SYNCHRONOUS CONTROL DEVICE, SYNCHRONOUS CONTROL SYSTEM, SYNCHRONOUS CONTROL METHOD, AND SIMULATION DEVICE

A synchronous control device () includes a spindle control part () and a driven shaft control part (). The driven shaft control part () includes a driven shaft command position variation suppression part () which generates as a driven shaft command phase (Ps) a projected driven shaft command phase obtained by adding an advance angle amount (Pa) corresponding to a spindle speed to a spindle phase (Pm) in a case where a sign of the spindle speed is reverse from a previous period, and generates as the driven shaft command phase (Ps) a value in which a sign of a shift from the driven shaft command phase in the previous period is not reverse from the sign of the spindle speed in a predetermined case where the sign of the spindle speed is not reverse from the previous period. 1. A synchronous control device comprising:a spindle control part which outputs a spindle command position to a spindle servo control mechanism; anda driven shaft control part which receives a spindle feedback position in the spindle servo control mechanism and outputs a driven shaft command position to a driven shaft servo control mechanism,wherein the driven shaft control part comprises: a phase calculation part which calculates a spindle phase based on the spindle feedback position; a speed calculation part which calculates a spindle speed based on the spindle feedback position; an advance angle amount calculation part which calculates an advance angle amount corresponding to the spindle speed; and a driven shaft command position generation part which generates the driven shaft command position based on a driven shaft command phase, and calculates a projected driven shaft command phase obtained by adding the advance angle amount to the spindle phase,', 'generates the projected driven shaft command phase as the driven shaft command phase in a case where a sign of the spindle speed is reverse from a previous period, and', 'generates as the driven shaft command phase a value in which a sign of a ...

DYNAMICALLY CONFIGURABLE PRODUCTION AND/OR DISTRIBUTION LINE CONTROL SYSTEM AND METHOD THEREFOR

The present disclosure relates to control systems for controlling and dynamically configuring a production line. The production line includes one or multiple peripheral devices respectively located throughout the production line. A controller, or control unit, may, in one embodiment, extract binary instructions included in a file received from a source external to the controller, and the controller operates each of the devices on the production line based on the binary instructions embedded in the file. 1. System for controlling a production or distribution line , the system comprising:at least one peripheral device operable to perform at least one peripheral device operation on the line, anda control unit comprising a processor and a memory storing a control program,wherein the control unit is operable to control the at least one peripheral device by executing on the processor the control program to drive each of the at least one peripheral device being necessary according to a first configuration file of the control program, to carry out its respective peripheral device operation(s) according to the first configuration file, wherein the first configuration file corresponds to a first scenario of production or distribution; to stop the operations of the at least one peripheral device involved in the first scenario, to put each peripheral device in an inactive state, and then to detect that each peripheral device is in an inactive state;', 'to receive a reconfiguration instruction from an external source;', 'upon detecting that each peripheral device is in an inactive state and receiving the reconfiguration instruction, to configure each of the at least one peripheral device being necessary according to a second configuration file of said control program, wherein the second configuration file corresponds to a second scenario of production or distribution, and the second scenario differs from the first scenario;', 'to detect a state, hereinafter referred to as “ready ...

Real-time equipment control

In one example, a system for real-time execution in a non-real-time processing system includes a processor and a processor and storage device. The storage device stores instructions that, in response to execution by the processor, cause the processor to identify a processing unit for a single thread real-time execution environment. The instructions also cause the processor to determine that an application is submitted for real-time execution. The instructions additionally cause the processor to assign a shared memory space to the application. Further, the instructions cause the processor to submit real-time instructions received from a real-time control loop of the application to the identified processing unit.

Measurement system

A measurement system includes a control device which controls a control target device in real time and transmits control data to a terminal device, and a measuring instrument which acquires data indicating a physical status of the control target device and transmits the data as measurement data to the terminal device. The control device includes a control unit and a sequence control unit, and the control unit transmits a timing signal to the measuring instrument. The control device transmits the control data that includes a piece of time information based on the timing signal to the terminal device. The measuring instrument transmits the measurement data that includes a piece of time information based on the timing signal to the terminal device. The terminal device compensates for a delay between the control data and the measurement data on the basis of the pieces of time information.

METHOD OF CREATING A TASK PLAN, INFORMATION PROCESSING APPARATUS AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM

A method of creating, by a computer, a task plan that prescribes an execution time of a task on which a completion time limit is set, the method includes allocating the execution time of at least one first task in a first period, calculating a first total time length for execution of the at least one first task allocated in the first period, identifying at least one second task that is not allocated in the first period and has the completion time limit set in the first period, calculating a second total time length for execution of the at least one second task, and displaying the first total time length and the second total time length on a display device. 1. A method of creating , by a computer , a task plan that prescribes an execution time of a task on which a completion time limit is set , the method comprising:allocating the execution time of at least one first task in a first period;calculating a first total time length for execution of the at least one first task allocated in the first period;identifying at least one second task that is not allocated in the first period and has the completion time limit set in the first period;calculating a second total time length for execution of the at least one second task; anddisplaying the first total time length and the second total time length on a display device.2. The method according to claim 1 , whereinin the displaying the first total time length and the second total time length on the display device, a graph that represents the second total time is displayed on the display device with a graph that represents the first total time length.3. The method according to claim 1 , further comprising:allocating the at least one first task to a manufacturing line,wherein the first total time length is calculated based on a manufacturing capability of the manufacturing line.4. The method according to claim 1 , whereinthe first total time length is a standard time length associated with the at least one first task.5. The ...

Execution Windows For An Input Module Of An Industrial Controller

An input module for an industrial controller includes configurable execution windows. The execution windows are defined by a first parameter and a second parameter stored within the input module. A third parameter defines a status bit which is compared against the execution window to set a window output signal within the input module. The execution window may define a range between the first and second parameters against which the status bit is compared. Alternately, the first and second parameters may define setpoints against which the status bit is compared. At one of the setpoints, the window output signal is set and at the other of the setpoints, the window output signal is reset. 1. An input module for an industrial controller configured to control an industrial machine or process , the input module comprising:a plurality of input terminals, wherein each input terminal is configured to receive an input signal from a device on the industrial machine or process;a memory device configured to store a series of instructions and a plurality of configuration parameters, wherein the configuration parameters include a first parameter corresponding to a first setpoint, a second parameter corresponding to a second setpoint, and a third parameter corresponding to a status bit; and read a present value of the status bit,', 'compare the present value of the status bit to the first setpoint and the second setpoint, and', 'set a window output signal as a function of comparing the present value of the status bit to the first setpoint and the second setpoint., 'a processor configured to execute the series of instructions to2. The input module of wherein the processor is further configured to set the window output signal when the present value of the status bit is within a range defined between the first setpoint and the second setpoint and to reset the window output signal when the present value of the status bit is outside of the range defined between the first setpoint and the ...

System for real-time control of semiconductor wafer polishing including optical monitoring

A system for polishing a semiconductor wafer, the system comprising a wafer polishing assembly for polishing a face of a semiconductor wafer at a polishing rate and a polishing uniformity, the wafer polishing assembly including a platen subassembly defining a polishing area, a slurry supply system delivering a slurry to the polishing area, and a polishing head selectively supporting a semiconductor wafer and holding a face of the semiconductor wafer in contact with the platen subassembly; and an optical measurement system measuring film thickness at multiple different locations on the wafer face while the wafer is under a liquid, wherein drying of the wafer is avoided while the measurements are taken.

System for real-time control of semiconductor wafer polishing including optical montoring

A system for polishing a semiconductor wafer, the system comprising a wafer polishing assembly for polishing a face of a semiconductor wafer at a polishing rate and a polishing uniformity, the wafer polishing assembly including a platen subassembly defining a polishing area, a slurry supply system delivering a slurry to the polishing area, and a polishing head selectively supporting a semiconductor wafer and holding a face of the semiconductor wafer in contact with the platen subassembly; and an optical measurement system measuring film thickness at multiple different locations on the wafer face while the wafer is under a liquid, wherein drying of the wafer is avoided while the measurements are taken.

System for real-time control of semiconductor wafer polishing

A system for polishing a semiconductor wafer, the system comprising a wafer polishing assembly for polishing a face of a semiconductor wafer at a polishing rate and a polishing uniformity, the wafer polishing assembly including a platen subassembly defining a polishing area, and a polishing head selectively supporting a semiconductor wafer and holding a face of the semiconductor wafer in contact with the platen subassembly to polish the wafer face; and a controller selectively adjusting one of a plurality of adjustable polishing parameters during polishing of the wafer.

Integrated control platform for injection molding system

다수의 피드백 신호를 발생하는 다수의 디바이스를 가진 주입 몰딩 시스템을 제어하기 위한 장치 및 방법은 디스플레이 및 적어도 하나의 운영자 입력 디바이스를 가진 운영자 제어 스테이션을 제공하는 구조 및 단계를 포함한다. 단일의 범용 컴퓨터는 운영자 제어 패널에 또한 다수의 주입 몰딩 디바이스에 결합되며, 주입 몰딩 기능 및 운영자 제어 기능의 멀티-태스킹 제어를 수행한다. 이 컴퓨터는 바람직하게는 다수의 주입 몰딩 디바이스의 실시간 폐루프 제어를 수행하며 또한 시스템 피드백 신호 및 운영자 입력 신호를 처리한다. 따라서, 종래 기술의 아날로그 프로세서 및 프로그램가능 논리 제어기가 필요하지 않다. 바람직하게는, 단일 범용 컴퓨터는 근거리 네트워크 및 인터넷에 접속되어 주입 몰딩 시스템의 외부 제어 및 운영 파라메터의 피드백이 가능하게 된다.  An apparatus and method for controlling an injection molding system having a plurality of devices generating a plurality of feedback signals includes structures and steps for providing an operator control station having a display and at least one operator input device. A single general purpose computer is coupled to the operator control panel and also to the plurality of injection molding devices, and performs multi-tasking control of the injection molding function and the operator control function. The computer preferably performs real-time closed loop control of multiple injection molding devices and also processes system feedback signals and operator input signals. Thus, there is no need for prior art analog processors and programmable logic controllers. Preferably, a single general purpose computer is connected to the local area network and the Internet to enable feedback of external control and operating parameters of the injection molding system. 주입 몰딩 시스템, 운영자 입력 디바이스, 피드백 신호, 운영자 제어 스테이션, 운영자 제어 패널, 멀티-태스킹 제어, 주입 몰딩 디바이스 Injection molding system, operator input device, feedback signal, operator control station, operator control panel, multi-tasking control, injection molding device

一种注塑系统

本发明提供一种注塑系统，其由单台既执行机器控制功能又执行人机界面功能的通用计算机控制。所述的注塑系统包括用于执行注塑操作的多个注塑装置；一个具有一个显示器和至少一个操作员输入装置的人机界面；以及单独一个处理器，用于(i)从所述多个注塑装置接收实时反馈信号和从所述至少一个操作员输入装置接收命令信号；(ii)根据多个预定的注塑控制程序和显示程序对接收的信号进行多任务处理，(iii)根据所述多个预定注塑控制程序和显示程序向所述多个注塑装置输出实时控制信号和向人机界面显示器输出显示信号，和(iv)具有一种能够运行商用软件的操作系统。所述的控制系统不需要使用模拟信号处理器和可编程逻辑控制器来进行控制。

Tool post synchronizing method for numerical 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。

Asynchronous network type control system and method for managing process in the system and record medium for recording process management program

(57)【要約】 【課題】 実時間性を考慮しない非同期ネットワークで も、制御信号の伝送遅延時間を用いて変動無駄時間を管 理し制御性能および安定性を向上を図る。 【解決手段】 制御対象プロセス２３が実行する所定の プロセス量をセンサ２４で検出すると共にその検出時間 をタイマ２６により検出して、プロセス量とその検出時 間とをプロセス信号として送信手段２５より制御装置１ ０に送信し、制御量演算手段１１が受信されたプロセス 量と制御目標値とから制御量を演算した後制御信号送信 手段１２がこの制御量に受信されたプロセス量検出時刻 を乗せて制御対象２０に送信する。制御対象２０ではタ イマ２６が検出した制御信号受信時刻と送られてきたプ ロセス量検出時刻との差を制御信号受信手段２１が伝送 遅延時間として算出し、この伝送遅延時間に応じて受信 した制御量を加工・修正してアクチュエータ２２を駆動 する。

Mobile dexterous siren degree of freedom robot arm with real-time control system

The present invention is a mobile redundant dexterous manipulator with a seven-degree-of-freedom robot arm mounted on a 1 degree-of-freedom mobile platform with a six-degree-of freedom end effector including a real-time control system with multiple modes of operation. The manipulator-plus-platform system has two degrees-of-redundancy for the task of hand placement and orientation. The redundancy resolution is achieved by accomplishing two additional tasks using a configuration control technique. This mobile manipulator with control system allows a choice of arm angle control or collision avoidance for the seventh task, and platform placement or elbow angle control for the eighth task. In addition, joint limit avoidance task is automatically invoked when any of the joints approach their limits. The robot is controlled by a processor employing a 6-by-7 Jacobian matrix for defining location and orientation of the end effector.

Method for controlling injection molding system

本发明提供一种控制注塑系统的方法，所述的注塑系统具有用于执行注塑处理并提供反馈信号的多个注塑装置，以及具有一个显示器以及至少一个用于输入操作员命令的手工输入装置的人机界面。所述的方法包括如下步骤：将反馈信号和来自操作员输入装置的信号输入到单一处理器中，以及利用所述单一处理器来同时对所述多个注塑装置以及所述人机界面显示器进行实时控制。

Management system, management method and apparatus, and management apparatus control method

A system which manages a plurality of semiconductor exposure apparatuses holds TIS information representing the characteristics of the respective semiconductor exposure apparatuses. In a semiconductor exposure apparatus, a parameter value is optimized on the basis of AGA measurement results obtained using a set parameter value and another parameter value and AGA measurement estimation results obtained by virtually changing the parameter value. Whether to reflect the optimized parameter value in another industrial device is decided on the basis of the TIS information. If it is decided to reflect the optimized parameter value, the parameter value of another semiconductor exposure apparatus is optimized by the optimized parameter value. In this manner, the optimization result of a parameter value by a given industrial device can be properly reflected in another industrial device, realizing efficient parameter value setting.

Serial data transmission method and device between position measuring device and processing unit

Input module for an industrial controller

An input module (44) for an industrial controller (10) is configurable to simplify setup and commissioning. The input module includes input terminals configurable, for example, as a counter input. Still other input terminals may be configured to trigger events as a function of the input signals present at the terminals. Time signals corresponding to transitions in state of the input terminals, triggering of events, or operation of the counters may be recorded. The input module (44) is further configurable to transmit data back to the processor or to transmit data directly to another module in the industrial control network.

Method and apparatus for numerically controlling two axes simultaneously in an injection molding machine.

A numerical control method which shortens the cycle time of injection molding by opening the mold or by effecting ejection during metering, and an apparatus therefor. When the cooling period has passed or the opening of the mold is completed (S101) during metering, data for specifying the clamp axle or the eject axle is sent, the amount of moving of the axle is sent, and the moving speed and the moving direction, as well as a step feed instruction are sent (S104) from a programmable machine controller which sequentially controls the injection molding machine to the numerical controller which controls servo motors of each of the axles of the injection molding machine via a common RAM, pulses are distributed for the clamp axle or the eject axle based upon these data and pulses are distributed for the screw shaft alternatingly (S105, S100) by the numerical controller that works in response to the step feed instruction, the screw shaft and the clamp axle or the eject axle are driven simultaneously, and the mold is opened or ejection is effected during metering.

Integrated control platform adapted to injection system and its method

用于对具有多种产生相应的多种反馈信号的装置的注塑系统进行控制的装置和方法，其包括用于提供一种具有一个显示器和至少一个操作员输入装置的操作员控制台的结构和步骤。单独一台通用计算机被同时耦合到操作员控制面板和多种注塑部件上，用于对注塑功能和操作员控制功能进行多任务控制。该计算机优选地在处理系统反馈信号和操作员输入信号的同时对注塑部件进行实时闭环控制。

Output module for an industrial controller

Real-time distributed data-base management system

An improved real-time distributed data-base system that stores in the local memory of each processor copies of only those variables necessary for execution of the programs in that processor. Performance is enhanced by using the absolute address of variables in each program reference, with automatic updating of all program references when the location of variables are changed. Flexibility in user application programming is enhanced by permitting combination and conditional updates of variables through the interaction of multiple processors.

A system for real-time process control

in a system for real-time process control according to the invention, a processing unit (201) running either a real-time operating system or a hybrid real-time/non real-time operating system (231, 232) acts as a real-time computation server. Actuating/sensing units (211, 212, 213) equipped with an onboard communication interface (221, 222, 223) for client-server communication, act as clients. The actuating/sensing units (211, 212, 213) thereto send messages to the processing unit (201) requesting timely evaluation of a computational task. The processing unit (201) evaluates the computational task in real-time and sends back a response to the onboard communication interface (221, 222, 223) of the requesting client.

Motion controller with remote linking

Multiple motion controllers for controlling servo motors are connected by a digital communications link so that controlled axes of the motion controllers may be slaved together regardless of their physical proximity. A given controller broadcasts position or command signals on the communications link in response to a request report message from any other controller. A second request report message may stop the broadcasting to conserve link capacity. Time shifting implicit in the link messages is corrected by estimating the velocity of the master axis and extrapolating the position to the local axes' time of updating.

Method for serial transmission between a position measuring device and a processing unit

A system that includes a position measuring device, a processing unit, a first data channel connecting the position measuring device to the processing unit and for transmitting data from the position measuring device to the processing unit and a second data channel connecting the position measuring device to the processing unit and for transmitting data from the processing unit to the position measuring device. Serial data transmission between the position measuring device and the processing unit is based on ethernet physics, wherein it is assured that a pickup of position data in the position measuring device always takes place at defined times and with the least possible chronological inexactness.

Energy management apparatus and method for injeciton molding systems

An energy management control apparatus for a molding machine that includes a first electrically-driven prime mover configured to drive at least a first molding machine device, and a second electrically-driven prime mover configured to drive at least a second molding machine device, includes a common DC link configured to provide DC energy to the first electrically-driven prime mover and to the second electrically-driven prime mover. A slave axis is configured to supply and absorb energy from to/from the common DC link. A machine controller is configured to (i) communicate with the first electrically-driven prime mover, the second electrically-driven prime mover, the common DC link, and the slave axis, (ii) cause the slave axis to supply energy to the common DC link in response to input from at least one of the first electrically-driven prime mover and the second electrically-driven prime mover, and (iii) cause the slave axis to absorb energy from the common DC link in response to input from at least one of the first electrically-driven prime mover and the second electrically-driven prime mover.

Industrial control system with distributed motion planning

本发明公开了一种具有分布式运动规划的工业控制系统，该工业控制系统提供了可基于存储的驱动器简档将运动规划任务分配给有能力的马达驱动器和运动装置的运动控制功能。轮廓得知(profile-aware)功能允许控制程序用于能够和不能够适当地利用规划任务的自动分配而执行运动规划的这两种马达驱动器。可通过驱动器与非控制器装置之间的对等通信适应当分配运动规划时在工业控制系统中的不同装置之间的协调。

Data processing method, data processing apparatus and robot

A data processing method includes generating a data storing area in a memory space. An area address of the data storing area is designated to a basic I/O control on the user space in a memory. The memory has a user space and a kernel space. A function is called in the kernel space using the basic I/O control. Whether the data storing area is inside the memory space is determined. The area address of the data storing area is set as an argument of the function in a case where it is determined that the data storing area is included in the memory space.

System for real-time control of semiconductor wafer polishing

A system for polishing a semiconductor wafer, the system comprising a wafer polishing assembly for polishing a face of a semiconductor wafer at a polishing rate and a polishing uniformity, the wafer polishing assembly including a platen subassembly defining a polishing area, and a polishing head selectively supporting a semiconductor wafer and holding a face of the semiconductor wafer in contact with the platen subassembly to polish the wafer face; and a controller selectively adjusting one of a plurality of adjustable polishing parameters during polishing of the wafer.

Numerical control for machine-tools, robots or the like

一种用于机床、机器人等设备的数字化控制方法。对每一加工任务，通过在数字化控制方法中执行一种过程控制，所属的与刀具有关的工序(T0)和位置元(G0)就根据它们在加工程序中与技术相关的顺序而进行处理，使得一个工序(T0)的所有循环被依次选作模态循环，而一个位置元(G0)的所有循环被依次选作一个工序(T0)的每一循环；在一个工序(T0)的下一个循环被选作模态循环之前，相应的工序(T0)就在对应位置元(G0)的位置处进行。这样就避免了不必要的刀具更换，这一点缩短了一个加工程序的延续时间，并因而提高了加工效率。

Method and apparatus for numerically controlling two axes simultaneously in an injection molding machine

Method and appts. of simultaneous NC control of two shafts in an injection moulding machine, uses an NC processor(11) for drive control of different shafts in the machine, a programmable machine controller (12) for sequence control in the machine and a common memory (19( accessible by this processor and controller. The machine controller refers to the content of the common memory to judge whether or not conditions for step feed of another shaft during movement of one shaft hold and if they do it stores information specifying the relevant shaft and the amt., speed and direction of displacement in the common memory. The NC processor refers to this information and causes distribution of requisite pulses to relevant servo circuits(23-26) controlling the motors (2-5) of different shafts.

Microprocessor motor controller having discrete processing cycles

A control system for real time applications for cooperative industrial robots

A control system adapted for real time applications, comprising means for carrying out the following functions: communication, control of a process or a device, and safety functions. The control system comprises a plurality of function modules (la-1g) adapted for at least carrying out said control function and said safety functions, each function module is adapted for receiving input data and for providing output data, each function module is adapted to carry out a defined task based on said received input data and provide output data based on the task carried out, each function module is adapted to carry out the task during a time period which is independent of what is simultaneously going on in the other modules, and that at least a part of one of said function modules is implemented by means of programmable logic.

METHOD AND DEVICE FOR SIMULTANEOUS NUMERIC CONTROL OF TWO AXES IN AN INJECTION MOLDING MACHINE.

Real-time distributed database processing system

There is the industrial control system of distributed motion planning

本发明公开了一种具有分布式运动规划的工业控制系统，该工业控制系统提供了可基于存储的驱动器简档将运动规划任务分配给有能力的马达驱动器和运动装置的运动控制功能。轮廓得知(profile-aware)功能允许控制程序用于能够和不能够适当地利用规划任务的自动分配而执行运动规划的这两种马达驱动器。可通过驱动器与非控制器装置之间的对等通信适应当分配运动规划时在工业控制系统中的不同装置之间的协调。

Transputer CNC processor

A processor for a computerized numerical controller for providing motion planning and interpolation has a first transputer element programmed to convert program data to fixed format binary data and to store converted data in a generated convert data buffer. The convert data buffer is transmitted to a second transputer element programmed to precalculate motion control data therefrom and stores such precalculated data in a generated precalculated data buffer. The precalculated data buffer is transmitted to a third transputer element programmed to interpolate the precalculated data to provide a real time interpolated point stream defining a motion trajectory.

Robotic arm control device and control method, robot, robotic arm control program, and integrated electronic circuit

In a control device for a robotic arm (102), a feedback rule is generated by a feedback rule generating unit (111) from the relationship between the time at which stimulation occurred and the change in behaviour after the passage of the reaction time in teaching data detected, respectively, by an information change point detection unit (109) and a behavioural change point detection unit (110). An operation for the robotic arm is generated by an operation generating unit (112) based on operation information, the information change point, the behaviour change point, and the feedback rule, and operational control is performed by a control unit (114).

Microprocessor-controlled motor controller for step-by-step processing cycles.

Computer for controlling injection moulding system

本发明提供一种用于控制注塑系统的计算机，所述的注塑系统具有执行注塑处理并提供反馈信号的多个注塑装置，和具有一个显示器和至少一个用于输入操作员命令的手工输入装置的人机界面。所述的计算机包括：第一输入/输出，用于从所述人机界面手工输入装置接收命令信号和向人机界面显示器提供显示信号；第二输入/输出，用于直接从多个注塑装置接收反馈信号和直接向多个注塑装置提供实时控制信号；以及CPU，用于根据所述反馈信号和所述命令信号产生实时控制信号。所述CPU执行下述信号的多任务处理：所述的命令信号、所述的显示信号、所述的反馈信号、和所述的控制信号。这种计算机可以解决采用多个处理器对注塑机进行实时控制的问题。

A control system for real time applications for cooperative industrial robots

Concurrent processor for control

This computer architecture is optimized for computing the state transitions of a controller, whereas conventional computers are optimized for data manipulation. The concurrent processor for control efficiently implements both the continuous and discrete control functions and has a processing element with two parts, the continuous and discrete processing elements. An arbitrary number of processing elements in a linear array have nearest-neighbor communications, and a general purpose microprocessor is provided to interact with them. Continuous states are computed concurrently and there is provision for interaction between continuous and discrete controls.

Dynamically configurable production and / or distribution line control system and method for its use

FIELD: control systems. SUBSTANCE: invention relates to automated production lines. In the method, the system for controlling the production or distribution line comprises a peripheral device and a control unit storing the control program. Said control unit stops the operations of the peripheral device, receives reconfiguration commands from an external source, configures the peripheral devices, detects availability states, according to which each peripheral device is ready to perform its respective operation. After detection of the indicated availability state, the control unit controls the peripheral device by executing a control program on the processor. EFFECT: speed and efficiency of the reconfiguration of the production line is increased. 24 cl, 19 dwg

Integrated control platform for injection molding system

(57)【要約】 【課題】 最新のハードウェア及びソフトウェア要素を 一つの制御装置に一体化することが可能なリアルタイム 制御及びネットワーク能力を持ち付属装置の一体化及び 機械性能の拡張を容易にする制御アーキテクチャを提供 する。 【解決手段】 複数のフィードバック信号を発生する複 数の装置からなる射出成形システムの制御装置及び方法 は表示装置及び少なくとも一つの入力装置を有するオペ レータ制御ステーションを提供する為の構成とステップ を含む。汎用コンピュータは射出成形機能及びオペレー タ制御機能の多重タスク制御を行う。同コンピュータ は、好ましくは、システムフィードバック信号及びオペ レータ入力信号を処理しつつ、射出成形装置のリアルタ イム閉ループ制御、またローカルエリアネットワーク及 びインターネット接続を介して成形システムの操業パラ メータの外部制御及びフィードバックを可能とする。

Energy management apparatus and method for injeciton molding systems

An energy management control apparatus for a molding machine that includes a first electrically-driven prime mover configured to drive at least a first molding machine device, and a second electrically-driven prime mover configured to drive at least a second molding machine device, includes a common DC link configured to provide DC energy to the first electrically-driven prime mover and to the second electrically-driven prime mover. A slave axis is configured to supply and absorb energy from to/from the common DC link. A machine controller is configured to (i) communicate with the first electrically-driven prime mover, the second electrically-driven prime mover, the common DC link, and the slave axis, (ii) cause the slave axis to supply energy to the common DC link in response to input from at least one of the first electrically-driven prime mover and the second electrically-driven prime mover, and (iii) cause the slave axis to absorb energy from the common DC link in response to input from at least one of the first electrically-driven prime mover and the second electrically-driven prime mover.

Method and apparatus for numerically controlling two axes simultaneously in an injection molding machine

A numerical control method which shortens the cycle time of injection molding by opening the mold or by effecting ejection during metering, and an apparatus therefor. When the cooling period has passed or the opening of the mold is completed (S101) during metering, data for specifying the clamp axle or the eject axle is sent, the amount of moving of the axle is sent, and the moving speed and the moving direction, as well as a step feed instruction are sent (S104) from a programmable machine controller which sequentially controls the injection molding machine to the numerical controller which controls servo motors of each of the axles of the injection molding machine via a common RAM, pulses are distributed for the clamp axle or the eject axle based upon these data and pulses are distributed for the screw shaft alternatingly (S105, S100) by the numerical controller that works in response to the step feed instruction, the screw shaft and the clamp axle or the eject axle are driven simultaneously, and the mold is opened or ejection is effected during metering.

Management apparatus and method, device manufacturing method, and computer program

A method and system for synchronizing networked passive systems

A control system for output synchronization of a networked communication system comprises a plurality of agents governed by control affine passive dynamics, each of the plurality of agents being coupled to the networked communication system which facilitates data exchange between the plurality of agents with induced delays, and a plurality of controller blocks, each one associated with one of the plurality of agents. Each of the plurality of the controller blocks uses output signals received from the associated agent and from a subset of the plurality of agents to derive a synchronizing control for the associated agent, so that the output signals of the plurality of agents converge asymptotically with time and so that the plurality of agents are synchronized to each other.

Improved real-time distributed data-base management system

Patent RU2016142743A3

The energy management apparatus of injection-molding-system and method

本发明涉及一种用于一模制机的能量管理控制装置，所述模制机包含：一第一电驱动原动机(37)，其经配置以驱动至少一个第一模制机器件；和一第二电驱动原动机(38)，其经配置以驱动至少一个第二模制机器件，所述能量管理控制装置包含一共用DC链路(32)，其经配置以将DC能量提供到所述第一电驱动原动机(37)并提供到所述第二电驱动原动机(38)。一从轴经配置以将能量供应到所述共用DC链路(32)并从所述共用DC链路(32)吸收能量。一机器控制器(46)经配置以：(i)与所述第一电驱动原动机(37)、所述第二电驱动原动机(38)、所述共用DC链路(32)和所述从轴通信；(ii)响应于来自所述第一电驱动原动机(37)和所述第二电驱动原动机(38)的至少一者的输入，促使所述从轴将能量供应到所述共用DC链路(32)；且(iii)响应于来自所述第一电驱动原动机(37)和所述第二电驱动原动机(38)的至少一者的输入，促使所述从轴从所述共用DC链路(32)吸收能量。

ROBOT SYNCHRONIZATION SEALANT DISPENSING SYSTEM

Es wird ein Roboter-Synchronisations-Dichtmittelabgabesystem bereitgestellt. Das Roboter-Synchronisations-Dichtmittelabgabesystem ist mit einem Roboter für eine Dichtmittelarbeit einer Fahrzeugfabrik verbunden und umfasst:eine Dichtmittelpistole, die an einem Roboter angebracht ist und sich entlang eines Auftragswegs einer Fahrzeugkarosserie bewegt, um ein Dichtmittel abzugeben, und eine Kommunikationseinheit zum Empfangen einer TCP-Geschwindigkeit der Dichtmittelpistole, die sich auf der Grundlage einer Roboteroperation bewegt. Eine Synchronisationssteuerung weist eine eindeutige ID und eine empfangene TCP-Zeit zu der TCP-Geschwindigkeit zu und erzeugt eine Abgabeanweisungsnachricht, die die die Dichtmittelabgabemenge gemäß der TCP-Geschwindigkeit aufzeichnet. Eine Dichtmittelsteuerung stellt eine Abgabe der Dichtmittelpistole auf der Grundlage der Abgabeanweisungsnachricht ein und führt die Dichtmittelzeit gemäß einer Abgabebeendigung an die Synchronisationssteuerung zurück. A robotic synchronized sealant dispensing system is provided. The robot synchronization sealant dispensing system is connected to a robot for a vehicle factory sealant work, and comprises: a sealant gun attached to a robot and moving along an application path of a vehicle body to dispense a sealant, and a communication unit for receiving a TCP Speed of sealant gun moving based on robotic operation. A synchronization controller assigns a unique ID and a received TCP time to the TCP speed and generates a dispensing instruction message that records the sealant dispensing amount according to the TCP speed. A sealant controller adjusts dispensing of the sealant gun based on the dispensing instruction message and returns the sealant time to the synchronization controller according to dispensing completion.

Industrial control system with distributed motion planning

An industrial control system provides motion control functions that may distribute motion planning tasks to capable motor drives and motion devices based on stored drive profiles. The profile-aware functions allow control programs to be used with motor drives that are both capable and incapable of executing a motion planning with automatic distribution of the planning tasks as appropriate. Coordination among different devices in the industrial control system when motion planning is distributed may be accommodated through peer-to-peer communication between drives and non-controller devices.

Method and System for Synchronizing Networked Passive Systems

A control system for output synchronization of a networked communication system comprises a plurality of agents governed by control affine passive dynamics, each of the plurality of agents being coupled to the networked communication system which facilitates data exchange between the plurality of agents with induced delays, and a plurality of controller blocks, each one associated with one of the plurality of agents. Each of the plurality of the controller blocks uses output signals received from the associated agent and from a subset of the plurality of agents to derive a synchronizing control for the associated agent, so that the output signals of the plurality of agents converge asymptotically with time and so that the plurality of agents are synchronized to each other.

Method of serially transferring data between position detecting equipment and treatment element

建议一种用于在测位设备和处理单元之间串行地传输数据的方法。以数据分组的形式在有效阶段的过程中进行数据传输。在相继的有效阶段之间存在有不传输数据的空运行阶段。当在处理单元不向测位设备传输数据的空运行阶段期间出现位置请求指令的情况下，在终止所述空运行阶段之后把所述的位置请求指令与第一延迟信息一起传输给所述的测位设备。在所述测位设备方如此地分析处理所述的第一延迟信息，使得在所述处理单元方出现位置请求指令和所述测位设备内处理位置请求指令之间持续地产生一个恒定的延迟时间。

Real-time distributed data-base management system

An improved real-time distributed data-base system that stores in the local memory of each processor copies of only those variables necessary for execution of the programs in that processor. Performance is enhanced by using the absolute address of variables in each program reference, with automatic updating of all program references when the location of variables are changed. Flexibility in user application programming is enhanced by permitting combination and conditional updates of variables through the interaction of multiple processors.

リモート制御装置、ローカル制御装置、学習処理装置、方法、およびプログラム

【課題】リモート制御装置、ローカル制御装置、学習処理装置、方法、およびプログラムを提供する。【解決手段】設備を制御するローカル制御装置から、設備に関する測定値を受信する測定値受信部と、ローカル制御装置との間の通信遅延を含む制御遅延が生じる場合において設備の制御に使用すべき制御値を、制御遅延に相当する遅延量と測定値とから算出するモデルを用いて、受信した測定値と遅延量とに応じた制御値を算出する算出部と、算出した制御値をローカル制御装置に送信する制御値送信部と、を備えるリモート制御装置を提供する。【選択図】図１

並列プログラム制御

Integrierte steuerungsstation für eine spritzgussanlage

リアルタイム分散制御システム、リアルタイム分散制御方法、およびロボット

【課題】ハードリアルタイム制御系の実行の遅れを防ぐことができるリアルタイム分散制御システムを提供する。 【解決手段】リアルタイム分散制御システム１は、受信側コンピュータ５０ｂは、メッセージ４０を受信する受信コンポーネント２０と、システムが起動すると、受信コンポーネント２０の動作周期を取得し、取得した動作周期と関連付けた監視条件を送信レート監視条件設定部３３に送信する動作周期取得部３２と、を有し、送信側コンピュータ５０ａは、メッセージ４０を送信する送信コンポーネント１０と、監視条件を送信レート監視条件記憶部３５に設定する送信レート監視条件設定部３３と、送信レート監視条件記憶部３５に記憶された監視条件に基づいて、送信コンポーネント１０からの送信レートを監視し、メッセージの送信レートが監視条件を満たさない場合に、メッセージ４０の送信間隔を抑制する送信レート監視部３０と、を有する。 【選択図】図１

Dynamic memory allocation methods and systems

In a dynamic memory allocator, a method of allocating memory to a process, the method comprising executing on a processor the steps of: creating one or more arenas within the memory, each arena comprising one or more memory blocks and each arena having an n-byte aligned arena address; upon receiving a memory request from the process, returning a pointer to the process, the pointer having as its value an address of a memory block selected from one of the arenas; upon determining that the memory block is no longer needed by the process, retrieving the address of said memory block from the pointer and releasing the memory block; and, upon a new arena being created, shifting forward the n-byte aligned address of said new arena according to a stored variable such that each memory block of said new arena is also shifted by the stored variable, the stored variable having n bytes and the stored variable having a random value.

Numerische steuerung für werkzeugmaschinen, roboter oder dergleichen

Verfahren zur seriellen datenübertragung zwischen einer positionsmesseinrichtung und einer verarbeitungseinheit

Terminal communication apparatus, and distributed control system

A terminal communication apparatus has a terminal communication control portion rendering an immediate communication control portion sequentially transmitting serial data to another terminal communication apparatus bitwise when receiving a packet as bitwise serial data and a normal communication control portion performing processing on the packet after accumulating the serial data until the serial data reaches a packet length when receiving the bitwise serial data switchable, performing processing with the immediate communication control portion in a case of receiving a time adjustment packet containing time adjustment data posting a timing of synchronization in the other terminal communication apparatus and performing processing with the normal communication control portion in a case of receiving a packet other than the time adjustment packet. Thus, synchronization of control object devices can be enabled without previously investigating communication delay times.

控制装置、机械系统以及时刻同步方法

本发明提供控制装置、机械系统以及时刻同步方法。控制装置控制具有由电动机驱动的可动部件的机械装置，具备：无线信号发送接收部，其接收表示通过机械装置的可动部件的前端部的传感器部检测出的前端部的位置、速度或加速度的传感器信号；数据取得部，其根据接收到的传感器信号取得加速度的第一时间序列数据；数据运算部，其根据电动机的驱动指令计算可动部件的前端部的加速度的第二时间序列数据；延迟时间运算部，其在使机械装置以预先决定的基本动作进行动作时，根据第一时间序列数据和第二时间序列数据之间的相关程度计算第一时间序列数据相对于第二时间序列数据的延迟时间；时刻同步部，其根据延迟时间使传感器部的时刻和控制装置的时刻同步。

同步控制装置、同步控制系统、同步控制方法以及模拟装置

同步控制装置(10)包括：主轴控制部(11a)；以及从轴控制部(11b)，具有从轴指令位置变动抑制部(114)，所述从轴指令位置变动抑制部(114)在主轴速度的正负从之前的期间发生反转的情况下，生成将主轴相位(Pm)加上与主轴速度相应的提前角量(Pa)所得的预定从轴指令相位来作为从轴指令相位(Ps)，在主轴速度的正负未从之前的期间发生反转的规定的情况下，生成从之前的期间内的从轴指令相位计起的偏移的正负未从主轴速度的正负发生反转的值来作为从轴指令相位(Ps)。

Numeric controller for transfer line

Numerical controller

Prediction of a machining time at higher accuracy considering a machine delay generated in a machine is allowed by a numerical controller of the invention. The numerical controller includes a reference machining time prediction unit for predicting a reference machining time corresponding to a machining time not considering a delay time of servo control and machine motion based on the machining program, a program analysis unit for extracting a combination of at least one program command included in the machining program, a data storage unit for storing information related to an actual delay time of servo control and machine motion measured for each combination of program command types, a correction time calculation unit for calculating a correction time for correction of the reference machining time based on the combination of the program commands extracted by the program analysis unit and the information stored in the data storage unit, and a machining time prediction unit for calculating a predicted machining time obtained by correcting the reference machining time using the correction time.

Wireless feedback control loops with neural networks to predict target system states

Numerisches steuergerät mit integrierter überwachung einer werkzeugmaschine

処理装置、及び処理方法

Messsystem

Ein Messsystem weist eine Steuervorrichtung, die eine Steuerzielvorrichtung in Echtzeit steuert und Steuerdaten an ein Endgerät überträgt, und eine Messeinrichtung, die Daten, die einen physischen Status der Steuerzielvorrichtung angeben, erfasst und die Daten als Messdaten an das Endgerät überträgt, auf. Die Steuervorrichtung weist eine Steuereinheit und eine Sequenzsteuereinheit auf, wobei die Steuereinheit ein Zeitsignal an die Messeinrichtung überträgt. Die Steuervorrichtung überträgt die Steuerdaten, die einen Teil von Zeitinformationen aufweisen, basierend auf dem Zeitsignal an das Endgerät. Die Messeinrichtung überträgt die Messdaten, die einen Teil von Zeitinformationen aufweisen, basierend auf dem Zeitsignal an das Endgerät. Das Endgerät kompensiert eine Verzögerung zwischen den Steuerdaten und den Messdaten basierend auf den Teilen von Zeitinformationen.

Terminal communication apparatus, and distributed control system

A terminal communication apparatus has a terminal communication control portion rendering an immediate communication control portion sequentially transmitting serial data to another terminal communication apparatus bitwise when receiving a packet as bitwise serial data and a normal communication control portion performing processing on the packet after accumulating the serial data until the serial data reaches a packet length when receiving the bitwise serial data switchable, performing processing with the immediate communication control portion in a case of receiving a time adjustment packet containing time adjustment data posting a timing of synchronization in the other terminal communication apparatus and performing processing with the normal communication control portion in a case of receiving a packet other than the time adjustment packet. Thus, synchronization of control object devices can be enabled without previously investigating communication delay times.

端末通信装置および分散制御システム

【課題】通信遅延時間を予め調査することなく、制御対象装置の同期を可能とすることを課題とする。 【解決手段】パケットを、１ビットずつのシリアルデータとして受信すると、該シリアルデータを逐次的に他の端末通信装置１へ１ビットずつ送信する即時通信制御部１１２と、１ビットずつのシリアルデータを受信すると、該シリアルデータがパケット長となるまで、該シリアルデータを蓄積した後、該パケットに対して処理を行う通常通信制御部１１１と、を切り替え可能とし、他の端末通信装置１における同期のタイミングを通知する時刻調整データを含む時刻調整パケットを受信した場合には、即時通信制御部１１２による処理を行い、時刻調整パケット以外のパケットを受信した場合には、通常通信制御部１１１による処理を行う端末通信制御部１１０を有することを特徴とする。 【選択図】図２

Verteiltes Echtzeit-Steuerungssystem, verteiltes Echtzeit-Steuerungsverfahren und Roboter

Es wird ein verteiltes Echtzeit-Steuerungssystem bereitgestellt, welches eine Verzögerung der Ausführung durch harte Echtzeit-Steuerungssysteme vermeiden kann. In dem verteilten Echtzeit-Steuerungssystem umfasst ein empfangender Computer eine Empfängerkomponente, welche eine Nachricht empfängt, und eine Arbeitszyklus-Ermittlungseinheit, welche nach dem Aktivieren des Systems den Arbeitszyklus der Empfängerkomponente ermittelt und eine Überwachungsbedingung im Zusammenhang mit dem ermittelten Arbeitszyklus an eine Senderaten-Überwachungsbedingungs-Einstelleinheit überträgt. Der Sendecomputer umfasst eine Senderkomponente, welche die Nachricht sendet, die Senderaten-Überwachungsbedingungs-Einstelleinheit, welche die Überwachungsbedingung in einer Senderaten-Überwachungsbedingungs-Speichereinheit einstellt, und eine Senderaten-Überwachungseinheit, welche eine Senderate von der Senderkomponente auf der Grundlage der in der Senderaten-Überwachungsbedingungs-Speichereinheit gespeicherten Überwachungsbedingung überwacht und ein Sendeintervall der Nachricht unterdrückt, wenn die Senderate der Nachricht die Überwachungsbedingung nicht erfüllt.

Control device

To cause multiple field devices to operate together in coordination in accordance with a predetermined program through a network allowing periodic communication, a control device includes an estimator that calculates, based on a position of a first field device in a first cycle, a position of the first field device operable in accordance with a first program in a second cycle following the first cycle, and a processor that determines, based on the first program, a first command value to cause the first field device to operate, transmits the first command value to the first field device through an interface allowing communication with the field devices, determines, based on the estimated position and a second program, a second command value to cause a second field device to operate in coordination with the first field device, and transmits the second command value to the second field device through the interface.

Numerisches Steuergerät mit integrierter Überwachung einer Werkzeugmaschine

Numerische Steuerung mit Servoausgangsverzögerungseinheit

Eine numerische Steuervorrichtung mit einer Servoausgangsverzögerungseinheit ist eingerichtet, Pulsdaten von einem manuellen Pulsgenerator über eine Kommunikationseinheit zu empfangen und einen Motor anzutreiben, wobei die numerische Steuervorrichtung folgendes aufweist: einen Speicher mit einem Zwischenspeicherbereich zum Speichern der Pulsdaten für jede Kommunikationsperiode; eine Kommunikationssteuereinheit, die eingerichtet ist, über die Kommunikationseinheit empfangene Pulsdaten in den Zwischenspeicherbereich einzuschreiben; eine Steuereinheit, die eingerichtet ist, die Pulsdaten aus dem Zwischenspeicherbereich auszulesen und die Pulsdaten an eine Servoprozessoreinheit zum Antreiben des Motors abzugeben; eine Recheneinheit für eine akkumulierte Pulsanzahl, die eingerichtet ist, die Anzahl von Pulsen zu bestimmen, die entsprechend eines akkumulierten Werts des Auftretens von Kommunikationsfehlern bei den durch die Kommunikationseinheit innerhalb einer vorgegebenen Zeitspanne empfangenen Pulsdaten in dem Zwischenspeicherbereich zu akkumulieren sind; und eine Servoausgangsverzögerungseinheit, die eingerichtet ist, der Steuereinheit den Start der Ausgabe an die Servoprozessoreinheit zu befehlen nachdem die empfangenen Pulse auf eine Anzahl akkumuliert sind, welche durch die Recheneinheit für die akkumulierte Pulsanzahl bestimmt ist.

Control device, mechanical system, and time synchronization method

A control device controls a mechanical device having a movable member driven by a motor. The control device includes a radio signal exchange unit that receives a sensor signal indicating a position, a velocity or an acceleration of a tip part of the movable member, a data acquisition unit that acquires first time-series data of acceleration based on the received sensor signal, a data calculation unit that calculates second time-series data of acceleration at the tip part based on a drive command to the motor, a delay time calculation unit that calculates, when the mechanical device performs a predetermined basic operation, a delay time of the first time-series data to the second time-series data, based on a degree of correlation between the first and second time-series data, and a time synchronization unit that synchronizes time of the sensor part and control device based on the delay time.

Steuervorrichtung, mechanisches system und zeitsynchronisationsverfahren

Zum einfachen Synchronisieren von Zeit einer Steuervorrichtung und Zeit eines Drahtlossensors, wenn Vibration zu unterdrücken ist, durch Lernsteuerung. Eine Steuervorrichtung 20 ist konfiguriert, eine mechanische Vorrichtung 10 zu steuern, die ein bewegliches Bauteil aufweist, das durch einen Motor 102 anzutreiben ist. Die Steuervorrichtung 20 beinhaltet eine Funksignal-Austauscheinheit 201, die konfiguriert ist, ein Sensorsignal zu empfangen, welches eine Position, eine Geschwindigkeit oder eine Beschleunigung eine Spitzenteils des beweglichen Bauteils der mechanischen Vorrichtung 10 angibt, die durch einen an dem Spitzenteil angeordneten Drahtlossensor 101 detektiert wird, eine Datenerfassungseinheit 202, die konfiguriert ist, erste Zeitreihendaten von Beschleunigung auf Basis des empfangenen Sensorsignals zu erfassen, eine Datenrecheneinheit 204, die konfiguriert ist, zweite Zeitreihendaten von Beschleunigung am Spitzenteil des beweglichen Bauteils auf Basis eines Antriebsbefehls an den Motor 102 zu berechnen, eine Verzögerungszeit-Recheneinheit 205, die konfiguriert ist, wenn die mechanische Vorrichtung 10 dazu gebracht wird, eine vorbestimmte Basisoperation auszuführen, eine Verzögerungszeit der ersten Zeitreihendaten gegenüber den zweiten Zeitreihendaten auf Basis eines Korrelationsgrads zwischen den ersten Zeitreihendaten und den zweiten Zeitreihendaten zu berechnen, und eine Zeit-Synchronisationseinheit 206, die konfiguriert ist, Zeit des Sensorteils 101 und Zeit der Steuervorrichtung 20 auf Basis der Verzögerungszeit zu synchronisieren.

3d sensor and method of monitoring a monitored zone

A 3D sensor for monitoring a monitored zone is provided, wherein the 3D sensor has at least one light receiver for generating a received signal from received light from the monitored zone and has a control and evaluation unit that is configured to detect objects in the monitored zone by evaluating the received signal and to determine the shortest distance of the detected objects from at least one reference volume, and to read at least one distance calculated in advance from the reference value from a memory for the determination of the respective shortest distance of a detected object.

モーションコントローラ

マスタコントローラの演算能力やネットワークの通信速度を増大させることなく、システムの応答性を向上するモーションコントローラを提供する。マスタコントローラ１では、プログラム解析部１ｇにより、制御対象機器の動作を行うにあたり許容される遅延時間を指定した制御プログラムから、この許容される遅延時間を超過しないように、スレーブコントローラが実行すべきスレーブ用プログラムを分離するとともに、スレーブ用プログラムをスレーブコントローラが実行するに当たって必要なスレーブ間通信設定情報を生成する。スレーブコントローラ２では、スレーブ間通信により、他のスレーブコントローラから入出力情報を取得し、スレーブ用プログラム実行部２ｆにより、自身のスレーブ用プログラムを実行する。

ロボット制御装置

(57)【要約】 【課題】 通信線で接続された複数のロボットの内、１ 以上のロボットにおいて、動作を停止させる要因が発生 したとき、他のロボットも同一の停止方法で停止させ る。 【解決手段】 複数のロボットの停止処理方法の内で、 優先順序を決めておく。、通信路で接続された複数のロ ボット、又は同期・協調動作しているロボット間におい て、１以上のロボットで停止要因が発生したとき、通信 路で接続された複数のロボット若しくは同期・協調動作 しているロボットのすべてを、同一停止処理方法で停止 させる。各ロボットで異なった停止要因が発生したとき は、停止要因によって決まる停止処理方法の内、優先度 の高い方を採用し、全てのロボットを同一停止処理方法 で停止させる。同一停止方法であるから、同期・協調動 作中でも相対関係位置のずれが少なくなる。

Wireless feedback control loops with neural networks to predict target system states

Example wireless feedback control systems disclosed herein include a receiver to receive a first measurement of a target system via a first wireless link. Disclosed example systems also include a neural network to predict a value of a state of the target system at a future time relative to a prior time associated with the first measurement, the neural network to predict the value of the state of the target system based on the first measurement and a prior sequence of values of a control signal previously generated to control the target system during a time interval between the prior time and the future time, and the neural network to output the predicted value of the state of the target system to a controller. Disclosed example systems further include a transmitter to transmit a new value of the control signal to the target system via a second wireless link.

Synchronous control device, synchronous control system, synchronous control method, and simulation device

コントローラの制御アルゴリズム構成方法およびこれを用いたコントローラ

【課題】 リアルタイムで装置を制御するコントローラで実行可能である制御アルゴリズムの構成方法と、制御アルゴリズム生成装置に関する。 【解決手段】 制御アルゴリズムが少なくとも１つのタスクに分割され、制御アルゴリズムについてのデータ、および制御される装置についてのデータに基づいて、少なくとも１つのタスクのタスク毎にタスク起動時間周期が割り当てられる。割り当てられたタスク起動時間周期に従って、制御アルゴリズムのタスクの実行がスケジューリングされる。 【選択図】図７

サーボ出力遅延手段を備えた数値制御装置

【課題】サーボ出力遅延手段を備えた制御装置を提供すること。 【解決手段】手動パルス発生器１０は、最新パルスとともに過去数周期分のパルス情報を手動パルス発生器用バッファ１１に格納する。数値制御装置２０は、手動パルス発生器１０から送信されるパルス情報を通信手段２１を介して受信し、通信制御部２２はパルス情報をメモリ２３に書き込む。制御部２４はメモリ２３からパルス情報を読み取り、サーボモータ３０を駆動するサーボ処理部２５へ出力する。サーボ処理部２５は入力したパルス情報を用いてサーボ制御の処理を行ってサーボモータ３０を駆動制御する。溜まり量算出手段２６は、受信したパルス情報の通信エラーの発生頻度に応じて前記バッファ領域に溜めるパルスの量を決定する。サーボ出力遅延手段２７は受信したパルスを溜まり量算出手段２６により決定した量まで溜めた後、サーボ処理部２５への出力を開始するように制御部２４に指令する。 【選択図】図１

Synchronous control device, synchronous control system, synchronous control method, and simulation device

同步控制装置、系统、方法以及模拟装置

本发明提供一种同步控制装置(10)、同步控制系统(1)、同步控制方法以及模拟装置(60)，能够实现从轴的同步驱动的精度提高的同步控制。同步控制装置(10)包括：主轴控制部(11a)；以及从轴控制部(11b)，具有从轴指令位置变动抑制部(114)，所述从轴指令位置变动抑制部(114)在主轴速度的正负从之前的期间发生反转的情况下，生成将主轴相位(Pm)加上与主轴速度相应的提前角量(Pa)所得的预定从轴指令相位来作为从轴指令相位(Ps)，在主轴速度的正负未从之前的期间发生反转的规定的情况下，生成从之前的期间内的从轴指令相位计起的偏移的正负未从主轴速度的正负发生反转的值来作为从轴指令相位(Ps)。

Control device

Processing device and processing method

远程及本地控制装置、学习处理装置、方法、记录介质

一种远程控制装置、本地控制装置、学习处理装置、方法以及记录介质。本发明的远程控制装置具有：测定值接收部，其从控制设备的本地控制装置接收关于设备的测定值；算出部，其使用模型计算与接收到的测定值和延迟量对应的控制值，所述模型从与控制延迟相当的延迟量和测定值算出在产生包含与本地控制装置之间的通信延迟的控制延迟的情况下设备的控制应使用的控制值；控制值发送部，其将算出的控制值向本地控制装置发送。

Remote-control apparatus, local-control apparatus, learning processing apparatus, method, and recording medium

[Solving means] A remote-control apparatus, including a measurement value receiving unit for receiving a measurement value related to equipment from a local-control apparatus configured to control the equipment; a calculating unit for calculating a control value corresponding to the measurement value received by the measurement value receiving unit and a delay amount, by using a model configured to calculate a control value that should be used for control of the equipment when there is caused control delay including communication delay with the local-control apparatus from a delay amount corresponding to the control delay and a measurement value; and a control value transmitting unit for transmitting the control value calculated by the calculating unit to the local-control apparatus, is provided. [Selected drawing] FIG. 1

机器人控制器系统及方法

本发明涉及一种用于控制工业机器人(1)的方法。所述方法由机器人控制器系统执行，所述机器人控制器系统包括被连接至工业机器人的本地部分(3)，以及能够连接至所述本地部分的远程云部分(4)。所述本地部分包括第一实时分区(5)和第二非实时分区(6)，并且所述方法包括以下步骤：将所述机器人控制器系统的完整文件系统的本地缓存储存(10)在所述第二非实时分区(6)中；将所述完整文件系统储存(11)在所述远程云部分(4)中；以及从所述第一实时分区(5)实时控制(15)所述工业机器人。

Method of Configuring a Control Algorithm Being Executable by a Controller

The present invention relates to a method of configuring a control algorithm being executable by a controller, a controller for controlling a plant in real-time, and a control algorithm generator. An important aspect of the invention is that the control algorithm is subdivided into at least one task and task activation time periods are assigned to each task of the at least one task based on data about the control algorithm and data about the plant to be controlled, wherein the execution of the tasks of the control algorithm is scheduled in accordance with the assigned task activation time periods.

コントローラの制御アルゴリズム構成方法およびこれを用いたコントローラ

Synchronous control device, synchronous control system, synchronous control method, and simulation device

A synchronous control device (10) comprises: a spindle control unit (11a); and a driven shaft control unit (11b) including a driven shaft command position variation suppression unit (114) for generating, in a case where the sign spindle speed is inverted from a previous period, an intended driven shaft command phase obtained by adding an advancing amount (Pa) corresponding to the spindle speed to a spindle phase (Pm) as a driven shaft command phase (Ps), and generating, in a predetermined case where the sign of the spindle speed is not inverted before a previous period, a value with which the sign of a transition from the driven shaft command phase in the previous period is not inverted from the sign of the spindle speed as the driven shaft command phase (Ps).

控制装置

控制装置经由进行固定周期通信的网络，按照规定的程序使多个现场设备协调动作。另外，控制装置具备：预测部，其基于第一周期中的第一现场设备的位置，计算第一周期之后的第二周期中的、按照第一程序进行动作的第一现场设备的位置；以及处理部，其基于第一程序决定用于使第一现场设备进行动作的第一指令值，经由用于与多个现场设备进行通信的接口部向第一现场设备发送第一指令值，并且基于由预测部计算出的位置和第二程序，决定用于使应该与第一现场设备进行协调动作的第二现场设备进行动作的第二指令值，经由接口部向第二现场设备发送第二指令值。