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1. 发明公开

EP0722580A4 MOTION CONTROL WITH PRECOMPUTATION 失效
标题翻译：预运动控制
公开(公告)号：EP0722580A4
公开(公告)日：1998-05-13
申请号：EP94929996
申请日：1994-09-30
申请人： OMAX CORP
发明人： OLSEN JOHN H
IPC分类号： B25J9/18 , B26D5/00 , B26F3/00 , G05B19/23 , G05B19/25 , G05B19/29 , G05B19/416 , G05B19/18
CPC分类号： B26F3/004 , B26D5/00 , G05B19/237 , G05B19/258 , G05B19/298 , G05B19/416 , G05B2219/34097 , G05B2219/34098 , G05B2219/34221 , G05B2219/35002 , G05B2219/35097 , G05B2219/35132 , G05B2219/36308 , G05B2219/36568 , G05B2219/41186 , G05B2219/41384 , G05B2219/41408 , G05B2219/42072 , G05B2219/42092 , G05B2219/43162 , G05B2219/45036 , G05B2219/49369 , G05B2219/50207
摘要： A system for controlling motion of machine tools and industrial robots. From the specification of a part to be cut or a path to be followed by a machine tool or robot, the system calculates for each axis, for each incremental step along the path, a position command (69), a time delay between successive position commands, and, optionally, a force command (68) based on a prediction of predicted resistive forces. Calculations are specified for precisely controlling velocity, acceleration, and jerk. The generated data is stored in a memory device and subsequently directed to the machine tool or robot.

2. 发明授权

EP0268887B1 Numerical control feed device for machine tool 失效
标题翻译：用于机床的数值进给装置。
公开(公告)号：EP0268887B1
公开(公告)日：1994-06-08
申请号：EP87116240.0
申请日：1987-11-04
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Yoneda, Takao , Ohmura, Haruo
IPC分类号： G05B19/18 , G05B19/23
CPC分类号： G05B19/232 , G05B2219/33261 , G05B2219/41021 , G05B2219/41186 , G05B2219/41442 , G05B2219/45218 , Y02P90/265

3. 发明公开

EP0313662A1 SERVO CONTROL CIRCUIT 失效
标题翻译： SERVOSTEUERSCHALTUNG。
公开(公告)号：EP0313662A1
公开(公告)日：1989-05-03
申请号：EP88903403.9
申请日：1988-04-26
申请人： FANUC LTD
发明人： SAKAMOTO, Keiji , MATSUBARA, Shunsuke
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B2219/41156 , G05B2219/41186 , G05D3/20
摘要： A servo control circuit suppresses an incompletely integrated term contained in the integrated gain in a speed feedback loop of a speed control block (5) at a moment when a deviation between a position signal from a machine system and a movement instruction has exceeded a predetermined reference value. This makes it possible to control the torque instruction to the current control block (6) such that a torque is minimized that develops overshooting according to static frictional characteristics of the machine system. The operation equivalent to the one realized in the analog servo system by non-linearly operating the coefficients of a CR time-constant circuit during electric charge and discharge is realized in the digital servo control system aided by a computer.
摘要翻译：伺服控制电路在来自机器系统的位置信号和移动指令之间的偏差超过预定参考的时刻，抑制速度控制块（5）的速度反馈回路中的积分增益中包含的不完全积分的项值。这使得可以控制对当前控制块（6）的转矩指令，使得根据机器系统的静态摩擦特性使转矩最小化，从而产生过热。在计算机辅助的数字伺服控制系统中实现了在充放电期间非线性地操作CR时间常数电路的系数的模拟伺服系统的操作。

4. 发明公开

EP0265607A1 Numerically controlled machine tool 失效
标题翻译：数控机床
公开(公告)号：EP0265607A1
公开(公告)日：1988-05-04
申请号：EP87111693.5
申请日：1987-08-12
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Asano, Hiroaki , Tsujiuchi, Toshio , Yoneda, Takao 12, Higashinakane , Ishihara, Nobuhiro 14-4, Kitakawago , Maruyama, Toshio , Ohta, Norio
IPC分类号： G05B19/18 , G05B19/23
CPC分类号： G05B19/232 , G05B19/184 , G05B2219/41177 , G05B2219/41186 , G05B2219/50057 , G05B2219/50211
摘要： A numerically controlled machine tool for machining a non-circular workpiece according to profile data. The servomotor drive unit of the machine tool includes a frequency voltage converter which outputs a velocity compensation signal proportional to the frequency of position command pulses in the servomotor drive units. A position error signal is modulated by the velocity compensation signal. The numerical controller of the machine tool can measure the position error and phase error, and can compensate for these errors. The numerical controller operates according to ideal profile data and measures the actual position change of a tool slide corresponding to the angle position change of a main spindle. Then, the numerical controller calculates the position error and phase error depending on the actual position change and ideal profile data, and produces execution profile data which are compensated for position error. During machining operation, the numerical controller offsets the read out position of the execution profile data by the calculated phase error so as to eliminate the phase error.
摘要翻译：根据轮廓数据加工非圆形工件的数控机床。机床的伺服电机驱动单元包括频率电压转换器，其输出与伺服电机驱动单元中的位置命令脉冲的频率成比例的速度补偿信号。位置误差信号由速度补偿信号调制。机床的数控控制器可以测量位置误差和相位误差，并且可以补偿这些误差。数控装置根据理想的轮廓数据进行操作，并测量与主轴的角度位置变化对应的刀具滑台的实际位置变化。然后，数字控制器根据实际位置变化和理想轮廓数据计算位置误差和相位误差，并生成补偿位置误差的执行轮廓数据。在加工操作期间，数字控制器通过所计算的相位误差来偏移执行配置文件数据的读出位置，以消除相位误差。

5. 发明授权

EP0313662B1 SERVO CONTROL CIRCUIT 失效
标题翻译： SERVOSTEUERSCHALTUNG。
公开(公告)号：EP0313662B1
公开(公告)日：1994-08-24
申请号：EP88903403.9
申请日：1988-04-26
申请人： FANUC LTD.
发明人： SAKAMOTO, Keiji , MATSUBARA, Shunsuke
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B2219/41156 , G05B2219/41186 , G05D3/20
摘要： A servo control circuit suppresses an incompletely integrated term contained in the integrated gain in a speed feedback loop of a speed control block (5) at a moment when a deviation between a position signal from a machine system and a movement instruction has exceeded a predetermined reference value. This makes it possible to control the torque instruction to the current control block (6) such that a torque is minimized that develops overshooting according to static frictional characteristics of the machine system. The operation equivalent to the one realized in the analog servo system by non-linearly operating the coefficients of a CR time-constant circuit during electric charge and discharge is realized in the digital servo control system aided by a computer.

6. 发明公开

EP0268887A3 Numerical control feed device for machine tool 失效
标题翻译：数控机床加工设备
公开(公告)号：EP0268887A3
公开(公告)日：1990-01-17
申请号：EP87116240.0
申请日：1987-11-04
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Yoneda, Takao , Ohmura, Haruo
IPC分类号： G05B19/18 , G05B19/23
CPC分类号： G05B19/232 , G05B2219/33261 , G05B2219/41021 , G05B2219/41186 , G05B2219/41442 , G05B2219/45218 , Y02P90/265
摘要： In a numerical control feed device, an objective velocity signal is produced from the difference between command pulses from a numerical controller, which indicative of an objective feed amount and an objective feed rate for a slide of a machine tool, and a feedback feed amount from a pulse generator driven by a servomotor. A subtraction circuit calculates a difference signal based on the objective velocity signal and a feedback velocity signal from a tachogenerator also driven by the servomotor and applies the difference signal to a drive amplifier for driving the servomotor. A frequency-voltage converter generates a feedforward velocity signal depending on the frequency of the command pulses. A gain adjustable amplifier amplifies the feedforward velocity signal at the amplifying ratio designated by the numerical controller and outputs the amplified feedforward velocity signal to the subtraction circuit for addition. The numerical controller determines the amplifying ratio based on various parameters such as the mechanical characteristic of the machine tool, the shape of a workpiece to be machined, an objective feed rate used in an instantaneous machining operation, and so forth.

7. 发明公开

EP0268887A2 Numerical control feed device for machine tool 失效
标题翻译： Numerische Vorschubeinrichtungfüreine Werkzeugmaschine。
公开(公告)号：EP0268887A2
公开(公告)日：1988-06-01
申请号：EP87116240.0
申请日：1987-11-04
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Yoneda, Takao , Ohmura, Haruo
IPC分类号： G05B19/18 , G05B19/23
CPC分类号： G05B19/232 , G05B2219/33261 , G05B2219/41021 , G05B2219/41186 , G05B2219/41442 , G05B2219/45218 , Y02P90/265
摘要： In a numerical control feed device, an objective velocity signal is produced from the difference between command pulses from a numerical controller, which indicative of an objective feed amount and an objective feed rate for a slide of a machine tool, and a feedback feed amount from a pulse generator driven by a servomotor. A subtraction circuit calculates a difference signal based on the objective velocity signal and a feedback velocity signal from a tachogenerator also driven by the servomotor and applies the difference signal to a drive amplifier for driving the servomotor. A frequency-voltage converter generates a feedforward velocity signal depending on the frequency of the command pulses. A gain adjustable amplifier amplifies the feedforward velocity signal at the amplifying ratio designated by the numerical controller and outputs the amplified feedforward velocity signal to the subtraction circuit for addition. The numerical controller determines the amplifying ratio based on various parameters such as the mechanical characteristic of the machine tool, the shape of a workpiece to be machined, an objective feed rate used in an instantaneous machining operation, and so forth.
摘要翻译：在数控加料装置中，根据来自数值控制器的指令脉冲之间的差产生目标速度信号，该数值控制器指示机床的滑动件的客观进给量和客观进给速度，以及来自由伺服电机驱动的脉冲发生器。减法电路基于目标速度信号和来自也由伺服电机驱动的转速发电机的反馈速度信号来计算差信号，并将差分信号施加到用于驱动伺服电动机的驱动放大器。频率 - 电压转换器根据指令脉冲的频率产生前馈速度信号。增益可调放大器以数字控制器指定的放大倍数放大前馈速度信号，并将放大的前馈速度信号输出到减法电路进行加法。数值控制器基于机床的机械特性，待加工的工件的形状，瞬时加工操作中使用的物料进给速度等各种参数来确定放大率。

8. 发明公开

EP0722580A1 MOTION CONTROL WITH PRECOMPUTATION 失效
标题翻译：预运动控制
公开(公告)号：EP0722580A1
公开(公告)日：1996-07-24
申请号：EP94929996.0
申请日：1994-09-30
申请人： OMAX CORPORATION
发明人： OLSEN, John, H.
IPC分类号： B25J9 , B26F3 , G05B19 , B26D5
CPC分类号： B26F3/004 , B26D5/00 , G05B19/237 , G05B19/258 , G05B19/298 , G05B19/416 , G05B2219/34097 , G05B2219/34098 , G05B2219/34221 , G05B2219/35002 , G05B2219/35097 , G05B2219/35132 , G05B2219/36308 , G05B2219/36568 , G05B2219/41186 , G05B2219/41384 , G05B2219/41408 , G05B2219/42072 , G05B2219/42092 , G05B2219/43162 , G05B2219/45036 , G05B2219/49369 , G05B2219/50207
摘要： A system for controlling motion of machine tools and industrial robots. From the specification of a part to be cut or a path to be followed by a machine tool or robot, the system calculates for each axis, for each incremental step along the path, a position command (69), a time delay between successive position commands, and, optionally, a force command (68) based on a prediction of predicted resistive forces. Calculations are specified for precisely controlling velocity, acceleration, and jerk. The generated data is stored in a memory device and subsequently directed to the machine tool or robot.

9. 发明公开

EP0313662A4 SERVO CONTROL CIRCUIT 失效
标题翻译：伺服控制电路
公开(公告)号：EP0313662A4
公开(公告)日：1992-06-03
申请号：EP88903403
申请日：1988-04-26
申请人： FANUC LTD
发明人： SAKAMOTO, KEIJI , MATSUBARA, SHUNSUKE
IPC分类号： G05D3/12 , G05B11/36 , G05B13/00 , G05B13/02 , G05B19/19 , G05D3/20
CPC分类号： G05B19/19 , G05B2219/41156 , G05B2219/41186 , G05D3/20
摘要： A servo control circuit suppresses an incompletely integrated term contained in the integrated gain in a speed feedback loop of a speed control block (5) at a moment when a deviation between a position signal from a machine system and a movement instruction has exceeded a predetermined reference value. This makes it possible to control the torque instruction to the current control block (6) such that a torque is minimized that develops overshooting according to static frictional characteristics of the machine system. The operation equivalent to the one realized in the analog servo system by non-linearly operating the coefficients of a CR time-constant circuit during electric charge and discharge is realized in the digital servo control system aided by a computer.

10. 发明授权

EP0265607B1 Numerically controlled machine tool 失效
标题翻译：数控机床
公开(公告)号：EP0265607B1
公开(公告)日：1992-02-19
申请号：EP87111693.5
申请日：1987-08-12
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Asano, Hiroaki , Tsujiuchi, Toshio , Yoneda, Takao 12, Higashinakane , Ishihara, Nobuhiro 14-4, Kitakawago , Maruyama, Toshio , Ohta, Norio
IPC分类号： G05B19/18 , G05B19/23
CPC分类号： G05B19/232 , G05B19/184 , G05B2219/41177 , G05B2219/41186 , G05B2219/50057 , G05B2219/50211

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