公开(公告)号：US20030076066A1

公开(公告)日：2003-04-24

申请号：US10269961

申请日：2002-10-15

申请人： Fanuc Ltd.

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Satoshi Ikai

IPC分类号： G05B001/06

CPC分类号： G05B19/406 ,  G05B2219/39193 ,  G05B2219/41265 ,  G05B2219/42277 ,  G05B2219/50113 ,  G05B2219/50178

摘要： A servo controller capable of preventing downward displacement of a gravitating axis of a machine when an excitation of a servomotor for driving the gravitating axis is discontinued. When a shutdown command is issued, a command for shifting a position of the gravitating axis by an offset amount in a direction opposing the gravitation is issued to a servo system. Also, a command for operating a mechanical brake to apply a braking force on the gravitating axis is issued. After a predetermined time period, the excitation of the servomotor is discontinued. The position of the gravitating axis is shifted upward by the offset amount within a time-lag between an issuance of the mechanical brake operating command and actual application of the braking force by the mechanical brake, and the braking force is applied to the gravitating axis at the shifted position. When the excitation of the servomotor is discontinued, the downward displacement of the position of the gravitating axis due to a backlash of the mechanical brake is compensated by the upward shifting of the gravitating axis, thereby movable elements connected to the gravitating axis is prevented from collision or interference with peripheral objects.

摘要翻译： 一种当用于驱动重力轴的伺服电动机的激励被停止时能够防止机器的重力轴的向下位移的伺服控制器。 当发出关闭命令时，向伺服系统发出用于将重力轴位置偏移与重力相反方向的偏移量的指令。 此外，发出用于操作机械制动器以在重力轴上施加制动力的命令。 在预定时间段之后，停止伺服电动机的激励。 引力轴的位置在机械制动器操作指令的发出与机械制动器的实际施加制动力之间的时间滞后期间向上移位偏移量，并且制动力施加到引力轴 转移位置。 当停止伺服电机的激励时，由于机械制动器的间隙引起的重力轴位置的向下位移通过引力轴的向上移位来补偿，从而防止连接到引力轴的可动元件碰撞 或干扰周边物体。

公开(公告)号：US06741057B2

公开(公告)日：2004-05-25

申请号：US10269961

申请日：2002-10-15

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Satoshi Ikai

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Satoshi Ikai

IPC分类号： G05B19404

CPC分类号： G05B19/406 ,  G05B2219/39193 ,  G05B2219/41265 ,  G05B2219/42277 ,  G05B2219/50113 ,  G05B2219/50178

摘要： A servo controller capable of preventing downward displacement of a gravitating axis of a machine when an excitation of a servomotor for driving the gravitating axis is discontinued. When a shutdown command is issued, a command for shifting a position of the gravitating axis by an offset amount in a direction opposing the gravitation is issued to a servo system. Also, a command for operating a mechanical brake to apply a braking force on the gravitating axis is issued. After a predetermined time period, the excitation of the servomotor is discontinued. The position of the gravitating axis is shifted upward by the offset amount within a time-lag between an issuance of the mechanical brake operating command and actual application of the braking force by the mechanical brake, and the braking force is applied to the gravitating axis at the shifted position. When the excitation of the servomotor is discontinued, the downward displacement of the position of the gravitating axis due to a backlash of the mechanical brake is compensated by the upward shifting of the gravitating axis, thereby movable elements connected to the gravitating axis is prevented from collision or interference with peripheral objects.

摘要翻译： 一种当用于驱动重力轴的伺服电动机的激励被停止时能够防止机器的重力轴的向下位移的伺服控制器。 当发出关闭命令时，向伺服系统发出用于将重力轴位置偏移与重力相反方向的偏移量的指令。 此外，发出用于操作机械制动器以在重力轴上施加制动力的命令。 在预定时间段之后，停止伺服电动机的激励。 引力轴的位置在机械制动器操作指令的发出与机械制动器的实际施加制动力之间的时间滞后期间向上移位偏移量，并且制动力施加到引力轴 转移位置。 当停止伺服电机的激励时，由于机械制动器的间隙引起的重力轴位置的向下位移通过引力轴的向上移位来补偿，从而防止连接到引力轴的可动元件碰撞 或干扰周边物体。

公开(公告)号：US06188194B1

公开(公告)日：2001-02-13

申请号：US09412506

申请日：1999-10-05

申请人： Atsushi Watanabe ,  Tetsuaki Kato

发明人： Atsushi Watanabe ,  Tetsuaki Kato

IPC分类号： G05B1132

CPC分类号： G05B9/02 ,  G05B19/406 ,  G05B2219/34306 ,  G05B2219/42277 ,  G05B2219/50181 ,  Y02P70/163

摘要： An automatic machine has a plurality of axes driven by servo motors. The controller for controlling this automatic machine confirms that a compulsory power disconnection mode is engaged, releases the brakes and starts power supply to servo amplifiers. At a prescribed time after power supply to said servo amplifiers has started, the power supply to the servo amplifiers is halted compulsorily. Alternatively, the power supply to the servo amplifiers is halted compulsorily at a prescribed time after power supply to the servo amplifiers has started and after initial movement commands have been input to the servo controllers.

摘要翻译： 自动机具有由伺服马达驱动的多个轴。 用于控制该自动机的控制器确认强制断电模式被接合，释放制动并开始向伺服放大器供电。 在开始向所述伺服放大器供电之后的规定时间内，强制停止向伺服放大器供电。 或者，在向伺服放大器供电已经开始并且在初始移动命令已被输入到伺服控制器之后，在规定的时间强制停止对伺服放大器的电源。

公开(公告)号：US20060235578A1

公开(公告)日：2006-10-19

申请号：US11405543

申请日：2006-04-18

申请人： Hideki Sunaga ,  Kaoru Tanaka ,  Shuji Hojo ,  Masaharu Tomiyama ,  Hideyuki Takahashi

发明人： Hideki Sunaga ,  Kaoru Tanaka ,  Shuji Hojo ,  Masaharu Tomiyama ,  Hideyuki Takahashi

IPC分类号： G06F17/00

CPC分类号： G05B19/4062 ,  B60H1/00849 ,  G05B2219/42277 ,  G05B2219/42329

摘要： An actuator controller includes an actuator body to be driven in a predetermined driven range, an actuator driving unit; and a controller body for controlling the driven position of the actuator body. The controller body includes an instructing signal outputting zone configured to outputting a position instructing signal for instructing the driven position of the actuator body according to a bid, excluding arbitrary two bits among the predetermined bit counts, an normal direction forcedly driving signal for instructing a normal direction forcedly driving to drive the actuator body in a predetermined direction with the one of the arbitrary two bits, and a reverse direction forcedly driving signal for instructing a reverse direction forcedly driving to drive the actuator body in a direction reverse to the predetermined direction with the other arbitrary bit.

摘要翻译： 致动器控制器包括在预定的驱动范围内被驱动的致动器主体，致动器驱动单元; 以及用于控制致动器主体的从动位置的控制器主体。 控制器主体包括指示信号输出区域，被配置为输出用于指示执行器主体的从动位置的位置指示信号，该预定位置指示信号不包括预定位计数中的任意两位，用于指示正​​常的正常方向强制驱动信号 方向被强制驱动，以任意的两个位中的任一个驱动致动器主体，并且用与指示反方向强制驱动的反向强制驱动信号以与预定方向相反的方向驱动致动器主体， 其他任意位。

公开(公告)号：US20060224932A1

公开(公告)日：2006-10-05

申请号：US11371127

申请日：2006-03-07

申请人： Wolfgang Ruppel ,  Stephan Schultze

发明人： Wolfgang Ruppel ,  Stephan Schultze

IPC分类号： G06F11/00

CPC分类号： G05B19/4062 ,  G05B2219/42277 ,  G05B2219/42287 ,  G05B2219/42313 ,  G05B2219/43174

摘要： The invention relates to a method for error response when an error occurs in response to a motion, particularly of a drive mechanism in a machine, the motion taking place while using at least one master axis and at least one cam disk having at least one input and one output and being controlled by the master axis, in which, in response to the occurrence of the error at the least one input of the at least one cam disk, current process variables that are present are used for the initiation and the execution of the error response. The invention also relates to a corresponding computer system.

公开(公告)号：US07676312B2

公开(公告)日：2010-03-09

申请号：US11405543

申请日：2006-04-18

申请人： Hideki Sunaga ,  Kaoru Tanaka ,  Shuji Hojo ,  Masaharu Tomiyama ,  Hideyuki Takahashi

发明人： Hideki Sunaga ,  Kaoru Tanaka ,  Shuji Hojo ,  Masaharu Tomiyama ,  Hideyuki Takahashi

IPC分类号： B60R22/00 ,  G05B11/01 ,  B60H1/00 ,  G06F7/00

CPC分类号： G05B19/4062 ,  B60H1/00849 ,  G05B2219/42277 ,  G05B2219/42329

摘要： An actuator controller includes an actuator body to be driven in a predetermined driven range, an actuator driving unit; and a controller body for controlling the driven position of the actuator body. The controller body includes an instructing signal outputting zone configured to outputting a position instructing signal for instructing the driven position of the actuator body according to a bid, excluding arbitrary two bits among the predetermined bit counts, an normal direction forcedly driving signal for instructing a normal direction forcedly driving to drive the actuator body in a predetermined direction with the one of the arbitrary two bits, and a reverse direction forcedly driving signal for instructing a reverse direction forcedly driving to drive the actuator body in a direction reverse to the predetermined direction with the other arbitrary bit.

摘要翻译： 致动器控制器包括在预定的驱动范围内被驱动的致动器主体，致动器驱动单元; 以及用于控制致动器主体的从动位置的控制器主体。 控制器主体包括指示信号输出区域，被配置为输出用于指示执行器主体的从动位置的位置指示信号，该预定位置指示信号不包括预定位计数中的任意两位，用于指示正​​常的正常方向强制驱动信号 方向被强制驱动，以任意的两个位中的任一个驱动致动器主体，并且用与指示反方向强制驱动的反向强制驱动信号以与预定方向相反的方向驱动致动器主体， 其他任意位。

公开(公告)号：US07541767B2

公开(公告)日：2009-06-02

申请号：US11371127

申请日：2006-03-07

申请人： Wolfgang Rüppel ,  Stephan Schultze

发明人： Wolfgang Rüppel ,  Stephan Schultze

IPC分类号： G05B1/06

CPC分类号： G05B19/4062 ,  G05B2219/42277 ,  G05B2219/42287 ,  G05B2219/42313 ,  G05B2219/43174

摘要： The invention relates to a method for error response when an error occurs in response to a motion, particularly of a drive mechanism in a machine, the motion taking place while using at least one master axis and at least one cam disk having at least one input and one output and being controlled by the master axis, in which, in response to the occurrence of the error at the least one input of the at least one cam disk, current process variables that are present are used for the initiation and the execution of the error response. The invention also relates to a corresponding computer system.

摘要翻译： 本发明涉及当响应于运动，特别是机器中的驱动机构发生错误时的错误响应的方法，在使用至少一个主轴线的同时发生的运动以及具有至少一个输入的至少一个凸轮盘 和一个输出并由主轴控制，其中响应于至少一个凸轮盘的至少一个输入处的误差的出现，存在的当前过程变量用于启动和执行 错误响应。 本发明还涉及相应的计算机系统。

公开(公告)号：US5568592A

公开(公告)日：1996-10-22

申请号：US322821

申请日：1994-10-13

申请人： Kelly J. Reasoner

发明人： Kelly J. Reasoner

IPC分类号： G05B19/21 ,  G05B15/00 ,  G05B19/00

CPC分类号： G05B19/21 ,  G05B2219/42277 ,  G05B2219/45013 ,  G05B2219/45057

摘要： A system is disclosed for conserving power in a robotic arm device. The robotic arm device is responsive to a motion command and controlled by a servo loop having a motor, a motor driver, and a motor encoder. The system positions the robotic arm to a stow position when the time since a last motion command exceeds a predetermined power shut down time. When the robotic arm has reached the stow position, power is removed from the motor and the motor drivers by opening the servo loop. Thus, power is conserved while the robotic arm rests in its stow position. When a new command is received, the servo loop is closed and power is applied to position the robotic arm to its desired position.

摘要翻译： 公开了一种用于在机器人臂装置中节省功率的系统。 机器人手臂装置响应运动指令并由具有马达，马达驱动器和马达编码器的伺服回路控制。 当自上次运动命令以来的时间超过预定的电力关闭时间时，系统将机器人手臂定位到收起位置。 当机器人手臂已经到达收起位置时，通过打开伺服回路从电机和电机驱动器上取下电源。 因此，机器人手臂处于其收起位置时，功率是保守的。 当接收到新的命令时，伺服环路闭合，并且将机器人臂定位到其期望的位置。