drive train to a functional element for enabling the functional element to be positioned by a motor. A pair of incremental rotary transducers (4,5) is assigned to the drive train. A controller is coupled to the rotary transducers, for determining the absolute position of the functional element from the offset between the rotary transducer signals of the transducers.

Positioning device

XY 스테이지(1)를 모터(2)에 의해 목표위치로 이동시키는 위치 결정장치에 있어서, 레이저간섭계(6)는 XY 스테이지(1)의 위치를 측정하여, 위치정보 (P(x,y))를 차분기(5)와 개인설정수단(8)으로 공급한다. 개인설정수단(8)은 위치정보 (P(x,y))에 의거해서 보상기(4)의 전달함수(Gxy(s))를 설정하고, 보상기(4)는 설정된 전달함수 (Gxy(s))에 의해 편차(S)를 증폭하여 드라이버(3)를 제어한다. In the positioning device for moving the XY stage 1 to the target position by the motor 2, the laser interferometer 6 measures the position of the XY stage 1, and the position information (P (x, y)) Is supplied to the difference unit 5 and the personal setting means 8. The personal setting means 8 sets the transfer function Gxy (s) of the compensator 4 based on the positional information P (x, y), and the compensator 4 sets the transfer function Gxy (s). A) to amplify the deviation S to control the driver 3.

Control system for indexing spindle position

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Control system for manipulator apparatus with initializing stabilization and inertia scaling

A control system is provided for servo controlled apparatus such as a programmable manipulator having a manipulator arm movable in a plurality of axes. The control system provides improved dynamic performance and control of the manipulator arm over a wide range of arm loads, dynamic operating parameters of the arm and over the full range of operating positions. The control system for one or more of the controlled axes includes servo control loops utilizing various feedback signals. In one arrangement, an inertia correlated signal provided as a pressure signal from a hydraulic actuator of an appropriate axis is utilized in combination with a function generator circuit to provide variable inertial scaling of selected loop command signals. The axis utilized for the pressure signal is determined by the mounting of the manipulator apparatus so as to provide a signal correlated to the inertial mass system of the manipulator arm. A pressure signal from an actuator of an axis to be controlled is utilized to initialize the command signals for the axis upon power turn-on of the control system to provide stabilization of the manipulator arm during the power turn-on and initializing phase.

Motion control system with minimum time path generation

A minimum time path generation routine for a motion control system, where the routine is uniquely adapted for use in a digital mechanization.

Industrial robot

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Motor control device and printer

Overload detecting method

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Patent JPS6150744B2

Circuit and method for controlling a dc motor

자동적으로 옵셋 조정이 행해진다. Offset adjustment is automatically performed. DC 모터(1)의 모터축 정지위치에 있어서의 위치 엇갈림을 보상하는 위치 엇갈림 보정신호 발생기(21)를 설치하고, 위치 엇갈림 보정정보 및 위치 센서(2)로 부터의 신호를 기초로 하여 위치엇갈림 보정신호발생기(21)의 출력신호를 컴퓨터(3)로 제어한다. Position stabilization correction signal generator 21 is provided to compensate for position stagnation at the motor shaft stop position of the DC motor 1, and the position shift is based on the position stabilization correction information and the signal from the position sensor 2. The output signal of the correction signal generator 21 is controlled by the computer 3.

Patent JPH0473688B2

Method of returning to origin

내용 없음.

Speed control system for servo motor

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Feeder

Circuit for speed regulation of motor

내용 없음.

Motor rotation direction detection circuit

Positioning information reader & reading method

본 발명은 로보트 컴퓨터수치제어(Computerized Numerical Control) 공작기계등에 있어서, 구동모터의 현재위치를 검지하는 엔코더 또는 리졸버 따위의 위치검지센서에 의한 검지값을 정확하게 판별함으로써 위치제어 정밀성을 향상시킬 수 있는 위치제어시스템의 위치정보 판별장치 및 그 판별방법에 관한 것으로써, 모터의 현재 위치를 검지하는 위치검출기와, 상기 위치검출기에 의해 검지된 모터의 현재위치정보를 일정주기마다 카운트하는 위치카운터와, 상기 위치카운터에 의해 카운트된 모터의 현재위치정보를 입력받아서 이를 해독하고 이 해독된 위치정보 데이터를 자체에 저장되어 있는 정상적인 위치명령값과 비교하여 모터의 위치제어값(보상값)을 발생하는 중앙처리장치와, 상기 중앙처리장치에 의해 발생된 모터의 위치제어값을 아날로그 데이터로 변환하여 모터를 제어하는 D/A변환기를 이용하여 모터의 현재 구동위치를 검지하고 이 검지된 값을 카운트하고 모터의 현재 위치정보를 일정횟수 반복하여 해독하는 제1스텝과, 상기 일정횟수 반복 해독한 결과에 따라 중간값을 일단 모터의 현재위치정보로 판단하는 제2스텝과, 상기 모터의 현재위치정보로 판단된 값에 대한 정확성 여부를 일정값과의 대소 여하에 따라 판별하는 제3스텝과, 상기 판별결과, 모터의 현재위치 정보로 판단된 값이 정확하지 않다고 판별되었을 경우에는 모터의 이동시 및 정지시로 구분하여 위치정보를 추정하는 제4스텝과, 상기 추정된 위치정보에 의거하여 모터의 위치에러 여부를 판별하고, 이 에러여부에 따라 모터를 제어하는 제5스텝으로 이루어진 것을 특징으로 한다. In the present invention, a robotized computerized control (Machine) machine tool, such as a position which can improve position control accuracy by accurately determining a detection value by an encoder or a position detection sensor that detects a current position of a drive motor. A position information discrimination apparatus of a control system and a method for determining the same, comprising: a position detector for detecting a current position of a motor, a position counter for counting current position information of a motor detected by the position detector at regular intervals; Central processing that receives the current position information of the motor counted by the position counter, decodes it, and compares the decoded position information data with the normal position command value stored therein to generate the position control value (compensation value) of the motor. Device and a position control value of the motor generated by the central processing unit. A first step of detecting the current driving position of the motor by using a D / A converter which controls the motor by converting the motor to the motor, counting the detected value, and repeatedly decoding the ...

Control system for start-up stabilization and inertial measuring type manipulator

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Motor rotation direction and speed sensing circuit

Main shaft driving device using induction motor

Main spindle controlling system of machine tool

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Stage device

스테이지 장치는 베이스, 베이스에 이동가능하게 제공된 가동부재, 댐핑력을 가동 부재에 제공되는 댐핑계, 베이스에 대한 가동부재의 위치를 검출하는 위치 검출기, 위치 검출기에 의한 검출 결과에 의거해서 가동 부재의 목표 위치로부터 가동 부재의 위치 편차를 구하는 편차 검출기 및, 상기 편차 검출기에 의해 검출된 편차에 따라 댐핑력을 변화시키는 댐핑 제어계를 포함한다.ㅣ

Machine tool spindle drive

Motor control method

Elevator system having microprocessor-based door operator

An elevator system has a door operator with a door operator motor and a dedicated microprocessor for storing door open and door close cycles. The microprocessor initiates door open and close cycles responsive to external door open and door close commands. Preferably the microprocessor stores a plurality of door closed cycles in which the elevator controller selects one of the cycles when issuing a door closed command.

Brushless motor

A wholly digital motor-control system for surgical instruments is disclosed. The signal processor and drive-controller communicate digitally through optical fibers. The system provides fail-safe shutdown in the event that communication ceases for longer than a predetermined time, torque limitation and control of complex movement patterns.

Motor controlled surgical system and method having positional control

A surgical system, adapted to operate with at least one surgical device, has a handpiece containing a motor which is adapted to receive the surgical device. The surgical device is driven through a continuum of positions by the motor output shaft. A controller microprocessor controls the operation of the system. The motor has sensors for generating electrical position signals and the controller is responsive to input signals for defining both a stop position and a reversal position for the surgical device. As a result, the controller initiates operation of the surgical device at the so called stop position and stops operation of the surgical device so that it comes to rest substantially at the stop position. In an oscillatory mode of operation, the controller also forces reversals to occur solely at a reversal position dictated by the system, under the control of the user. In connection with an arthroscopic cutting device, the control enables the surgeon to control, for example, the opening of the aperture through which tissue and fluids are removed from the surgical site during the reversal and start/stop conditions.

Multi-degree-of-freedom stage controller

Printer

Motor position control device

Injection molding machine

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Electric discharge machine

내용 없음. No content.

Bi-axial synchronous driving apparatus

내용 없음. No content.

Digital positioning servo system

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Device and method of motor control

FIELD: control systems. SUBSTANCE: device has power supply source, pulse signals pickup connected with pulse shaper (interface), operative control unit connected with interface for receiving control signals whose output and output of pulse shaper are connected, respectively, to first and second inputs of microprocessor-type data processing unit to third input of which power supply source is connected. Output of data processing unit is connected to motor power supply input. Device has additional starting programming pushbutton recording reference points and connected to fourth input of microprocessor-type data processing unit. Pulse signals pickup is made in form of gear wheel installed for rotation in proportion to movement of door whose gear circumference is located close to inductive unit on field transistor detecting passage of wheel teeth by inductive coupler. Motor supply source has bidirectional triode thyristor unit or groups of bidirectional triode thyristors acting to reverse motor power supply phases. EFFECT: enlarged operating capabilities. 10 cl, 3 dwg ууу б0с ПЧ ГЭ РОССИЙСКОЕ АГЕНТСТВО ПО ПАТЕНТАМ И ТОВАРНЫМ ЗНАКАМ (19) (51) МПК ВИ” 2 094 354 ' 13) Сл В 66 В 1/00 12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ РОССИЙСКОЙ ФЕДЕРАЦИИ (21), (22) Заявка: 5010929/03, 06.03.1992 (30) Приоритет: 07.03.1991 ЕК 91-02738 (46) Дата публикации: 27.10.1997 (56) Ссылки: ЗЦ, авторское свидетельство, 475336, кл. В 66 В 1/00, 1975. (71) Заявитель: Отис Иливейтор Компани (ЦЗ) (72) Изобретатель: Алэн Вериллон[ ЕК], Жан Луи Кавалло[ЕК] (73) Патентообладатель: Отис Иливейтор Компани (ЦЗ) (54) УСТРОЙСТВО И СПОСОБ УПРАВЛЕНИЯ ДВИГАТЕЛЕМ (57) Реферат: Назначение: изобретение относится к устройствам управления. Сущность изобретения: устройство содержит средство подачи питания на двигатель, датчик импульсных сигналов, соединенный с формирователем импульсов (интерфейс), блок оперативного управления, соединенный с интерфейсом для приема управляющих сигналов, выход котороо и — выход формирователя ...

Speed detecting circuit

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Precision positioning device

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Metering device for injection molding machine

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Control system for two-dimensional object

FIELD: machine building. SUBSTANCE: invention relates to control of milling machines. For this purpose, control system, which comprises a programmer, first comparator, first drive, third comparator, second drive. In system, first output of programmer is connected to input of first reference pattern, output of which is connected to first input of second comparator, second input of which is connected to output of first drive, and output from first correction means connected to first input of first adder, second input of which connected to output of first comparator and output of first adder is connected to input of first drive, second output of programmer is connected to input of second reference pattern, output of which is connected to first input of fourth comparator, second input coupled to output of second drive, and exit through second correction means coupled to first input of second adder, second input coupled to output of third comparator, and output of second adder is connected to input of second actuator. EFFECT: technical result is increase of accuracy and efficiency of machines. 1 cl, 1 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (51) МПК G05B 19/18 (13) 2 582 858 C1 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ 2015100686/08, 12.01.2015 (24) Дата начала отсчета срока действия патента: 12.01.2015 (72) Автор(ы): Оралова Ольга Андреевна (RU), Борматов Данила Владимирович (RU) (73) Патентообладатель(и): Оралова Ольга Андреевна (RU) R U Приоритет(ы): (22) Дата подачи заявки: 12.01.2015 (45) Опубликовано: 27.04.2016 Бюл. № 12 2 5 8 2 8 5 8 R U (54) СИСТЕМА УПРАВЛЕНИЯ ДВУХКООРДИНАТНОГО ОБЪЕКТА (57) Реферат: Изобретение относится к управлению выходом первого устройства сравнения, а выход фрезерными станками. Технический результат первого суммирующего устройства соединен с повышение точности и производительности входом первого привода, второй выход станков. Для этого предложена система программатора ...

DC motor position control circuit and its method

자동적으로 옵셋 조정이 행해진다. DC 모터(1)의 모터축 정지위치에 있어서의 위치 엇갈림을 보상하는 위치 엇갈림 보정신호 발생기(21)를 설치하고, 위치 엇갈림 보정정보 및 위치 센서(2)로 부터의 신호를 기초로 하여 위치엇갈림 보정신호발생기(21)의 출력신호를 컴퓨터(3)로 제어한다.

Control System for Industrial Robot

내용 없음

Robot controller

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Method for adjusting control error of photoengraving machine

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