JPS6244644B2 - - Google Patents
Info
- Publication number
- JPS6244644B2 JPS6244644B2 JP16030580A JP16030580A JPS6244644B2 JP S6244644 B2 JPS6244644 B2 JP S6244644B2 JP 16030580 A JP16030580 A JP 16030580A JP 16030580 A JP16030580 A JP 16030580A JP S6244644 B2 JPS6244644 B2 JP S6244644B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- rotating body
- signal
- command
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000002441 reversible effect Effects 0.000 claims description 11
- 230000003321 amplification Effects 0.000 description 8
- 238000003199 nucleic acid amplification method Methods 0.000 description 8
- 230000007423 decrease Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Description
【発明の詳細な説明】
この発明は回転体の停止位置を常に一定とする
定位置停止制御装置に関する。
工作機械の主軸スピンドル制御にあつて加工物
の形状とが作業工程上の故に主軸スピンドルを常
に定位置に停止させる必要のものがある。このよ
うな定位置停止制御において、従来の方法は、停
止位置を指示する指示器の他にそれと対称の180
゜反対側の位置に減速用の指示器を備え、固定側
のセンサにより上記減速位置指示器、停止位置指
示器からの減速、停止信号を検知し、高速スピン
ドルを定位置に停止させるという、複数位置から
のそれぞれの信号を検知、それら信号を組合せ処
理して段階的に減速させ定位置停止を実現するも
のが一般的であつたが、これら方法は複数個の位
置指示器、対応する各位置信号を必要とし、検出
部の構成、信号処理・制御回路が複雑であり、か
つコスト高であつた。
この発明は上記に鑑み停止位置の定位置に唯一
個の位置指示器を備えるのみで、従つて検知信号
も停止位置の定位置信号一つで定位置停止を実現
する定位置停止制御装置の提供を目的とするもの
で、以下図示する実施例により具体的に説明す
る。図面は、第１図が本発明に係るレオナード制
御における定位置停止制御装置の全体構成図、第
２図が回転体からの停止位置信号を受け当停止位
置に回転体を停止するべく指令を発する指令制御
装置の構成図である。
即ち、この発明は、第１図に示すレオナード制
御に用いた場合について説明すると、交流電源か
ら逆並列接続のサイリスタ順変換器１，２を介し
可逆極性の直流電力が直流電動機３に印加され、
直流電動機３には負荷の回転体４が軸結、かつ回
転体４上の特定位置（停止位置に対応する地点）
に位置指示器５を唯一個取付ける。この位置指示
器５を固定側のセンサ６により検出、その位置信
号を本発明に係るポジシヨンニング制御装置２０
の入力信号とし別途設定の定位置停止信号（以下
ポジシヨンニング信号と称す）と相俟つて、一般
の速度設定器７からの速度指令を切離し、上記ポ
ジシヨンニング制御装置２０からの出力信号を、
定位置停止のための停止指令として速度制御系へ
与え、回転体４を定位置に停止させる。すなわ
ち、ポジシヨンニング制御装置２０は、ポジシヨ
ンニング信号が設定されると、まず最初に速度設
定器７を系より切り離し、回転体負荷トルクの作
用により回転体４、電動機３の速度が低下する
が、予め設定のポジシヨンニング速度にまで低下
したならば、いままで不感知であつた回転***置
指示器５，６からの位置信号を受け入れ、かつそ
の位置信号により反転の速度指令を発し電動機３
を逆転させタイマー動作による一定時間の後に上
記逆転指令を相殺するとともに、数rpmの正転指
令を与え電動機３の逆転動作終了の後は僅かの速
度で以つて再び正転を行い、停止位置に達し先の
位置信号が得られた時点で正転、反転の各指令は
打消され最終的に零となり電動機３、回転体４を
定位置に停止させるものである。なお、８は速度
検出器、９は速度調節器、１０は電流調節器、１
１は電流検出器、１２は移送器である。
第２図に、ポジシヨンニング制御装置２０の一
実施例を示すが、以下この回路動作について説明
する。すなわち、ポジシヨンニング指令が設定さ
れると直ちにリレーRYBが励磁され（トランジ
スタ１４のオンによる）スイツチ要素RYBが開
路、速度設定器７が系より切り離される。従つ
て、電動機３は負荷トルク、慣性モーメント、摩
擦抵抗等の作用により速度が低下していくが、低
下程度が予め設定の値に達したならば、回転体４
に設けた位置指示器５からの信号を感知する。１
３がコンパレータで例えば、ポジシヨンニング速
度を100100rpmとすれば、電動機速度がこのrpm
以下にまで低下したときに、出力Ｈを生成し、ポ
ジシヨンニング指令のＨと相まつて、トランジス
タ１５をオンよりオフに切換え、位置信号を後方
のメモリ回路へ伝達、トリガ入力とする。なお、
ポジシヨンニング指令が発せられ電動機速度が設
定値以下に低下して後、回転***置指示器５から
の信号が入力されるまでの間、当ポジシヨンニン
グ制御装置出力（速度指令）はANDゲート１７
の出力大きさと、演算増幅器OP、入力抵抗R1、
帰還抵抗R2より成る増幅回路１８の増幅度R2／
R1により決定される。すなわち、後述するが回
転体４の停止位置信号が入力されたとき電動機３
は直ちに反転し逆方向に回転できるよう速度を低
下させて運転されねばならず、そのため上記速度
指令出力は十分低い値に設定される。電動機３の
逆転指令はメモリ回路１９と、第２の増幅回路２
１の作用により負の入力電圧が増幅回路１８へ加
えられ、増幅度R2／R3によつて、反転指令速度
が決定される。メモリ回路１９は、ポジシヨンニ
ング指令、コンパレータ１３出力のNAND演算出
力（NANDゲート２２による）と、回転体５から
の停止位置信号を各トリガ入力として用い、また
その出力は、インバータ２３を介し、上記第２の
増幅回路２１へ、かつ、タイマ回路２４を経てイ
ンバータ２５へ、更にメモリ回路出力がＨよりＬ
に切換つた時点で先のANDゲート１７出力をＬ
へ切換えるべくANDゲート１７へのもう一方の
入力としてそれぞれ加えられる。また、最終段の
増幅回路１８は、一般運転状態にあつては速度指
令出力は零でなければならずインターロツクされ
ており、その入出力は短絡されているが、それが
開放され上記機能を果すのは、ポジシヨンニング
指令が発せられ、かつ電動機速度が設定速度
（100rpm）以下に達したときである。リレーRY1
とトランジスタ１６より構成される回路２６が、
上記を実現するための回路である。
ポジシヨンニング指令が設定され電動機３が設
定速度以下に低下するとNANDゲート２２の出力
はＨよりＬへ切換り、また停止位置信号が到達す
る前であり、インバータ２６を介したメモリ回路
１９のもう一方の入力はＨとなり、メモリ回路１
９の出力はＨ、従つてANDゲート１７は入力が
Ｈ、Ｈで出力はＨとなり、また第２の増幅回路２
１の出力は零で、増幅回路１８は、リレーRY1が
作動し入出力は開放されており、ANDゲート１
７の出力大きさと増幅度R2／R1で定まるポジシ
ヨンニング速度指令を出力する。電動機３は、こ
のポジシヨンニング速度で駆動されるが、この状
態で停止位置信号が入るとインバータ２６出力は
反転し、メモリ回路１９の一方の入力はＨよりＬ
に切換り、従つて、メモリ回路１９出力はＨより
Ｌへと反転する。この結果、第２の増幅回路２１
は負電圧を出力し、一方ANDゲート１７は入力
がＬ、Ｌとなり出力はＬでメモリ回路１９は
NANDゲート２２がＬよりＨへ変化しない限りそ
の出力はＬを維持しANDゲート１７を閉路す
る。従つて、増幅回路１８は第２の増幅回路２１
の負電圧が入力信号となり増幅度R2／R3に応じ
た大きさの正電圧を出力し、電動機３、回転体４
は逆回転される。この第２の増幅回路２１の負電
圧は、メモリ回路１９の出力がタイマー回路２４
を介しインバータ２５にて反転され、当第２の増
幅回路出力と突合されており、タイマー回路２４
で決定される一定の遅れ時間後にインバータ２５
の出力Ｈと相殺され零となり電動機３逆転を停止
させる。一方、この逆転により停止位置信号は消
失しインバータ２６出力はＨとなるが、メモリ回
路１９は作動せず、ANDゲート１７は閉路のま
まで、上記Ｈ出力は抵抗R5を介し演算増幅器OP
へ加えられ、この結果、増幅回路１８は増幅度
R2／R5で決まる僅かの大きさの正転信号電圧を
出力することとなり、電動機３は超低速度で回転
される。そして、再び停止位置に近接し、停止位
置信号が発せられるとインバータ２６出力はＨよ
りＬに切換り、上記増幅回路１８からの超低速度
指令は零となり再び第２の増幅回路２１の出力と
インバータ２５のＨ出力が増幅回路１８の入力信
号として使用されるが、両者信号は相殺され、殆
ど零であるが、若干第２の増幅回路２１の出力が
大きく少しの負電圧信号が増幅回路１８入力に加
えられ速度指令出力は僅かの逆転指令となる。こ
のため、電動機３は再度逆転し停止指示位置を外
れようとするが、位置信号がなくなるとインバー
タ２６出力はＬよりＨへ切換り先のR2／R5の増
幅度に基づく正転信号が生じ、結局上記微量逆転
指令と相まつて速度指令は零となり、電動機３、
回転体４は指令の停止位置で停止されることとな
る。
このように、本発明はサイリスタレオナード制
御のような可逆運転の電動機において、定位置停
止を行うに、回転体上に唯一個の定位置検知装置
を備えるのみ、即ち一つの位置信号を用いるだけ
で、正確な停止を実現するものであり、ポジシヨ
ンニング指令により通常の速度設定器を系より切
り離し回転体速度の設定速度以下に低下するのを
待つて、停止前の低速度のポジシヨンニング速度
指令を系へ与へ、かつ上記停止位置信号の検出に
より一旦逆転指令を発し、タイマー動作により一
定時間経過するまでは逆転を行い、更に最終的に
は微速での正転指令を発し再度の停止位置信号に
基づく逆転指令（超微速）と相まつて速度指令を
零とし一定の停止位置に確実に停止させるもので
あり、この種従来装置の複数の位置信号を組合
せ、演算処理する方式のものに比較し、位置信号
生成検知機構、演算処理回路ともに簡略化され、
コストダウンに寄与するところ大である。 DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fixed position stop control device that always keeps a rotating body at a constant stop position. When controlling the main spindle of a machine tool, there is a need to always stop the main spindle at a fixed position because the shape of the workpiece affects the work process. In such fixed position stop control, the conventional method uses an indicator that indicates the stop position as well as a 180° symmetrical indicator.
゜A deceleration indicator is provided at the opposite position, and a sensor on the fixed side detects deceleration and stop signals from the deceleration position indicator and stop position indicator, and stops the high-speed spindle at a fixed position. The common method was to detect each signal from the position and process the signals in combination to decelerate in stages and stop at a fixed position.However, these methods require multiple position indicators and each corresponding position. It requires a signal, the configuration of the detection section and the signal processing/control circuit are complicated, and the cost is high. In view of the above, the present invention provides a fixed position stop control device that is equipped with only one position indicator at the fixed position of the stop position, and therefore realizes fixed position stop with only one detection signal of the fixed position signal of the stop position. The purpose of this invention is to specifically explain the following with reference to the embodiments shown in the drawings. In the drawings, Fig. 1 is an overall configuration diagram of a fixed position stop control device in Leonard control according to the present invention, and Fig. 2 shows a device that receives a stop position signal from a rotating body and issues a command to stop the rotating body at the corresponding stop position. FIG. 2 is a configuration diagram of a command control device. That is, to explain the case where the present invention is used in the Leonard control shown in FIG. 1, DC power of reversible polarity is applied from an AC power source to a DC motor 3 through anti-parallel connected thyristor forward converters 1 and 2,
A rotating body 4 as a load is axially connected to the DC motor 3, and a specific position on the rotating body 4 (a point corresponding to a stop position)
Attach only one position indicator 5 to the position indicator 5. This position indicator 5 is detected by a sensor 6 on the fixed side, and the position signal is sent to the positioning control device 20 according to the present invention.
In conjunction with a separately set fixed position stop signal (hereinafter referred to as positioning signal) as an input signal, the speed command from the general speed setting device 7 is separated, and the output signal from the positioning control device 20 is ,
A stop command for stopping at a fixed position is given to the speed control system to stop the rotating body 4 at a fixed position. That is, when the positioning signal is set, the positioning control device 20 first disconnects the speed setting device 7 from the system, and the speed of the rotating body 4 and electric motor 3 is reduced by the action of the rotating body load torque. When the positioning speed has decreased to the preset positioning speed, it accepts the position signals from the rotating body position indicators 5 and 6, which have not been detected until now, and issues a reverse speed command based on the position signals, and the motor 3
After a certain period of time according to the timer operation, the motor 3 cancels the reversal command and gives a forward rotation command of several rpm. After the reversal operation of the motor 3 is completed, the motor 3 rotates forward again at a slight speed and returns to the stop position. When the destination position signal is obtained, the forward rotation and reverse rotation commands are canceled and finally become zero, stopping the electric motor 3 and the rotary body 4 at a fixed position. In addition, 8 is a speed detector, 9 is a speed regulator, 10 is a current regulator, 1
1 is a current detector, and 12 is a transfer device. FIG. 2 shows an embodiment of the positioning control device 20 , and the operation of this circuit will be explained below. That is, as soon as the positioning command is set, relay RYB is energized (by turning on transistor 14), switch element RYB is opened, and speed setting device 7 is disconnected from the system. Therefore, the speed of the electric motor 3 decreases due to the effects of load torque, moment of inertia, frictional resistance, etc., but when the degree of decrease reaches a preset value, the speed of the rotating body 4 decreases.
Detects the signal from the position indicator 5 installed at the position indicator 5. 1
3 is a comparator. For example, if the positioning speed is 100100 rpm, the motor speed is at this rpm.
When the voltage drops to below, an output H is generated, and together with the positioning command H, the transistor 15 is switched from on to off, and the position signal is transmitted to the rear memory circuit and used as a trigger input. In addition,
After the positioning command is issued and the motor speed decreases below the set value, until the signal from the rotating body position indicator 5 is input, the output (speed command) of this positioning control device is output to the AND gate. 17
The output magnitude of , operational amplifier OP, input resistance R 1 ,
Amplification degree R 2 / of the amplifier circuit 18 consisting of feedback resistor R 2
Determined by R 1 . That is, as will be described later, when a stop position signal of the rotating body 4 is input, the electric motor 3
must be operated at a reduced speed so that it can immediately reverse and rotate in the opposite direction, and therefore the speed command output is set to a sufficiently low value. The reversal command for the electric motor 3 is sent to the memory circuit 19 and the second amplifier circuit 2.
1, a negative input voltage is applied to the amplifier circuit 18 , and the inversion command speed is determined by the amplification ratio R2 / R3 . The memory circuit 19 uses the positioning command, the NAND operation output of the comparator 13 output (by the NAND gate 22), and the stop position signal from the rotating body 5 as trigger inputs, and its output is transmitted via the inverter 23. The memory circuit output goes from H to L to the second amplifier circuit 21 and to the inverter 25 via the timer circuit 24.
When switching to , the previous AND gate 17 output becomes L
are respectively added as the other input to AND gate 17 to switch to. In addition, the final stage amplifier circuit 18 is interlocked so that the speed command output must be zero under normal operating conditions, and its input and output are short-circuited, but when it is opened, the above function can be performed. This occurs when the positioning command is issued and the motor speed reaches the set speed (100 rpm) or less. Relay RY 1
A circuit 26 composed of a transistor 16 and a transistor 16 is
This is a circuit for realizing the above. When the positioning command is set and the motor 3 decreases below the set speed, the output of the NAND gate 22 switches from H to L, and this is before the stop position signal arrives, and the memory circuit 19 via the inverter 26 is switched from H to L. One input becomes H, and memory circuit 1
The output of the AND gate 9 is H, therefore, the input of the AND gate 17 is H, and the output is H, and the output of the second amplifier circuit 2 is H.
The output of AND gate 1 is zero, and the amplifier circuit 18 has relay RY 1 activated, input and output are open, and AND gate 1
A positioning speed command determined by the output magnitude of 7 and the amplification rate R 2 /R 1 is output. The electric motor 3 is driven at this positioning speed, but when a stop position signal is input in this state, the output of the inverter 26 is inverted, and one input of the memory circuit 19 changes from H to L.
Therefore, the output of the memory circuit 19 is inverted from H to L. As a result, the second amplifier circuit 21
outputs a negative voltage, while the AND gate 17 has inputs L and L, output is L, and the memory circuit 19
As long as the NAND gate 22 does not change from L to H, its output maintains L and closes the AND gate 17. Therefore, the amplifier circuit 18 is the second amplifier circuit 21
The negative voltage becomes the input signal, and a positive voltage corresponding to the amplification degree R 2 /R 3 is output, and the motor 3 and the rotating body 4
is rotated in the opposite direction. This negative voltage of the second amplifier circuit 21 is caused by the output of the memory circuit 19 being applied to the timer circuit 24.
is inverted by the inverter 25 via the inverter 25 and matched with the output of the second amplifier circuit, and the timer circuit 24
Inverter 25 after a certain delay time determined by
It cancels out the output H of , becomes zero, and stops the electric motor 3 from reversing. On the other hand, due to this reversal, the stop position signal disappears and the output of the inverter 26 becomes H, but the memory circuit 19 does not operate, the AND gate 17 remains closed, and the H output is passed through the resistor R5 to the operational amplifier OP.
As a result, the amplification circuit 18 has an amplification degree of
A normal rotation signal voltage of a slight magnitude determined by R 2 /R 5 is output, and the electric motor 3 is rotated at an extremely low speed. Then, when the vehicle approaches the stop position again and a stop position signal is issued, the output of the inverter 26 switches from H to L, and the ultra-low speed command from the amplifier circuit 18 becomes zero and becomes the output of the second amplifier circuit 21 again. The H output of the inverter 25 is used as an input signal to the amplifier circuit 18 , but both signals cancel each other out and are almost zero . The speed command output added to the input becomes a slight reverse rotation command. For this reason, the electric motor 3 reverses direction again and tries to move away from the stop command position, but when the position signal disappears, the inverter 26 output switches from L to H, and the forward rotation signal based on the amplification degree of R 2 /R 5 changes. Eventually, together with the minute reversal command, the speed command becomes zero, and the motor 3,
The rotating body 4 will be stopped at the commanded stop position. As described above, the present invention enables a reversible operation motor such as a thyristor Leonard control to be stopped at a fixed position by providing only one fixed position detecting device on the rotating body, that is, by using only one position signal. , which achieves accurate stopping, disconnects the normal speed setting device from the system with a positioning command, waits for the rotating body speed to drop below the set speed, and then adjusts the low positioning speed before stopping. A command is given to the system, and once the stop position signal is detected, a reversal command is issued, and the timer operates to perform the reversal until a certain period of time has elapsed, and finally, a forward rotation command is issued at a very slow speed to stop it again. Combined with a reverse command (ultra-low speed) based on the position signal, the speed command is zeroed and the system is reliably stopped at a fixed stop position.This type of system combines multiple position signals of this type of conventional equipment and performs arithmetic processing. Compared to the previous model, both the position signal generation detection mechanism and arithmetic processing circuit have been simplified
This greatly contributes to cost reduction.
図面は、第１図がサイリスタレオナード制御の
ブロツク線図、第２図がポジシヨンニング制御装
置のブロツク線図である。
３……可逆運転電動機、４……回転体、５……
位置指示器、６……センサー、２０……ポジシヨ
ンニング制御装置、１７……ANDゲート、１８
……増幅回路、１９……メモリ回路、２２……
NANDゲート、２４……タイマー回路、２６……
インバータ。
In the drawings, FIG. 1 is a block diagram of the thyristor Leonard control, and FIG. 2 is a block diagram of the positioning control device. 3... Reversible operation electric motor, 4... Rotating body, 5...
Position indicator, 6...Sensor, 20 ...Positioning control device, 17...AND gate, 18
...Amplification circuit, 19...Memory circuit, 22...
NAND gate, 24... Timer circuit, 26...
inverter.
Claims (1)
器、速度検出器、速度調節器、電流マイナループ
制御系よりなる速度制御系と、回転体上の定位置
に唯一個の位置指示器を備え、固定側のセンサで
この位置指示器を検知、位置信号を生成する手段
と、上記速度設定器を系より切離すためのリレー
と、回転体を定位置に停止させるべく、ポジシヨ
ンニング信号を入力したとき上記リレーを付勢す
るとともに、以下に記す一連の速度指令を出力す
るポジシヨンニング制御装置、より構成したこと
を特徴とする回転体定位置停止制御装置。 ポジシヨンニング制御装置； ａ 上記速度検出器の出力信号が予じめ設定の所
定値以下に達したとき、低速度のポジシヨンニ
ング速度指令を出力し、 ｂ 先のポジシヨニング信号と上記速度信号の所
定値以下に達したこと、とのアンド条件で先の
位置信号を受入れ、逆転の速度指令を出力し、 ｃ 予じめ設定のタイマー時間の後に超低速度の
正転速度指令を出力し、 ｄ 再度の位置信号入力時における微少逆転速度
指令と回転体停止位置を離れるに従つて生じる
先の超低速度の正転速度指令とが相まつて速度
指令を零とするもの。[Claims] 1. In a rotating body that performs reversible operation, a speed control system consisting of a speed setting device, a speed detector, a speed regulator, a current minor loop control system, and a unique position instruction at a fixed position on the rotating body. a means for detecting the position indicator with a sensor on the fixed side and generating a position signal, a relay for disconnecting the speed setting device from the system, and a position indicator for stopping the rotating body at a fixed position. 1. A rotating body fixed position stop control device comprising: a positioning control device that energizes the relay when a rotation signal is input, and outputs a series of speed commands as described below. Positioning control device; a. When the output signal of the speed detector reaches a predetermined value or less, it outputs a low-speed positioning speed command, and b. Accepts the previous position signal with the AND condition that it has reached a predetermined value or less, outputs a reverse speed command, c. After a preset timer time, outputs an ultra-low forward speed command, d) The minute reverse speed command when the position signal is input again and the extremely low forward speed command that occurs as the rotating body moves away from the stop position combine to make the speed command zero.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16030580A JPS5783814A (en) | 1980-11-13 | 1980-11-13 | Positioning control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16030580A JPS5783814A (en) | 1980-11-13 | 1980-11-13 | Positioning control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5783814A JPS5783814A (en) | 1982-05-25 |
| JPS6244644B2 true JPS6244644B2 (en) | 1987-09-22 |
Family
ID=15712076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16030580A Granted JPS5783814A (en) | 1980-11-13 | 1980-11-13 | Positioning control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5783814A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63302782A (en) * | 1987-05-29 | 1988-12-09 | Yaskawa Electric Mfg Co Ltd | Overtravel processing method |
-
1980
- 1980-11-13 JP JP16030580A patent/JPS5783814A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5783814A (en) | 1982-05-25 |
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