WO1999001927A1 - Systeme de commande de positionnement - Google Patents
Systeme de commande de positionnement Download PDFInfo
- Publication number
- WO1999001927A1 WO1999001927A1 PCT/JP1998/002965 JP9802965W WO9901927A1 WO 1999001927 A1 WO1999001927 A1 WO 1999001927A1 JP 9802965 W JP9802965 W JP 9802965W WO 9901927 A1 WO9901927 A1 WO 9901927A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotation
- control device
- detected
- rotating shaft
- position control
- Prior art date
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Classifications
-
- 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
- G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
-
- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- 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
- G05B19/402—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 control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- 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
- G05B2219/37339—Eccentricity, cylindricity, circularity
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49177—Runout, eccentricity, unbalance of tool or workpiece
Definitions
- the present invention relates to a position control device that detects a rotation position of a rotation shaft and performs feedback control of a position of the rotation shaft and a movement position of a movable unit connected to the rotation shaft.
- the present invention relates to a position control device suitable for controlling a rotational position of a spindle of a machine tool.
- position detectors that detect the rotational position and speed of the rotating shaft
- various position detectors that detect the position and speed optically, magnetically, and electrically are known.
- the object to be detected of the position detector is attached to the rotation axis, and the object to be detected rotates together with the rotation axis.
- the rotation position is optically, magnetically and electrically detected, and the rotation of the rotation axis is performed. It detects the position.
- the position detector If the object to be detected by the position detector is eccentric, or if there is an eccentric error due to a mounting error when attaching the object to the rotary shaft, the rotational position of the rotary shaft and the rotational position detected by the position detector Therefore, the detection accuracy of the detected rotational position of the rotating shaft decreases. Therefore, conventionally, the object to be detected has been mounted accurately and accurately on the rotating shaft so that this eccentricity error does not occur. In addition, errors in position detection due to eccentric errors that had occurred even with accurate mounting were ignored. If the position is controlled with high accuracy, the detection error of the position detection due to the eccentricity error appears in the position control, causing a problem that the position cannot be controlled with high accuracy. In addition, there is a limit even if the object to be detected of the detector is accurately mounted so as not to cause eccentricity on the rotating shaft, and it is very difficult.
- An object of the present invention is to provide a position control device capable of correcting a position detection error due to the eccentricity error and performing accurate position control.
- one embodiment of a position control device is a position control device that is mounted on a rotating shaft and controls a position based on a position feedback signal from a position detector that detects a rotational position of the rotating shaft.
- the control device calculates the detection error data due to the eccentricity and the mounting error of the object to be detected in the position detector attached to the rotation shaft based on the output signal from the position detector attached to the rotation shaft.
- the detection position data is stored in the output position control device, and the detection error data is corrected with respect to the rotation command position to the motor that drives the rotary shaft, and is used as the rotation command position to the motor.
- another form of the position control device is a position control device that is attached to a rotation shaft and controls a position based on a position feedback signal from a position detector that detects a rotation position of the rotation shaft.
- a program for obtaining the detection error data which causes the error is stored in the position control device, and when the rotation speed becomes equal to or higher than the set speed, the program is executed, and based on an output signal from the position detector. It is characterized in that the detection error data is automatically obtained and stored in a memory in the position control device, and the rotation command position is corrected based on the stored detection error data to obtain a rotation command position for the motor. .
- the eccentricity of the object to be detected of the position detector ⁇ the rotation center of the object to be detected with respect to the center of the rotation axis is eccentric due to an attachment error when the object to be detected is mounted on the rotating shaft. Even if the centering is performed, the error of the rotational position detected by the position detector due to this eccentricity is corrected and the command to the motor for driving the rotating shaft is output, so that accurate position control is possible.
- FIG. 1 is an explanatory diagram for obtaining detection error data using a high-accuracy position detector according to an embodiment of the present invention.
- FIG. 2 is an explanatory diagram when obtaining detection error data according to the second embodiment of the present invention.
- FIG. 3A and FIG. 3B are explanatory diagrams illustrating the undulation of the detected position error and the speed error due to the eccentricity of the rotation center of the object to be detected of the position detector.
- FIG. 4 is a diagram illustrating the principle of obtaining the amount of eccentricity from the amount of movement obtained for each sampling cycle.
- FIG. 5 is an explanatory diagram of the same principle.
- Figure 6 shows a display screen that displays the amount of movement detected for each sampling cycle.
- FIG. 7 is a flowchart of a detection error data acquisition program according to an embodiment of the present invention.
- FIG. 1 is a block diagram of a method for obtaining detection error data due to an eccentric error according to the first embodiment of the present invention.
- reference numeral 1 denotes a main shaft of a machine tool or a rotating shaft of a motor.
- the object to be detected by the position greeting device 2 is on the rotation axis 1.
- the sensor 2b of the position detector 2 is arranged close to the object 2a, and the rotational position of the object 2a is optically, electrically, or magnetically rotated, that is, the main shaft.
- the rotational position of the rotary shaft 1 and the motor shaft or the like is detected Te sensor 2 b Niyotsu, c detection signal to the position control device 3 for controlling the rotational position of the rotary shaft 1 is turned earthenware pots by the feedback still
- the method for detecting the rotational position of the rotating shaft 1 is the same as the conventional method.
- a high-precision position detector for example, a plurality of sensors is provided on the rotating shaft 1, so that the rotation position can be detected by removing the influence of the eccentricity of the object to be detected.
- a high-precision position detector 4 is attached so that the position can be detected and displayed by the high-precision position detector 4. Then, a movement command to a certain position is output from the position control device 3 and output to the motor driving the rotating shaft 1, and the rotating shaft 1 is positioned at the command position. At this time, the difference between the position detected by the high-precision position detector 4 and the command position is detected as detection error data due to the eccentricity of the detection target 2a.
- One rotation of the rotating shaft 1 is divided into several parts, and at the position of each division point, the above-mentioned detection position error data is detected, and the above detection error data is respectively detected, and is stored in the memory of the position control device 3. Save the settings.
- one rotation of the rotation axis 1 is divided into 12 parts, and the position detector 2 obtains one rotation signal.
- the rotation angle is 0, 30, or 60 degrees.
- the detection error data is obtained as described above, and is set and stored in the memory in the position control device 3.
- the high-accuracy position detector 4 When performing normal operation of the position control device 3, the high-accuracy position detector 4 is removed from the rotating shaft.
- the command position is corrected based on the detection error data stored in memory for the command position, and the corrected command
- the position is output as a movement command value to the spindle or motor, and the position of rotary axis 1 is controlled.
- the value obtained by subtracting the position commanded to the motor that drives the rotating shaft 1 from the position detected by the high-precision position detector 4 is a positive value
- the value is a positive detection error data
- it is stored as negative detection error data for each predetermined rotation angle within one rotation of rotary shaft 1, and each time the movement command reaches this rotation angle, the detection correction data is subtracted from the command position. If the positioning position on the rotary axis 1 is in the middle of the stored position, interpolation is performed to obtain the detection error data for the command position, and the obtained detection error data is subtracted from the command position. And outputs to the motor that drives rotating shaft 1 as the corrected movement command position.
- the detection error data stored for the positions of 0 and 30 degrees is interpolated. Then, the detection error data at the command position is obtained, and the obtained detection error data is subtracted from the command position and output.
- the detection error data is positive, if the command position is output without correction, the rotary shaft 1 will move to the position detected by the high-precision position detector 4. In this case, it means that it has rotated too much by the detection error data from the commanded position.
- the actual rotational position is offset by the detection error data and moves to an accurate position.
- the detection error data is negative, it means that the rotation amount is less than the commanded position by the detection error data, so this negative detection error data is subtracted from the command position, and the command position is The detection error data, which is to be increased, is canceled out, and the robot moves to the correct command position.
- the method of correcting the detection error data to the command position is as follows: a feed screw is driven by a motor, the rotary motion is converted to linear motion, and the movable part such as a machine tool is moved.
- the pitch error of the feed screw is corrected, but this method is the same as this pitch error correction method.
- a detection error is generated by the attached own position detector 2. It seeks and stores data.
- FIG. 3A is an explanatory diagram for explaining the occurrence of the undulation.
- the rotation center O of the rotation axis 1 and the rotation center O 'of the object 2a of the position detector 2 attached to the rotation axis 1 are separated from the rotation center O of the rotation axis by a rotation angle of 0 degrees.
- d was eccentric.
- the sensor 2b is not at the position P1 but at the position
- the position of P 1 ' will be detected. Due to the eccentricity between the rotation center O of the rotation axis 1 and the rotation center O 'of the object 2a of the position detector 2, the detection error becomes P1-P1', which is the maximum value of the brush. . At the position where the rotating shaft 1 is rotated by 180 degrees, the sensor 2b detects the position P2 and no detection error occurs. When rotated by 270 degrees, sensor 2b The position of the position P 3 ′ is detected instead of the position P 3. Due to the eccentricity between the rotation center ⁇ of the rotation shaft 1 and the rotation center O ′ of the object 2 a of the position detector 2, the detection error becomes P 3 — P 3 ′, which is a negative maximum value. is there. As described above, the detection error (position error) in one rotation of the rotating shaft (0 ° to 360 °) undulates in a sinusoidal waveform in FIG. 3B.
- the position detector 2 since the position detector 2 detects the amount of movement within one sampling period, that is, outputs the amount of movement per fixed time, it can be said that the speed is detected.
- the radius of rotation At the rotation angle of 0 degree, the radius of rotation is the maximum, so the speed is maximum (that is, the maximum speed error occurs).
- the rotation radius At the position of the rotation angle of 180 degrees, the rotation radius is the minimum, so the speed is Is minimal (ie, produces the least speed error).
- the rotation angles are 90 degrees and 270 degrees, there is no speed error.
- the velocity error becomes a cosine-shaped undulation 90 degrees out of phase with respect to the sine-shaped undulation of the position error.
- the present embodiment is characterized in that the amount of eccentricity d is obtained from the undulation amplitude of the detected speed error (ie, the amount of movement within one sampling period (a fixed time)).
- the motor that drives rotating shaft 1 is driven at a frequency that is not affected by the response of the speed loop of the control system that drives rotating shaft 1.
- the number of rotations of the rotating shaft is rotated at, for example, 375 (min " 1 ), that is, the rotating shaft 1 is rotated once by 16 ms.
- the sampling period for detecting the position is 2 ms.
- position detection is performed eight times during one rotation of the rotary shaft 1 (that is, every time the rotary shaft 1 rotates 45 degrees).
- FIG. 4 is a diagram for explaining the principle of obtaining the amount of eccentricity d.
- O is the rotation center of the rotation axis 1.
- O ′ is the rotation center of the object to be detected by the position detector 2, and an eccentricity d exists between O and O ′.
- the movement amounts detected every 2 ms of the sampling period are 1, L2,..., And L8.
- L mZ 2 (ms) means the command speed
- Speed error A sin (2 f t) —— (7)
- F is the number of rotations per second.
- the amplitude A in Eq. (7) means the maximum value (peak value) of the speed error.
- A is the maximum value (peak value) of the speed error because A is the amplitude of the function of equation (7).
- the length of one round of the signal detector in the above (III) is a value uniquely determined by the position detector 2.
- the rotation speed of rotating shaft 1 in (IV) is the command rotation speed.
- the values of (1) and (II) can be easily obtained by rotating the rotating shaft at the command speed N and inputting the signal from the position detector 2 to a personal computer or the like. That is, the timer 1 is operated when the one rotation signal is input, and the movement value error maximum value L max from the time of the one rotation signal in (II) is calculated from the timer value when the maximum value of the movement amount is detected. 'Obtain the time tp (sec) until the occurrence time.
- the time tp up to the time when the maximum value L max 'of is calculated from the screen is 3.6 ms.
- the time of the occurrence of one rotation signal is the time when the detected movement amount is equal to the average movement amount Lm.
- the position where one rotation signal is generated is determined when the object 2a of the position detector 2 is attached to the rotating shaft 1.Therefore, the detected movement amount is always the average movement time at the time of one rotation signal generation. There will be no point in time equal to the quantity L m.
- the angle s d at which the maximum value L max 'of the displacement error occurs is obtained from the screen.
- the position of one rotation signal is the position of the rotation angle of the rotation axis 1 at 0 °, and that the detection delay time td of the position detector 2 has been measured in advance and set to the bus control. .
- ⁇ is the number of rotations N (min " 1 ) of the rotating shaft 1.
- a value c a is obtained by converting the maximum value L max ′ of the movement amount error into an angle.
- This value c a is an angle corresponding to the arc q (the length on the circumference of the signal detection unit corresponding to the amount of eccentricity d) shown in FIG. Length of signal detector of position detector 2
- a 0 ca X sin ( ⁇ — sd) ⁇ ⁇ ⁇ ⁇ (1 3)
- one rotation of rotation axis 1 2 ⁇ (rad) is divided into n equal parts, and the eccentric error occurs every time the angle advances 2 ⁇ n ⁇ 0 0, ⁇ 0 1, ⁇ 02, ⁇ 03, ⁇ ⁇ ⁇ ⁇ ⁇ 0 n-1 are assumed to occur.
- the eccentric error at the command angle 0 i is A 0 i
- the eccentric error of the command angle 0 i + 1 advanced by 2 ⁇ from the angle 0 i is ⁇ 0 ⁇ + 1, and the previous command angle 0 i
- the difference of the eccentricity error obtained in this way is set and stored in the memory of the position control device 3, and the position of the movable part is determined by driving the feed screw with a conventional motor.
- the difference between the stored eccentricity error in response to the movement command to the motor is corrected by the same method as the pitch error correction of the lead screw that is performed when the motor is driven while controlling. If the rotation axis is driven as a command to the motor, accurate position control can be performed by correcting the position detection error due to eccentricity due to the mounting error of the position detector.
- the above-described detection error data is calculated by a personal computer. However, without using a personal computer, this position detector is attached and the rotation axis of the rotation axis is determined based on the position detector.
- the above-mentioned detection error data acquisition program is stored in the position control device 3 itself for controlling the position, the position detector 2 is attached to the rotating shaft 1, and this program is executed when the position control device is set up.
- the detection error data may be automatically obtained and stored in the memory in the position control device 3.
- FIG. 7 is a flowchart of a detection error data acquisition processing program executed by the personal computer or the position control device 3. The processing shown in FIG. 7 is mainly described for the case where the processing is executed by the position control device 3.
- the processor of the position control device 3 starts the processing shown in FIG.
- a first set value (for example, a predicted average movement amount L m or a slightly lower value) is set in a register R 1 that stores a maximum value of the movement amount L i within the sampling period, and The second set value (for example, the predicted average movement amount Lm or a value slightly larger than the predicted average movement amount) is set in the register R2 storing the minimum value (step S1).
- a high-speed set number of rotations N at which a preset speed loop for controlling the rotation speed of the rotating shaft 1 does not work is output, the motor driving the rotating shaft 1 is rotated at the speed, and the timer TM is set. Set the time (step S2).
- the personal computer When executing the detection error data acquisition processing on the personal computer, the personal computer outputs the set number of revolutions N to the position control device 3, and the position control device 3 controls the motor for driving the rotating shaft 1. It will be driven.
- This set time is a time longer than the time required for rotating shaft 1 to reach this set speed N and keep the speed constant by instructing the set speed N.
- step S3 it is determined whether or not the timer Ti1 has timed out.
- step S4 it is monitored whether or not one rotation signal has been input from the position detector 2 (step S4).
- the timer Ti2 is started (step S5), and the movement amount Li (L1, L2, ——) detected for each sampling period T (ms) is detected.
- step S6 The detected movement amount Li in the sampling period T is compared with the value stored in the register R1 (step S7), and if the detected movement amount Li is larger, the detected movement amount Stored in register R 1 and the maximum value of the displacement error from the time of one rotation signal generation
- the value of the timer Ti2 is stored in the register Rtp for storing the time tp until the occurrence time of Lmax '(step S8). If the detected movement amount Li is equal to or smaller than the value stored in the register R1, the process proceeds to step S9 without performing the process in step S8.
- step S9 the detected movement amount Li is compared with the value stored in the register R2, and if the detected movement amount Li is smaller, the detected movement amount Li is stored in the register R2 (step S9). Ten ) . If the value stored in the register R 2 is equal to or smaller than the detected movement amount L i, the process proceeds from step S 9 to step S 11 without performing the process of step S 10.
- step S11 it is determined whether or not one rotation signal has been input. If not, the process proceeds to step S6, and the processing in steps S6 to S11 described above is repeated. When one rotation signal is detected in step S12, the process proceeds to step S12.
- the register R 1 stores the maximum value max of the movement amount L i in the section from one rotation signal to one rotation signal, that is, within one rotation of the rotating shaft 1.
- the minimum value L min of the movement amount is stored in the data R 2.
- register R tp contains the time of one rotation signal occurrence. The time from when the maximum value L max of the movement amount L i is detected is stored.
- the detection of the maximum value L max of the movement amount L i means that the maximum value L max 'of the movement amount error has been detected (see the above equation (4)). , 1 Maximum value of travel distance error from the time of rotation signal generation
- the index i is set to “0 J (step S 14), and the value ca obtained by converting the obtained maximum value L max ′ of the displacement error into an angle is the maximum value L max ′ of the displacement error.
- step S17 the index i is incremented by 1 (step S17), it is determined whether the index i has reached the set number of divisions n (step S18), and if not, the step S1 is performed. 5 The following processing is repeated, and when the index i reaches the set value n, this processing ends.
- the memory of the position control device 3 in the case of a personal computer, the memory of the personal computer, the detection error data for each rotation angle obtained by dividing the rotation axis 1 into n equal parts is stored. become.
- the detection error data for each rotation angle stored in the memory of the personal computer is displayed on a display device or the like, and the displayed data is located. What is necessary is just to set to the memory of the control device 3.
- the detection error data is obtained by driving the motor that drives the rotary shaft at a constant speed at which the speed loop does not work, but when the motor is an induction motor
- the above-described detection error data may be obtained by exciting the induction motor at a constant frequency and rotating the induction motor with an orb in the speed loop.
- the detection error data is obtained using a personal computer, or the detection error data acquisition program is written in the position control device 3 itself. You may remember and ask for it automatically.
- the detection error data acquisition program replaces the excitation command output of the set constant frequency instead of the output processing of the set rotation speed N in step S2 in FIG.
- step S3 and step S4 a process of calculating the number of revolutions N of the rotating shaft 1 is required. That is, it is necessary to output the excitation command at a constant frequency, wait until the rotation speed becomes constant, and then calculate the value of the rotation speed N based on the signal from the position detector 2. Other processing is the same as in Fig. 7.
- the detection error data acquisition command is input to the personal computer or the position control device 3 to acquire the detection error data before the position control device 3 starts the normal operation.
- the detection error data acquisition program is stored in the position control device 3, and when the rotation speed of the rotating shaft 1 reaches the rotation speed N equal to or higher than the set rotation speed, the detection error data acquisition program is stored. May be executed. In this case, the processing in steps S2 and S3 is not necessary in the processing shown in FIG.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Electric Motors In General (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/254,009 US6320344B1 (en) | 1997-07-01 | 1998-07-01 | Position control device |
EP98929787A EP0935335A4 (en) | 1997-07-01 | 1998-07-01 | POSITIONING CONTROL SYSTEM |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9/188931 | 1997-07-01 | ||
JP18893197A JP3234177B2 (ja) | 1997-07-01 | 1997-07-01 | 位置制御装置 |
Publications (1)
Publication Number | Publication Date |
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WO1999001927A1 true WO1999001927A1 (fr) | 1999-01-14 |
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ID=16232407
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP1998/002965 WO1999001927A1 (fr) | 1997-07-01 | 1998-07-01 | Systeme de commande de positionnement |
Country Status (4)
Country | Link |
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US (1) | US6320344B1 (ja) |
EP (1) | EP0935335A4 (ja) |
JP (1) | JP3234177B2 (ja) |
WO (1) | WO1999001927A1 (ja) |
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JP7260389B2 (ja) * | 2019-05-08 | 2023-04-18 | ファナック株式会社 | 産業用機械 |
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TWI774504B (zh) * | 2021-08-06 | 2022-08-11 | 國立陽明交通大學 | 工具機循圓量測調機方法 |
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- 1998-07-01 WO PCT/JP1998/002965 patent/WO1999001927A1/ja not_active Application Discontinuation
- 1998-07-01 EP EP98929787A patent/EP0935335A4/en not_active Withdrawn
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Also Published As
Publication number | Publication date |
---|---|
US6320344B1 (en) | 2001-11-20 |
JPH1127973A (ja) | 1999-01-29 |
EP0935335A4 (en) | 2004-05-06 |
JP3234177B2 (ja) | 2001-12-04 |
EP0935335A1 (en) | 1999-08-11 |
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