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    Servo motor controller
    2.
    发明授权
    Servo motor controller 有权

    公开(公告)号：US11347197B2

    公开(公告)日：2022-05-31

    申请号：US16027856

    申请日：2018-07-05

    Applicant: FANUC CORPORATION

    Inventor： Yuuki Kumamoto ,  Satoshi Ikai

    IPC: G05B15/02 ,  G05B19/23 ,  G05B19/37 ,  G05B13/00 ,  G05B19/404

    Abstract: 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.

    Electric press, bend-point detection method, and program
    3.
    发明授权
    Electric press, bend-point detection method, and program 有权

    公开(公告)号：US10173385B2

    公开(公告)日：2019-01-08

    申请号：US14473681

    申请日：2014-08-29

    Applicant: Janome Sewing Machine Co., Ltd.

    Inventor： Shingo Takada ,  Kenichiro Hiruma

    IPC: B30B15/00 ,  B30B15/26 ,  B21D5/02 ,  G05B19/37 ,  G05B19/41 ,  B21D5/00 ,  B30B1/18

    Abstract: A detection unit for detecting a data row of a press position and a load at the press position; an input/storage unit for inputting and storing a value serving as a reference for determining a bend point in a relation between the press position and the load at the press position; a data-row calculation unit for calculating a data row of a press position and a load at a constant distance interval based on the data row of the press position and the load detected; a slope calculation unit for calculating a slope of the load based on the press position and the load at the press position detected; and a bend-point determination unit for determining a point, at which the calculated slope of the load exceeds the value serving as the reference for determining the bend point, as the bend point are provided.

    Tracer control system
    4.
    发明授权
    Tracer control system 失效
    示踪器控制系统

    公开(公告)号：US4266172A

    公开(公告)日：1981-05-05

    申请号：US032695

    申请日：1979-04-23

    Applicant: Etuo Yamazaki

    Inventor： Etuo Yamazaki

    IPC: G05D3/00 ,  B23Q15/22 ,  B23Q35/123 ,  G05B19/37

    CPC classification number: B23Q15/225 ,  B23Q35/123

    Abstract: In a tracer control system in which tracer head control is switched over from a quick feed mode to a deceleration mode of operation to alleviate a shock when the stylus of the tracer head contacts the model, the amount of change in the configuration of the model at a profiling start point is detected to control the point of switching over the quick feed mode to the deceleration mode of operation for the next profiling start point in accordance with the detected value, thereby to ensure that the above mentioned mode switching is always accomplished at substantially a constant position relative to the profiling start point on the model surface so as to shorten the profiling time.

    Abstract translation: 在示踪器控制系统中，其中示踪器头部控制从快速进给模式切换到减速操作模式，以在示踪器头部的触针接触模型时减轻冲击，模型的配置的变化量 检测到轮廓起始点，以根据检测值将快速进给模式切换到下一个轮廓起始点的减速模式，从而确保上述模式切换总是基本上完成 相对于模型表面上的轮廓起始点的恒定位置，以缩短轮廓时间。

    All digital sampling servo system
    5.
    发明授权
    All digital sampling servo system 失效
    所有数字采样伺服系统

    公开(公告)号：US3882487A

    公开(公告)日：1975-05-06

    申请号：US41990373

    申请日：1973-11-29

    Applicant: ROSENBERG JACK

    Inventor： ROSENBERG JACK

    IPC: G05B19/37 ,  G08C11/00 ,  H03K13/02

    CPC classification number: G05B19/371 ,  G05B2219/43157

    Abstract: A numerical machine tool control system is provided wherein command information is given in the form of digital words representative of end point coordinates to which the machine tool is expected to move within predetermined identical increments of time, as opposed to the present system which provides command information together with a feedrate.

    Reduction of servo following errors in position and velocity control systems of the iteratively computing type
    6.
    发明授权
    Reduction of servo following errors in position and velocity control systems of the iteratively computing type 失效
    减少重复计算类型的位置和速度控制系统中的错误

    公开(公告)号：US3798430A

    公开(公告)日：1974-03-19

    申请号：US3798430D

    申请日：1973-02-27

    Applicant: GIDDINGS & LEWIS

    Inventor： SIMON J ,  BULLOCK T

    IPC: G05B19/37 ,  G06F15/46 ,  G05B21/00

    CPC classification number: G05B19/371 ,  G05B2219/41187 ,  G05B2219/41461 ,  G05B2219/42072 ,  G05B2219/42207

    Abstract: Methods and apparatus for reducing following errors in the servo drives of positioning and velocity control systems wherein the commanded position is signaled and updated by increments Delta X during each successive equal time periods Delta T, -so as to cause the controlled member movable along any axis X to travel at a velocity Vx Delta X/ Delta T. The commanded position is updated by iterative computations at least once during each period Delta T, and the Delta X increments to be used for such updating are numerically signaled and can be changed as frequently as once during each period Delta T. In order to create a feed forward signal for application to the servo in a sense additive to the position command signal, the digitally signaled number Delta X is converted into a corresponding analog signal. In the preferred arrangement, this conversion is accomplished by a counter which is preset to the number Delta X at regularly recurring instants and arranged to count down whenever the number held in the counter is other than zero. A decoder responsive to a predetermined count, for example zero, not only terminates the counting action until the next presetting but also produces a constant frequency, variable duty cycle squarewave having an average or dc. value proportional to the number Delta X and which serves as an accurate feed forward input to the servo.

    Abstract translation: 用于减少定位和速度控制系统的伺服驱动器中的跟随误差的方法和装置，其中在每个连续的相等时间段DELTA T中，命令位置由增量DELTA X发出信号并更新，以使得受控构件沿着任何轴线移动 X以速度Vx = DELTA X / DELTA T行进。命令位置通过在每个周期DELTA T期间至少一次的迭代计算来更新，并且用于这种更新的DELTA X增量被数字信号通知并且可以被改变为 频繁地在每个时段DELTA T期间一次。为了产生用于在位置指令信号的加法中施加到伺服的前馈信号，数字信号的数字DELTA X被转换成相应的模拟信号。 在优选的布置中，这种转换是通过在定期循环的时刻被预设为数字DELTA X的计数器来实现的，并且每当计数器中保持的数字不为零时被布置为递减计数。 响应于预定计数（例如为零）的解码器不仅终止计数动作直到下一个预设，而且产生具有平均值或直流的恒定频率，可变占空比方波。 值与数字DELTA X成比例，并且其作为伺服的精确前馈输入。

    Data processing method for minimizing potential errors occurring during linear and circular interpolation
    7.
    发明授权
    Data processing method for minimizing potential errors occurring during linear and circular interpolation 失效
    用于在线性和圆形插值过程中最小化潜在错误的数据处理方法

    公开(公告)号：US3634661A

    公开(公告)日：1972-01-11

    申请号：US3634661D

    申请日：1968-09-26

    Applicant: GIDDINGS & LEWIS

    Inventor： FITZNER ARTHUR O

    IPC: G05B19/37 ,  G05B19/30

    CPC classification number: G05B19/371

    Abstract: Successive linear or circular arc path segments are represented by successive ''''blocks'''' of data. A corrective change is made in the data block representing a given path segment if the preceding path segment did not terminate exactly at its designated end point.

    Abstract translation: 连续的线性或圆弧路径段由数据的连续“块”表示。 如果前面的路径段没有在其指定的终点处完全终止，则在表示给定路径段的数据块中进行纠正改变。

    Programmed digital servo control including repeated command updating whereby output function becomes smoothly varying
    9.
    发明授权
    Programmed digital servo control including repeated command updating whereby output function becomes smoothly varying 失效
    编程数字伺服控制，包括重复的命令更新，其中的输出功能成为微不足道的变化

    公开(公告)号：US3569814A

    公开(公告)日：1971-03-09

    申请号：US3569814D

    申请日：1969-01-17

    Applicant: IBM

    Inventor： ROSENBERG JACK

    IPC: G05B19/37 ,  G05B19/24 ,  G05B19/28

    CPC classification number: G05B19/371

    Abstract: Digital numerical control for a machine tool. A plurality of digitally encoded signals or words, each representing an axis of the machine tool, are periodically supplied to a servo for each axis at a rate of less than 200 per axis per second. The digitally encoded signals update the servo by an amount equal to the value thereof to indicate a new desired position of the machine tool along that axis at that point in time. The servo continuously supplies an error signal representing the difference between the desired and actual position of the machine tool. A drive motor for each axis responds to the corresponding error signal to drive the machine tool along that axis. The error signal is updated at a sufficiently high rate that the inertia of the driven tool operates to smooth the motion thereof.

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