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31. 发明专利

JPH0793010A CONTROL UNIT FOR ROBOT 失效
公开(公告)号：JPH0793010A
公开(公告)日：1995-04-07
申请号：JP25921993
申请日：1993-09-22
申请人： TOYODA MACHINE WORKS LTD
发明人： SHIMOGOE AKIRA , YOSHIMI KOJI , TAKANO TOSHIO
IPC分类号： B25J9/10 , B25J9/22 , G05B19/18 , G05B19/404 , G05B19/4103 , G05D3/12
摘要： PURPOSE:To improve the controllability in consideration of the gravitational torque of the robot which has a balancer. CONSTITUTION:In a period of interpolation operation between teaching point data, moment of inertia around each axis and the gravitational torque are operated (302-306) by using values of the current angle of each axis, the length and mass of a link, etc. Further, current compensation torque around an axis for which the gravitational torque due to the balancer is compensated is operated (308) by using the current angle of each axis, and the geometrical constitution and spring constant of the balancer, and corrected (310) by adding compensation torque to operate composite gravitational torque. Then, the gain of a speed loop and various feedforward values are compensated according to those moment of inertial and the graviational torque.

32. 发明专利

JPH06289936A DIGITAL SERVO CONTROLLER 失效
公开(公告)号：JPH06289936A
公开(公告)日：1994-10-18
申请号：JP9858593
申请日：1993-03-31
申请人： TOYODA MACHINE WORKS LTD
发明人： TAKANO TOSHIO , OBA YUJI
IPC分类号： G05B11/36 , G05B13/02 , G05D3/12
摘要： PURPOSE:To prevent vibration at the time of high speed positioning and to improve speed follow-up at the operation time in a low speed by variably setting the integration time of a proportional/integral operation in a speed feedback loop in a tendency that integration time becomes shorter as target speed is smaller in accordance with the target speed of a control shaft. CONSTITUTION:CPU inputs and stores a target position instructed at that time from common RAM 17 and a present position held by a present value counter 16 is read. A position deviation between the target position and the present position at present time is operated and target speed is operated as a value proportional to the position deviation. When target speed is more than a speed threshold which is variably set by CPU 11 in common RAM 17, integration time is set to a longer value. When it is smaller than the threshold, integration time is set to a shorter value and it is stored in common RAM 17. The integration time is accessed by DSP 14 and it is used for target current in the speed feedback loop.

33. 发明专利

JPH04299087A DIGITAL SERVO CONTROLLER 失效
公开(公告)号：JPH04299087A
公开(公告)日：1992-10-22
申请号：JP8969391
申请日：1991-03-27
申请人： TOYODA MACHINE WORKS LTD
发明人： ENOMOTO MINORU , TAKANO TOSHIO
IPC分类号： B23Q15/007 , H02P27/06
摘要： PURPOSE:To improve follow-up performance of digital servo controller regardless of the operating condition. CONSTITUTION:Proportional gain and integrating time of proportional/ integrating operation are set in speed feedback loop according to the servo lock state, accelerating/decelerating state or constant speed state of a commanded control shaft. Thus set proportional gain and integrating time are applied to the speed difference between a target speed and a current speed and the time integration thereof, thus operating a target current for current feedback loop through proportional/integrating operation. Consequently, vibration is prevented under servo lock state and overshoot is prevented at the time of transfer to constant speed.

34. 发明专利

JPH03277194A DIGITAL SERVO CONTROLLER 失效
公开(公告)号：JPH03277194A
公开(公告)日：1991-12-09
申请号：JP7915790
申请日：1990-03-27
申请人： TOYODA MACHINE WORKS LTD
发明人： YOKOE ISAMU , TAKANO TOSHIO , SAKUGI YASUNORI
IPC分类号： H02P29/00 , H02P21/05 , H02P21/22 , H02P23/04 , H02P23/16 , H02P23/18 , H02P27/06 , H02P27/08
摘要： PURPOSE:To suppress fluctuation of torque and to improve constancy of response speed by operating the amplification factor of a current detection system and parameters relevant to offset values based on time characteristics of d-axis component and q-axis component and then correcting the output of an amplifier, in real time, according to thus operated parameters. CONSTITUTION:Load current values of phase (u) and (v) are sampled through A/D converters 15a, 15b and subjected to (dq) conversion through a DSP(digital signal processor) 14. d-axis and q-axis components of the load current value are employed in calibration and correction parameters relevant to amplifiers 18a, 18b are operated in a CPU 11, followed by determination of detected load current values of respective phases. Current value of load current of each phase is then corrected and subjected to (dq) conversion thus producing d-axis component and q-axis component from which DC component error and vibrating component are removed.

35. 发明专利

JPH03273890A DIGITAL SERVO CONTROLLING EQUIPMENT 失效
公开(公告)号：JPH03273890A
公开(公告)日：1991-12-05
申请号：JP7404790
申请日：1990-03-23
申请人： TOYODA MACHINE WORKS LTD
发明人： YOKOE ISAMU , TAKANO TOSHIO
IPC分类号： H02P29/00 , H02P21/05 , H02P21/22 , H02P23/04 , H02P23/16 , H02P23/18 , H02P27/06 , H02P27/08
摘要： PURPOSE:To reduce a fluctuation of a torque or a speed, by sampling a load current many times within the residual time subsequent to the time point at which the current waveform controlled by a current command value is stabilized in a control period, and by calculating the average value thereof as a current feedback value. CONSTITUTION:By comparing the feedback value of a present position, which is read out from a present value counter 16, with a desired value, a positional deviation is calculated, and according to the positional deviation a speed command value is calculated. On the other hand, the feedback value of the present position is differentiated, and a speed feedback value is calculated. By comparing the speed command value with the speed feedback value, a speed deviation is calculated, and a current command value is calculated according to the sped deviation. By comparing this current command value with current feedback values of the current values which are sampled by current sensors 32a, 32b via an A/D converter 15, current deviations are outputted to an inverter 25 via a DSP 14(digital signal processor), and a servo motor 31 is driven.

36. 发明专利

JPH02193581A SERVO CONTROLLER 失效
公开(公告)号：JPH02193581A
公开(公告)日：1990-07-31
申请号：JP1151789
申请日：1989-01-19
申请人： TOYODA MACHINE WORKS LTD
发明人： YOKOE ISAMU , TAKANO TOSHIO
IPC分类号： H02P29/00
摘要： PURPOSE:To shorten repairing time by outputting a switching command from switching instructing means to command signal switching means to isolate a feedback loop of a downstream side from the influence of a feedback signal of an upstream side, and independently isolating it from a command signal from predetermined signal generating means to enable independent operation. CONSTITUTION:First command signal switching means 31 is, for example, switched by a switching command from a keyboard to isolate a position feedback signal PFBK, and a speed loop is solely operated by a predetermined speed command signal from predetermined signal generating means 33. Second signal switching means 32 is switched to isolate the position feedback signal PFBK from a speed feedback signal IFBK, and a single operation of a current loop is performed by a predetermined current command signal from predetermined signal generating means 34. An abnormal position can be easily determined by the solely isolated operation of the loop of the downstream side.

37. 发明专利

JPS63279116A MULTI-ROTATION TYPE ABSOLUTE ENCODER HAVING NO GEAR COUPLING 失效
公开(公告)号：JPS63279116A
公开(公告)日：1988-11-16
申请号：JP11540087
申请日：1987-05-12
申请人： SHICOH ENG CO LTD , TOYODA MACHINE WORKS LTD
发明人： SHIRAKI MANABU , YOKOE ISAMU , TAKANO TOSHIO , TANAGI YASUNORI
IPC分类号： G01D5/249 , G01D5/245 , H03M1/24
摘要： PURPOSE:To perform absolute counting and display with good accuracy, by counting an absolute value of multi-rotation per rotation of an absolute encoder by an one-rotation absolute value counting part and a multi-rotation counting part. CONSTITUTION:The absolute value per rotation of an absolute encoder 2 is counted by an one-rotation absolute value counting part 36. In the case of multi- rotation, said absolute value is counted by a multi-rotation counting part 39 and the number of multi-rotations are stored in a number-of-multi-rotation memory part 20. If necessary, the absolute value and the number of multi- rotations are instantaneously read from the memory part 20 to be displayed on an one-rotation absolute value display part 38 and a number-of-multi-rotation display part 40. Then, the multi-rotation absolute value of the whole is counted by the one-rotation absolute value counting part 36 and the number-of-multi- rotation counting part 39.

38. 发明专利

JPS6378201A NUMERICAL CONTROLLER FOR MACHINING NON REAL CIRCULAR WORK 失效
公开(公告)号：JPS6378201A
公开(公告)日：1988-04-08
申请号：JP22427086
申请日：1986-09-22
申请人： TOYODA MACHINE WORKS LTD
发明人： SUZUKI IKUO , TSUJIUCHI TOSHIO , YONEDA TAKAO , TAKANO TOSHIO , HORI NOBUMITSU
IPC分类号： G05B19/18 , G05B19/404 , G05B19/4103
摘要： PURPOSE:To correct profile data at high accuracy and to improve machining accuracy by converting the logical position characteristic of axes X and C determined by a machining shape into the characteristic of a time area and distributing pulses to control shafts. CONSTITUTION:A numerical controller 30 numerically controls the rotation of servomotors 23 and 14, and the way that work is ground and machined. In that case a main CPU31 decodes NC data in a RAM32. When the grinding of a cam and the rotational frequency of a main spindle are commanded, the CPU31 reads ideal profile data out of an ideal profile data area 322, executes operations to compensate the delay error of a servo system, and executes a grinding program according to the corrected data. Each position characteristic expressed by the time function of the axes X and C is Fourier-transformed at a high speed. Characteristics in the frequency areas of the axes X and C are divided by the frequency characteristic of the servo system, reversely Fourier-transformed at a high speed and converted into the position characteristics in the time area. After they are converted into the moving amounts of the axes, pulses are distributed (pulse distribution circuit) 37.

39. 发明专利

JPS60220816A SENSOR FOR ANGLE OF ROTATION 失效
公开(公告)号：JPS60220816A
公开(公告)日：1985-11-05
申请号：JP7817084
申请日：1984-04-17
申请人： TOYODA MACHINE WORKS LTD
发明人： TAKANO TOSHIO , SAKAKIBARA YOSHIO
IPC分类号： G01D5/245 , G01B7/00 , G01B7/30
摘要： PURPOSE:To detect an angle of rotation precisely with lightweight, simple structure by detecting the magnetic field of a permanent manget by using Hall elements. CONSTITUTION:An electric signal corresponding to the intensity of a magnetic field detected by the Hall element 9a is VA1 and maximum at an electric angle pi/2 and minimum at 3pi/2 since magnetic pole parts 6a and 6b are magnetized in a triangular shape. Further, a Hall element 8b is provided while having a phase shift of pi/2 in electric angle from the element 8a, so the element 8b detects a voltage VB1 for the theta-directional rotation of a rotating shaft 2. Then, the absolute angle of the rotating shaft 2 is measured from the relation between the output voltages VA1 and VB1. Here, two signals detected by the elements 8a and 8b provided having the phase shift of pi/2 are utilized to evaluate the angle to the same voltage once.

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