公开(公告)号：US09753447B2

公开(公告)日：2017-09-05

申请号：US14561803

申请日：2014-12-05

申请人： OMRON CORPORATION

发明人： Hiroshi Sawaragi ,  Yutaka Abe ,  Yoshimi Kamitani ,  Josep Manel Lario Perez

IPC分类号： G05D7/00 ,  G05B19/05 ,  G05B19/414

CPC分类号： G05B19/056 ,  G05B19/4145 ,  G05B2219/42189 ,  G05B2219/43174 ,  G05B2219/50234

摘要： It is possible to easily change CAM tables, which are used for executing an electronic CAM operation. A CAM computation program performs an electronic CAM operation, using a CAM table that is an array in which displacements of a slave axis of an electronic CAM are associated with phases of a master axis of the electronic CAM. A CAM table generating program receives input of a CAM definition variable that defines an electronic CAM operation to be realized by a motion control, and generates a CAM table in which a CAM curve is stored as an array corresponding to the inputted CAM definition variable. A microprocessor performs a CAM computation program using the CAM table. If the microprocessor receives the input of the CAM definition variable, the microprocessor performs the CAM table generating program to generate the CAM table, and stores the generated CAM table into the main memory.

公开(公告)号：US20150268658A1

公开(公告)日：2015-09-24

申请号：US14662409

申请日：2015-03-19

申请人： FANUC CORPORATION

发明人： Naoto Sonoda

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/50225 ,  G05B2219/50234

摘要： The servo controller of the present invention includes a first axis speed feedback obtaining unit, a second axis speed feedback obtaining unit configured to obtain an amount of speed feedback for a second axis synchronizing with a first axis, a speed conversion unit configured to convert an amount of speed feedback for the first axis by using a conversion coefficient, a speed difference calculating unit configured to calculate a speed difference between the converted amount of speed feedback for the first axis and the amount of speed feedback for the second axis, a torque correction calculating unit configured to calculate a torque correction value by using the speed difference, a second axis torque command correcting unit using the torque correction value, a torque correction value converting unit using the conversion coefficient, and a first axis torque command correcting unit using the converted torque correction value.

摘要翻译： 本发明的伺服控制器包括第一轴速度反馈获取单元，第二轴速度反馈获取单元，被配置为获得与第一轴同步的第二轴的速度反馈量;速度转换单元， 通过使用转换系数对第一轴进行速度反馈;速度差计算单元，被配置为计算第一轴的转换速度反馈量与第二轴的速度反馈量之间的速度差;扭矩校正计算 单元，被配置为通过使用速度差计算转矩校正值，使用转矩校正值的第二轴转矩指令校正单元，使用转换系数的转矩校正值转换单元，以及使用转换的转矩的第一轴转矩指令校正单元 校正值。

公开(公告)号：US08776357B2

公开(公告)日：2014-07-15

申请号：US12769941

申请日：2010-04-29

申请人： Gregory A. Hyatt ,  James Lankford ,  Jeffrey D. Wallace

发明人： Gregory A. Hyatt ,  James Lankford ,  Jeffrey D. Wallace

IPC分类号： B23B1/00

CPC分类号： B23C3/18 ,  B23C2220/28 ,  B23C2220/60 ,  B23Q39/026 ,  G05B19/4142 ,  G05B2219/45044 ,  G05B2219/50234

摘要： Machine tool systems and methods include methods of synchronizing cutting tools with a workpiece retainer. In some embodiments, the methods and systems provide at least two cutting tools that are synchronized to machine a common surface of a workpiece in a quick and efficient manner. A controller having a single line of code for controlling both cutting tools and the workpiece retainer may be used. The cutting tools may be synchronized such that they engage substantially opposite portions of the workpiece, thereby to reduce resulting forces in the workpiece that may tend to induce workpiece deflection and/or chatter. In other embodiments, a cutting tool is synchronized with a split workpiece holder that may be controlled to induce a compression, tension, or torsion pre-load in the workpiece.

摘要翻译： 机床系统和方法包括使切割工具与工件保持器同步的方法。 在一些实施例中，所述方法和系统提供至少两个切割工具，其以快速且有效的方式同步加工工件的共同表面。 可以使用具有用于控制切割工具和工件保持器的单行代码的控制器。 切割工具可以同步，使得它们与工件的基本相对的部分接合，从而减少工件中产生的工件挠曲和/或颤动的结果力。 在其他实施例中，切割工具与分割的工件保持器同步，分割工件保持器可以被控制以在工件中引起压缩，拉伸或扭转预加载。

公开(公告)号：US07095203B2

公开(公告)日：2006-08-22

申请号：US10821917

申请日：2004-04-12

申请人： Takahiko Endo ,  Yasushi Takeuchi

发明人： Takahiko Endo ,  Yasushi Takeuchi

IPC分类号： G05B19/33

CPC分类号： G05B19/182 ,  G05B19/19 ,  G05B2219/34344 ,  G05B2219/42186 ,  G05B2219/50103 ,  G05B2219/50234

摘要： A numerical controller which, after once stopping a slave axis during superposing control, can easily resume the superposing control. In the superposing control, a motion amount for a master axis and a motion amount for the slave axis are added to a workpiece coordinate value of the master axis and a workpiece coordinate value of the slave axis, respectively, to update their present position data (I2, II2). These motion amounts are supplied also to servo processing (I3, II3) for the master axis and the slave axis, where an amount obtained by superposing a motion amount δzIm for the master axis ZIm on a motion amount δzIIs for the slave axis ZIIs is supplied to the servo processing for the slave axis ZIIs. When a slave axis motion stop command is issued, the motion of the slave axis is stopped and a motion amount δzIm for the master axis ZIm is subtracted from the workpiece coordinate value of the slave axis ZIIs. This makes it possible to retain the positional relationship between the master axis and the slave axis, and hence easily resume the superposing control when the motion of the slave axis is restarted.

摘要翻译： 一个数值控制器，在重叠控制之后一次停止从轴后，可以轻松恢复叠加控制。 在叠加控制中，主轴的运动量和从轴的运动量分别相加于主轴的工件坐标值和从轴的工件坐标值，以更新其当前位置数据（ I 2，II 2）。 这些运动量也被提供给用于主轴和从轴的伺服处理（I 3，II 3），其中通过将用于主轴ZIm的运动量deltazIm叠加到从轴ZII的运动量deltazIIs上获得的量 被提供给从轴ZII的伺服处理。 当发出从动轴运动停止命令时，停止从动轴运动，从从轴ZII的工件坐标值中减去主轴ZIm的运动量deltazIm。 这使得可以保持主轴和从轴之间的位置关系，并且因此当从轴的运动重新开始时容易地恢复重叠控制。

公开(公告)号：US06322733B1

公开(公告)日：2001-11-27

申请号：US09419333

申请日：1999-10-15

申请人： Richard Herbst

发明人： Richard Herbst

IPC分类号： B29C4542

CPC分类号： G05B19/182 ,  B23Q1/26 ,  B23Q5/58 ,  B23Q16/008 ,  B29C45/14008 ,  B29C45/42 ,  B29C45/7626 ,  B29C2045/7633 ,  B29C2945/76076 ,  B29C2945/76264 ,  B29C2945/76595 ,  B29C2945/76648 ,  B29C2945/76742 ,  B29C2945/76943 ,  F16C29/02 ,  F16C2322/39 ,  F16F7/12 ,  G05B19/416 ,  G05B2219/45244 ,  G05B2219/50234

摘要： A method and an apparatus are disclosed for controlling a motional sequence of a first movable component of a plastic material injection molding machine having a first trajectory spatially overlapping at least partially a second trajectory of a second movable component of the plastic material injection molding machine. Motion of the first movable component is initiated depending on an enabling signal indicative for a motional state of the second movable component. The method comprises the steps of: a) determining a first period of time (TWA; TRE) between a first moment in time (tFW; tFR) when the enabling signal is generated and a second moment in time (t6; t3) when the first movable component enters the second trajectory; b) determining a second period of time (TRAmax; TWEmax) between the first moment in time (tFW; tFR) and a third moment in time (t10; t8) when the second movable component leaves the first trajectory; c) comparing the first period of time (TWA; TRE) with the second period of time (TRAmax; TWEmax) and generating a difference signal therebetween; and d) controlling motion of the first movable component as a function of this comparison of the first period of time (TWA; TRE) with the second period of time (TRAmax; TWEmax) such that the difference signal is smaller than a predetermined minimum tolerance value (T2; T1).

摘要翻译： 公开了一种用于控制塑料材料注射成型机的第一可移动部件的运动顺序的方法和装置，该塑料材料注塑机的第一轨迹至少部分地与塑料材料注塑机的第二可移动部件的第二轨迹空间重叠。 取决于指示第二可移动部件的运动状态的使能信号来启动第一可移动部件的运动。 该方法包括以下步骤：a）当产生使能信号时，确定第一时刻（tFW; tFR）和第二时刻（t6; t3）之间的第一时间段（TWA; TRE） 第一可移动部件进入第二轨迹; b）当第二可移动部件离开时，确定第一时刻（tFW; tFR）和第三时刻（t10; t8）之间的第二时间段（TRAmax; TWEmax） 第一轨迹; c）将所述第一时间段（TWA; TRE）与所述第二时间段（TRAmax; TWEmax）进行比较并在其间产生差分信号; 以及d）根据所述第一时间段（TWA; TRE）与所述第二时间周期（TRAmax; TWEmax）的所述比较的函数来控制所述第一可移动部件的运动，使得所述差信号小于预定的最小容许值 （T2; T1）。

公开(公告)号：US4879644A

公开(公告)日：1989-11-07

申请号：US139840

申请日：1987-12-30

申请人： R. Marc Gottshall

发明人： R. Marc Gottshall

IPC分类号： G05B19/414

CPC分类号： G05B19/4141 ,  G05B2219/33187 ,  G05B2219/33337 ,  G05B2219/34167 ,  G05B2219/34208 ,  G05B2219/45016 ,  G05B2219/50234

摘要： Apparatus and method are provided for automatically controlling the position of one or more objects. The apparatus comprises a position control network which receives macro-type movement commands from a mainframe computer. The network includes a plurality of interface processors each adapted to provide a plurality of micro-commands in response to each macro-command. The micro-commands are supplied to motion controllers which in turn control the movement of servomotors. The servomotors position the object. Position encoders are provided to monitor the position of the objects and provide position data to the interface processor for transmission to the mainframe computer. A novel method is disclosed which employs the foregoing apparatus to provide synchronous motion of two or more objects.

摘要翻译： 提供了用于自动控制一个或多个物体的位置的装置和方法。 该装置包括从大型计算机接收宏型移动命令的位置控制网络。 网络包括多个接口处理器，每个接口处理器适于响应于每个宏命令提供多个微命令。 微指令被提供给运动控制器，运动控制器又控制伺服电动机的运动。 伺服电机定位物体。 提供位置编码器以监视对象的位置，并向接口处理器提供位置数据以传输到主机计算机。 公开了一种采用上述装置来提供两个或多个物体的同步运动的新颖方法。

公开(公告)号：US20170038746A1

公开(公告)日：2017-02-09

申请号：US15226293

申请日：2016-08-02

申请人： FANUC CORPORATION

发明人： Noboru Hirose

IPC分类号： G05B13/02 ,  G05B19/402

CPC分类号： G05B19/416 ,  G05B15/02 ,  G05B2219/42191 ,  G05B2219/43048 ,  G05B2219/50234

摘要： In a synchronization operation instruction of a synchronization control of moving a slave axis at a certain ratio with respect to a master axis movement amount, a master axis movement amount before start of change of a synchronization magnification, used in an operation based on a synchronization magnification changing instruction, is determined by referring to a parameter of the synchronization operation instruction so that the operation based on the synchronization magnification changing instruction ends at a set synchronization start master axis position. With such a configuration, the synchronization control is started based on the synchronization operation instruction from the synchronization start master axis position set in the synchronization operation instruction.

摘要翻译： 在相对于主轴移动量以一定比率移动从动轴的同步控制的同步动作指令中，在基于同步倍率的动作中使用的同步倍率变更开始前的主轴移动量 通过参照同步操作指令的参数确定改变指令，使得基于同步倍率变化指令的操作在设定的同步起始主轴位置结束。 通过这样的结构，根据在同步动作指令中设定的同步起动主轴位置的同步动作指令，开始同步控制。

公开(公告)号：US09136781B2

公开(公告)日：2015-09-15

申请号：US14229291

申请日：2014-03-28

申请人： FANUC CORPORATION

发明人： Tadashi Okita

IPC分类号： H02P1/54 ,  H02P5/52 ,  B23Q15/00 ,  G05B19/18 ,  G05D3/12 ,  G05B19/4062

CPC分类号： H02P5/526 ,  B23Q15/00 ,  G05B19/18 ,  G05B19/4062 ,  G05B2219/33228 ,  G05B2219/41195 ,  G05B2219/42286 ,  G05B2219/42332 ,  G05B2219/45214 ,  G05B2219/50234 ,  G05D3/12 ,  H02P5/56

摘要： In the first synchronous system of the synchronous control unit (1), movement commands of the first motor (23) and the second motor (13) made by the movement command making section (9), which are synchronized with each other, are respectively supplied to the first amplifier (22) and the second amplifier (12) through the first communication path (11) and the second communication path (21). In the second synchronous system switched from the first synchronous system, the first motor (23) is decelerated by a deceleration command made by the deceleration making section (29) and the second motor (13) is decelerated synchronously with the first motor by a movement command made by the position feedback value controlled by the first motor (23) supplied to the second amplifier (12) through the third communication path (31).

摘要翻译： 在同步控制单元（1）的第一同步系统中，由移动指令制作部（9）制成的第一马达（23）和第二马达（13）的移动指令分别相互同步 通过第一通信路径（11）和第二通信路径（21）提供给第一放大器（22）和第二放大器（12）。 在从第一同步系统切换的第二同步系统中，第一电动机（23）由减速制动部（29）进行的减速指令减速，第二电动机（13）与第一电动机同步地减速运动 由通过第三通信路径（31）提供给第二放大器（12）的由第一电动机（23）控制的位置反馈值进行的指令。

公开(公告)号：US20140364964A1

公开(公告)日：2014-12-11

申请号：US14370405

申请日：2012-01-27

申请人： Keiji Suematsu

发明人： Keiji Suematsu

IPC分类号： G05B15/02

CPC分类号： G05B15/02 ,  G05B19/0426 ,  G05B19/195 ,  G05B2219/23291 ,  G05B2219/32137 ,  G05B2219/50234 ,  Y02P90/16 ,  Y02P90/185

摘要： Among a plurality of synchronous control programs each configured to include a plurality of output software modules with respect to one driving software module, a synchronous control program of a multi-axis configuration, in which driving software modules are coupled together into a same axis, is displayed on one screen. On this display screen, display is switched between a parameter setting screen, status information on respective software modules, and a waveform graph of the driving software module and the output software modules, in order to enable work ranging from software designing to debugging to be efficiently performed.

摘要翻译： 在多个同步控制程序中，每个同步控制程序被配置为包括关于一个驱动软件模块的多个输出软件模块，其中驱动软件模块耦合在同一轴线上的多轴配置的同步控制程序是 显示在一个屏幕上。 在该显示屏幕上，在参数设置画面，相应软件模块的状态信息以及驱动软件模块和输出软件模块的波形图之间切换显示，以使从软件设计到调试的工作有效率 执行。

公开(公告)号：US06909939B1

公开(公告)日：2005-06-21

申请号：US10258850

申请日：2000-09-20

申请人： Yoshinori Yamada

发明人： Yoshinori Yamada

IPC分类号： G05B19/19 ,  G05B19/414 ,  G06F19/00

CPC分类号： G05B19/4142 ,  G05B19/19 ,  G05B2219/34134 ,  G05B2219/50234

摘要： Two shafts whose moving directions do not intersect orthogonally with each other are set, then any one shaft of two shafts as an oblique reference shaft is set, then information based on an angle between two shafts whose moving directions do not intersect orthogonally with each other are set, then a first program orthogonal coordinate system constructed such that a moving direction of the oblique reference shaft coincides with a command axis direction of the program orthogonal coordinate system and a second program orthogonal coordinate system constructed such that a moving direction of another shaft other than the oblique reference shaft coincides with a command axis direction of the program orthogonal coordinate system are set, and then any one of the first program orthogonal coordinate system and the second program orthogonal coordinate system is selected. Accordingly, the optimum tool can be selected to meet to the process pattern and the process can be executed by the optimum shaft feed, and thus the processing precision can be improved.

摘要翻译： 两个轴的移动方向彼此不正交的两个轴被设定，然后设定作为倾斜基准轴的两个轴的任一个轴，然后基于两个轴之间的角度不相交的两个轴之间的角度的信息是 然后设置第一程序正交坐标系，其构造为使得倾斜参考轴的移动方向与程序正交坐标系的指令轴方向一致，而第二程序正交坐标系被构造成使得不同于另一轴的移动方向 倾斜基准轴与程序正交坐标系的指令轴方向一致，然后选择第一程序正交坐标系和第二程序正交坐标系中的任何一个。 因此，可以选择最佳工具以满足工艺图案，并且可以通过最佳轴进给来执行工艺，从而可以提高加工精度。