SE8902416L - Absolutmaetande laegesgivarutrustning foer industrirobot - Google Patents

Absolutmaetande laegesgivarutrustning foer industrirobot

Info

Publication number
SE8902416L
SE8902416L SE8902416A SE8902416A SE8902416L SE 8902416 L SE8902416 L SE 8902416L SE 8902416 A SE8902416 A SE 8902416A SE 8902416 A SE8902416 A SE 8902416A SE 8902416 L SE8902416 L SE 8902416L
Authority
SE
Sweden
Prior art keywords
resolver
revolution
oscillator
unit
axis
Prior art date
Application number
SE8902416A
Other languages
English (en)
Other versions
SE8902416D0 (sv
Inventor
A Holmer
Original Assignee
Asea Brown Boveri
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Asea Brown Boveri filed Critical Asea Brown Boveri
Priority to SE8902416A priority Critical patent/SE8902416L/sv
Publication of SE8902416D0 publication Critical patent/SE8902416D0/sv
Priority to DE69012000T priority patent/DE69012000T2/de
Priority to EP90112536A priority patent/EP0406740B1/en
Priority to US07/547,235 priority patent/US5092051A/en
Publication of SE8902416L publication Critical patent/SE8902416L/sv

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37478—Excitation of resolver by pulses instead of continuous wave, to save energy
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37487—Counter combined with angle to digital convertor
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42264—Slow down sampling if power down is detected
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50077—Keep position by switching over to auxiliary power supply for resolver, encoder
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50078—Single battery backup for all axis, encoders, resolvers
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50084—Keep position, setup parameters in memory

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
SE8902416A 1989-07-04 1989-07-04 Absolutmaetande laegesgivarutrustning foer industrirobot SE8902416L (sv)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SE8902416A SE8902416L (sv) 1989-07-04 1989-07-04 Absolutmaetande laegesgivarutrustning foer industrirobot
DE69012000T DE69012000T2 (de) 1989-07-04 1990-06-30 System zum Messen der absoluten Position eines Industrieroboters.
EP90112536A EP0406740B1 (en) 1989-07-04 1990-06-30 Absolute position measuring transducer system for an industrial robot
US07/547,235 US5092051A (en) 1989-07-04 1990-07-03 Absolute-measuring position transducer system for industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8902416A SE8902416L (sv) 1989-07-04 1989-07-04 Absolutmaetande laegesgivarutrustning foer industrirobot

Publications (2)

Publication Number Publication Date
SE8902416D0 SE8902416D0 (sv) 1989-07-04
SE8902416L true SE8902416L (sv) 1991-01-05

Family

ID=20376471

Family Applications (1)

Application Number Title Priority Date Filing Date
SE8902416A SE8902416L (sv) 1989-07-04 1989-07-04 Absolutmaetande laegesgivarutrustning foer industrirobot

Country Status (4)

Country Link
US (1) US5092051A (sv)
EP (1) EP0406740B1 (sv)
DE (1) DE69012000T2 (sv)
SE (1) SE8902416L (sv)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0479525A3 (en) * 1990-10-01 1994-10-12 Yaskawa Denki Seisakusho Kk Absolute position measuring resolver apparatus with backup means in power failure.
JP2697399B2 (ja) * 1991-09-13 1998-01-14 三菱電機株式会社 位置決め装置及びそのプログラム表示方法
US5204603A (en) * 1992-01-30 1993-04-20 Siemens Industrial Automation, Inc. Open circuit detection for a pulsed resolver position sensing system
US5229697A (en) * 1992-01-30 1993-07-20 Siemens Industrial Automation, Inc. Sampling bipolar peak detector for sensing a non-symmetrical decay of an AC voltage signal
US5198735A (en) * 1992-01-30 1993-03-30 Siemens Industrial Automation, Inc. Method for eliminating position tracking errors in the presence of resolver excitation errors for motion control systems
US5200683A (en) * 1992-01-30 1993-04-06 Siemens Industrial Automation, Inc. Method for optimizing sampling rates for position tracking for motion control systems
US5323309A (en) * 1992-01-30 1994-06-21 Siemens Industrial Automation, Inc. Algorithm for optimizing data sampling in a discrete periodic system with a bounded rate of change for the discrete system periods
US5198739A (en) * 1992-01-30 1993-03-30 Siemens Industrial Automation, Inc. Software controllable circuit for resolver excitation switching in a motion control system
US5374883A (en) * 1992-09-02 1994-12-20 Cincinnati Milacron Inc. Method and apparatus for position error compensation
DE4437793C2 (de) * 1994-10-21 1998-05-07 Agie Ag Ind Elektronik Verfahren und Vorrichtung zur Steuerung eines Elektromotors
WO2003069277A1 (en) * 2002-02-14 2003-08-21 Faro Technologies, Inc. Portable coordinate measurement machine with integrated line laser scanner
DE10312045B4 (de) * 2003-03-18 2014-07-31 Anton Rodi Messsystem zur Absolutwerterfassung von Winkeln und Wegen
DE102006046531A1 (de) * 2006-09-29 2008-04-03 Dr. Johannes Heidenhain Gmbh Drehgeber und Verfahren zu dessen Betrieb
DE102007036542A1 (de) * 2007-08-02 2009-02-05 Dr. Johannes Heidenhain Gmbh Positionsmessgerät und Verfahren zur Übertragung einer Bewegungsinformation
WO2014075744A1 (en) * 2012-11-19 2014-05-22 Abb Technology Ltd Resolver positioning system, robot and method therefor
DE102014002670B4 (de) * 2014-02-28 2017-01-19 gomtec GmbH Drehwinkelgeber und Verfahren zum Erfassen einer Winkellage
JP2016078211A (ja) * 2014-10-22 2016-05-16 セイコーエプソン株式会社 ロボット
JP2017039182A (ja) * 2015-08-19 2017-02-23 セイコーエプソン株式会社 ロボット制御装置、ロボット、ロボットシステム

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5850362B2 (ja) * 1976-03-30 1983-11-10 富士通フアナツク株式会社 位置決め方式
JPS59188518A (ja) * 1983-04-11 1984-10-25 Fanuc Ltd サ−ボ制御系の絶対位置検出方式
US4676002A (en) * 1984-06-25 1987-06-30 Slocum Alexander H Mechanisms to determine position and orientation in space
GB2164752B (en) * 1984-09-22 1987-12-16 Wiederaufarbeitung Von Kernbre Monitoring remotely operable remote handling apparatus
DE3569290D1 (en) * 1984-10-11 1989-05-11 Toshiba Kk Robot joint angle detecting system
JPS61120903A (ja) * 1984-11-19 1986-06-09 Sumitomo Electric Ind Ltd 角度検出回路
DE3834384A1 (de) * 1988-10-10 1990-04-12 Lenze Gmbh & Co Kg Aerzen Verfahren und schaltungsanordnung zur erzeugung von digitalen drehzahl- und drehwinkelinformationen mittels eines funktionsdrehmelders

Also Published As

Publication number Publication date
EP0406740B1 (en) 1994-08-31
US5092051A (en) 1992-03-03
DE69012000D1 (de) 1994-10-06
DE69012000T2 (de) 1995-05-04
SE8902416D0 (sv) 1989-07-04
EP0406740A1 (en) 1991-01-09

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