KR910018875A - 서보제어장치 - Google Patents

서보제어장치 Download PDF

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Publication number
KR910018875A
KR910018875A KR1019910005551A KR910005551A KR910018875A KR 910018875 A KR910018875 A KR 910018875A KR 1019910005551 A KR1019910005551 A KR 1019910005551A KR 910005551 A KR910005551 A KR 910005551A KR 910018875 A KR910018875 A KR 910018875A
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KR
South Korea
Prior art keywords
unit
time constant
acceleration
distribution
interpolation
Prior art date
Application number
KR1019910005551A
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English (en)
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KR0184872B1 (ko
Inventor
요시히로 니이미
Original Assignee
야스이 요시히로
부라더 고교 가부시기가이샤
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Application filed by 야스이 요시히로, 부라더 고교 가부시기가이샤 filed Critical 야스이 요시히로
Publication of KR910018875A publication Critical patent/KR910018875A/ko
Application granted granted Critical
Publication of KR0184872B1 publication Critical patent/KR0184872B1/ko

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34149—Circular interpolation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43098—Change ADC time constant during start and end of interpolation

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Numerical Control (AREA)

Abstract

내용 없음

Description

서보제어장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본원 발명에 관한 서보제어장치에 있어서의 블록도. 제2도는 지수형(가(加))감속방식의 시간-속도 특성도.

Claims (2)

  1. 개별적으로 구동되는 제어대상으로서의 복수의 서보모터와, 이들 서보모터를 제어구동하는 이동지령신호를 출력하는 지령부와, 이 이동지령신호의 내용에 따라 직선보간 또는 원호보간을 행하는 보간부와, 이 보간부로부터 출력된 보간신호에 가감속시정수(加減速時定數)를 적용해서 분배펄스를 출력하는 분배부와, 이 분배부로부터 출력되는 분배펄스와 각 서보모터로부터의 귀한펄스와를 비교하는 비교부와, 상기 비교부로부터의 출력편차량에 따라 각 서보모터를 구동하는 증폭부를 구비한 서보제어장치에 있어서, 상기 보간부에서의 보간종류가 원호보간일 때는 원호보간의 개시와 동시에, 초기 가감속시정수를 서서히 작게 하여 시정수 0 또는 극소치로 설정하고, 원호버간의 종료 또는 정지지령의 입력과 동시에, 가감속시정수를 초기 가감속시정수로 즉시 복귀시키는 가감속시정수연산부를 설치하고, 이 가감속시정수연산부에서 연산된 가감속시정수를 상기 펄스분배부에 적용하도록 구성한 것을 특징으로 하는 서보제어장치.
  2. 제1항에 있어서, 상기 분배부는 원호보간중에 초기 가감속시정수와 분배펄스에 따라 결정되는 보류펄스를 항상 확보하고, 원호보간의 종료 또는 정지지령의 입력과 동시에, 상기 보류펄스를 가감 속시정수연산부에서 재설정된 초기 가감속시정수를 사용하여 펄스분배를 행하는 것을 특징으로 하는 서보제어장치.
    ※ 참고사항 : 최초출원내용에 의하여 공개되는 것임.
KR1019910005551A 1990-04-11 1991-04-08 서보제어장치 KR0184872B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2095384A JP2897333B2 (ja) 1990-04-11 1990-04-11 サーボ制御装置
JP90-95384 1990-04-11

Publications (2)

Publication Number Publication Date
KR910018875A true KR910018875A (ko) 1991-11-30
KR0184872B1 KR0184872B1 (ko) 1999-04-15

Family

ID=14136154

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019910005551A KR0184872B1 (ko) 1990-04-11 1991-04-08 서보제어장치

Country Status (4)

Country Link
US (1) US5194793A (ko)
JP (1) JP2897333B2 (ko)
KR (1) KR0184872B1 (ko)
DE (1) DE4111517A1 (ko)

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JPH05324046A (ja) * 1992-05-18 1993-12-07 Mitsubishi Electric Corp 多系統数値制御方法及びその装置
US5483134A (en) * 1993-09-30 1996-01-09 Burford Corporation Ribbon sensing device for bag tyer
AU715876B2 (en) * 1993-09-30 2000-02-10 Burford Corporation Bag neck gathering stop
DE4409097A1 (de) * 1994-03-17 1995-09-21 Schuette Alfred H Gmbh & Co Kg Elektronische Steuereinrichtung für Einzelantriebe von Bearbeitungsmaschinen und Verfahren zum Steuern der Einzelantriebe
DE4414984A1 (de) * 1994-04-29 1995-11-02 Rieter Ingolstadt Spinnerei Sanftanlauf der Antriebsmotoren einer Rotorspinnmaschine
JP3625901B2 (ja) * 1995-06-30 2005-03-02 三菱電機株式会社 サーボ制御システムの自動適正化方法および装置
WO1997008597A1 (fr) * 1995-08-23 1997-03-06 Fanuc Ltd Unite de commande d'acceleration/deceleration a commande numerique par ordinateur et procede s'y rapportant
JPH1148097A (ja) * 1997-07-31 1999-02-23 Toshiba Mach Co Ltd 工具及び工具治具の主軸上での回転数判定方法
JP3538319B2 (ja) * 1998-06-04 2004-06-14 オークマ株式会社 サーボモータを用いた位置制御装置
US6192827B1 (en) * 1998-07-03 2001-02-27 Applied Materials, Inc. Double slit-valve doors for plasma processing
JP2000207004A (ja) * 1999-01-19 2000-07-28 Yukiwa Seiko Inc Ｎｃ制御システム
US6831246B2 (en) * 2002-09-12 2004-12-14 General Electric Company Multi-station electrical discharge machining with single velocity command
KR100917510B1 (ko) * 2007-11-01 2009-09-16 엘에스산전 주식회사 위치제어기에서의 타원 보간 방법
JP5129064B2 (ja) * 2008-08-26 2013-01-23 新日本工機株式会社 工作機械の数値制御装置
JP5187436B2 (ja) * 2009-02-17 2013-04-24 三菱電機株式会社 数値制御装置、数値制御装置の制御方法、及びシステムプログラム
JP5331068B2 (ja) * 2010-07-29 2013-10-30 新日本工機株式会社 数値制御装置
CN103454979B (zh) * 2013-09-11 2015-07-22 大连理工计算机控制工程有限公司 一种封装成PLCOpen指令的变速曲线圆弧快速插补方法
JP6816704B2 (ja) * 2017-11-09 2021-01-20 オムロン株式会社 指令値補間装置及びサーボドライバ
US20240077845A1 (en) 2021-03-24 2024-03-07 Fanuc Corporation Numerical controller and numerical control program

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5962909A (ja) * 1982-10-01 1984-04-10 Fanuc Ltd 加減速装置
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
JPS61157909A (ja) * 1984-12-29 1986-07-17 Fanuc Ltd ロボツトの経路誤差補正方式
JPS63146108A (ja) * 1986-12-10 1988-06-18 Amada Co Ltd サ−ボ装置
JPH01122486A (ja) * 1987-11-06 1989-05-15 Ricoh Co Ltd 通電転写用記録材料

Also Published As

Publication number Publication date
JP2897333B2 (ja) 1999-05-31
KR0184872B1 (ko) 1999-04-15
JPH03292508A (ja) 1991-12-24
DE4111517A1 (de) 1991-10-17
US5194793A (en) 1993-03-16

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