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1. 发明申请

US20150012120A1 MOTION CONTROLLER CAPABLE OF SPECIFYING PROGRAM EXECUTION PACE 有权
标题翻译：指定执行程序的运动控制器
公开(公告)号：US20150012120A1
公开(公告)日：2015-01-08
申请号：US14321953
申请日：2014-07-02
申请人： FANUC Corporation
发明人： Ryouta YOSHIMURA
IPC分类号： G05B19/4155 , G05B11/36
CPC分类号： G05B19/4155 , G05B11/36 , G05B2219/34384 , G05B2219/35386
摘要： A motion controller is provided which allows a program to be executed in a specified time. The program is executed, and the execution time of each of the blocks of the program and the execution time of the entire program are measured. Then, a predicted time until an in-position state is established is loaded. The execution time of the entire specified program is loaded. The execution time of each bock and a moving speed for each block are calculated, then a speed for each block is substituted with the calculated moving speed.
摘要翻译：提供一种允许在指定时间内执行程序的运动控制器。执行程序，并且测量程序的每个块的执行时间和整个程序的执行时间。然后，加载直到就位状态建立的预测时间。整个指定程序的执行时间被加载。计算每个块的执行时间和每个块的移动速度，然后用计算出的移动速度代替每个块的速度。

2. 发明授权

US09798316B2 Motion controller capable of specifying program execution pace 有权
公开(公告)号：US09798316B2
公开(公告)日：2017-10-24
申请号：US14321953
申请日：2014-07-02
申请人： FANUC Corporation
发明人： Ryouta Yoshimura
IPC分类号： G05B19/19 , G05B5/01 , G05B11/42 , G05B19/4155 , G05B11/36
CPC分类号： G05B19/4155 , G05B11/36 , G05B2219/34384 , G05B2219/35386
摘要： A motion controller is provided which allows a program to be executed in a specified time. The program is executed, and the execution time of each of the blocks of the program and the execution time of the entire program are measured. Then, a predicted time until an in-position state is established is loaded. The execution time of the entire specified program is loaded. The execution time of each bock and a moving speed for each block are calculated, then a speed for each block is substituted with the calculated moving speed.

3. 发明授权

US5485069A Numerical control apparatus 失效
标题翻译：数控装置
公开(公告)号：US5485069A
公开(公告)日：1996-01-16
申请号：US318728
申请日：1994-10-13
申请人： Toshiaki Otsuki , Kunihiko Murakami , Yorikazu Fukui
发明人： Toshiaki Otsuki , Kunihiko Murakami , Yorikazu Fukui
IPC分类号： B23Q17/20 , G05B19/18 , G05B19/19 , G05B19/408 , G05B19/4155 , G05B19/403
CPC分类号： G05B19/408 , G05B2219/34095 , G05B2219/35386 , G05B2219/36045 , G05B2219/37302 , G05B2219/43102
摘要： A numerical control apparatus which reduces a cycle time by executing the movement command of a next block without temporarily stopping the movement of a workpiece even if a skip signal is input. Upon receiving the skip signal SS output from a sensing device, a skip signal sensing device determines the present position of the workpiece, stores the position in a memory device and outputs a skip completion signal AS. Then, an acceleration/deceleration distribution device carries out pulse interpolation of a present block and outputs a distribution completion signal ES on the completion of the movement. Further, a preprocessing distribution device, having received the skip completion signal AS, determines an amount of movement of a next block from the present position of the workpiece and preprocesses the next block of the machining program. On receiving the distribution completion signal ES output from the acceleration/deceleration distribution device, the preprocessing distribution device outputs an interpolation pulse IP2 and moves the workpiece without interruption.
摘要翻译： PCT No.PCT / JP94 / 00154 Sec。 371日期：1994年10月13日 102（e）日期1994年10月13日PCT 1994年2月2日PCT公布。公开号WO94 / 19731 1994年9月1日。一种数值控制装置，即使输入了跳过信号，也可以通过执行下一个程序段的移动指令来减少循环时间，而不会暂时停止工件的移动。在接收到从感测装置输出的跳跃信号SS时，跳过信号检测装置确定工件的当前位置，将该位置存储在存储装置中并输出跳过完成信号AS。然后，加速/减速分配装置执行当前块的脉冲插值，并在运动完成时输出分配完成信号ES。此外，已经接收到跳过完成信号AS的预处理分配装置从工件的当前位置确定下一个块的移动量，并且预处理加工程序的下一个块。在接收到从加减速分配装置输出的分配完成信号ES时，预处理分配装置输出插补脉冲IP2，并且不间断地移动工件。

4. 发明申请

US20170329305A1 NUMERICAL CONTROLLER 审中-公开
公开(公告)号：US20170329305A1
公开(公告)日：2017-11-16
申请号：US15592361
申请日：2017-05-11
申请人： FANUC CORPORATION
发明人： Masaaki Shindou
IPC分类号： G05B19/4063
CPC分类号： G05B19/4063 , B23Q15/22 , G05B19/4062 , G05B19/408 , G05B19/4155 , G05B2219/34013 , G05B2219/34015 , G05B2219/35262 , G05B2219/35386 , G05B2219/43162
摘要： A numerical controller capable of finely designating a restart condition for look-ahead for a program after suppression of the look-ahead is configured to sequentially read out and analyze commands for blocks of a program, perform look-ahead processing to save the result of the analysis in a buffer, and execute the commands for the blocks looked ahead based on the analysis result saved in the buffer, thereby controlling a machine, and is provided with a function of stopping the look-ahead processing when a block into which a code for stopping look-ahead is inserted is read out from the program. The numerical controller is characterized by being provided with a restart condition determination unit, configured to determine whether or not a look-ahead restart condition commanded by the code for stopping look-ahead is satisfied, and a look-ahead preceding restart unit, configured to restart the look-ahead processing if it is determined by the restart condition determination unit that the restart condition is satisfied, and in that the restart condition is a condition related to the state of the machine.

5. 发明申请

US20080294877A1 NUMERICAL CONTROLLER HAVING FUNCTION OF RESUMING LOOK-AHEAD OF BLOCK 审中-公开
标题翻译：具有重构功能的数字控制器
公开(公告)号：US20080294877A1
公开(公告)日：2008-11-27
申请号：US12125994
申请日：2008-05-23
申请人： Makoto Haga , Masahiko Hosokawa
发明人： Makoto Haga , Masahiko Hosokawa
IPC分类号： G06F9/30
CPC分类号： G05B19/4155 , G05B2219/35386
摘要： A numerical controller which performs look-ahead control by suspending analysis of a read block of a machining program and resuming the analysis of the read block at a suspended stage when execution of a block immediately preceding the read block is completed. The numerical controller successively reads and analyzes blocks of the machining program in advance, stores the analyzed blocks into a buffer, and then executes the stored blocks, and comprises means for determining whether or not a read block contains a look-ahead stop code to suspend analysis of the block, means for suspending the analysis of the block when the look-ahead stop code is determined, means for determining whether or not execution of a block immediately preceding the suspended block is completed, and resuming means for resuming the analysis of the suspended block when the execution of the block immediately preceding the suspended block is completed.
摘要翻译：一种数字控制器，其通过暂停对加工程序的读取块的分析，并且在执行紧接在读取块之前的块的完成时，在暂停阶段恢复读取块的分析来执行预先控制。数值控制器预先连续地读取和分析加工程序的块，将分析的块存储在缓冲器中，然后执行存储的块，并且包括用于确定读取块是否包含预先停止代码以暂停的装置块的分析，当确定先行停止码时暂停对块的分析的装置，用于确定紧接在暂停块之前的块的执行是否完成的装置，以及用于恢复对暂停块的分析的恢复装置当暂停块之前的块的执行完成时，暂停块。

6. 发明申请

US20180113436A1 NUMERICAL CONTROL DEVICE AND CONTROL METHOD FOR NUMERICAL CONTROL DEVICE 审中-公开
公开(公告)号：US20180113436A1
公开(公告)日：2018-04-26
申请号：US15787856
申请日：2017-10-19
申请人： FANUC CORPORATION
发明人： Tsuyuki SHIMIZU
IPC分类号： G05B19/408
CPC分类号： G05B19/408 , G05B19/4155 , G05B2219/35386
摘要： A numerical control device includes a program look-ahead unit for prereading and analyzing multiple blocks constituting a machining program, and a program execution unit for executing the blocks to control a machining operation and an auxiliary operation. The program execution unit sequentially executes the blocks in order from the initial block, and shifts an execution start time of the auxiliary operation block by an offset time corresponding to an auxiliary function code written in the auxiliary operation block.

7. 发明授权

US5311110A Feedforward control method for servomotors 失效
标题翻译：伺服电机的前馈控制方法
公开(公告)号：US5311110A
公开(公告)日：1994-05-10
申请号：US877183
申请日：1992-07-01
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
IPC分类号： G05B13/02 , G05B19/19 , G05B19/416 , G05B19/407
CPC分类号： G05B19/416 , G05B13/0205 , G05B19/19 , G05B2219/35386 , G05B2219/41429 , G05B2219/43048
摘要： A feedforward control method having an improved follow-up characteristic with respect to commands in a servo system and capable of a servomotor to operate smoothly and stably, is applied to a servo system in which a position/speed loop process is executed a plurality of times within one move command distribution period of an upper-level control device. A provisional speed command, which is the product of a gain (Kp) and a deviation (e) between an actual amount (Pf) of rotation of the motor and a move command (a) for each position and speed loop processing period, is corrected by a position feedforward quantity, which is the product of a coefficient (.alpha.1) and a mean value of move commands including the move command for each processing period and those before and after the present processing period calculated by a smoothing circuit to obtain a speed command. A provisional torque command obtained in a speed loop having an integral term and a proportional term is corrected by a speed feedforward quantity, which is the product of a coefficient (.alpha.2) and a differential value obtained by subjecting the mean value of the move commands to a lead compensation in a lead compensation element by a time period equal to a predetermined number of times the processing period to obtain a torque command for driving a servomotor.
摘要翻译： PCT No.PCT / JP91 / 01537 Sec。 371日期：1992年7月1日 102（e）日期1992年7月1日PCT 1991年11月8日PCT PCT。第WO92 / 09022号公报。日期：1992年5月29日。具有相对于伺服系统中的命令具有改进的跟随特性并使伺服电机平稳且稳定地操作的前馈控制方法被应用于其中位置/速度环路过程在上级控制装置的一个移动指令分配期间内执行多次。作为每个位置和速度循环处理周期的马达的旋转实际量（Pf）和移动指令（a）之间的增益（Kp）和偏差（e）的乘积的临时速度指令是通过位置前馈量来校正，该位置前馈量是由平滑电路计算的系数（α1）和包括每个处理周期的移动命令和在当前处理周期之前和之后的移动命令的平均值的乘积，以获得速度指令。在具有积分项和比例项的速度回路中获得的临时转矩指令通过作为系数（α2）和通过对移动指令的平均值进行处理而得到的微分值的乘积的前馈量进行校正在引导补偿元件的引导补偿期间等于处理周期的预定次数，以获得用于驱动伺服电机的转矩指令。

8. 发明授权

US5025385A Multiple axis motion control system 失效
标题翻译：多轴运动控制系统
公开(公告)号：US5025385A
公开(公告)日：1991-06-18
申请号：US529132
申请日：1990-05-25
申请人： Stanley G. Froyd
发明人： Stanley G. Froyd
IPC分类号： B25J9/18 , G05B19/41
CPC分类号： G05B19/41 , G05B2219/31368 , G05B2219/35386 , G05B2219/41437 , G05B2219/42184 , G05B2219/43162 , G05B2219/49164
摘要： The invention is directed to an improved motion control system for controlling multiple motion actuators associated with different axes for moving a member along a defined path. The system is intended to move a member along the defined path as a result of the coordinated motion of two or more essentially independent motion actuators. In accordance with the invention, instead of responding to a servo lag error between a commanded and actual position, the velocity along each axis for each path segment is established by a feedforward data file generated by "looking ahead" at input describing the full path and processing this data, together with machine specific data specifying the operational characteristics (or capabilities) of the machine (e.g. milling machine) to be operated.
摘要翻译：本发明涉及一种改进的运动控制系统，用于控制与不同轴相关联的多个运动致动器，用于沿着限定的路径移动构件。该系统旨在由于两个或更多个基本上独立的运动致动器的协调运动而沿着限定的路径移动构件。根据本发明，代替响应于命令和实际位置之间的伺服滞后误差，通过在描述完整路径的输入处的“向前看”生成的前馈数据文件来建立每个路径段沿着每个轴的速度，处理该数据以及指定要运行的机器（例如铣床）的操作特性（或能力）的机器特定数据。

9. 发明申请

US20170364054A1 NUMERICAL CONTROLLER AND VARIABLE DETERMINING METHOD 审中-公开
公开(公告)号：US20170364054A1
公开(公告)日：2017-12-21
申请号：US15622296
申请日：2017-06-14
申请人： FANUC CORPORATION
发明人： Tooru Kubota
IPC分类号： G05B19/408
CPC分类号： G05B19/408 , G05B2219/35386
摘要： A numerical controller is equipped with an access unit configured to access variables included within a machining program at a time of analyzing the machining program, a look-ahead determining unit configured to determine whether or not the variables accessed by the access unit were accessed during look-ahead of the machining program, a specific variable determining unit configured to determine whether or not the variables determined to have been accessed during look-ahead by the look-ahead determining unit are specific variables, and an output unit configured to output at least one of numbers of the specific variables accessed during look-ahead and a time of accessing the specific variables during look-ahead, in the event that the variables accessed during look-ahead are determined to be the specific variables by the specific variable determining unit.

10. 发明申请

US20150112459A1 NUMERICAL CONTROLLER PROVIDED WITH PROGRAM PRE-READING FUNCTION 审中-公开
标题翻译：数字控制器提供程序预读功能
公开(公告)号：US20150112459A1
公开(公告)日：2015-04-23
申请号：US14509092
申请日：2014-10-08
申请人： FANUC Corporation
发明人： Takahiro HARAGUCHI
IPC分类号： G05B19/408
CPC分类号： G05B19/408 , G05B2219/35386 , G05B2219/36078
摘要： A numerical controller successively pre-reads blocks of a plurality of NC programs from a memory or from a storage device connected via a network, while executing the NC programs in parallel. The execution times of the pre-read blocks are integrated in respect of all of the NC programs that are the object of pre-reading, and when an NC program having the shortest integrated execution time of the pre-read blocks can be pre-read, the next block in that NC program is pre-read. On the other hand, when that NC program cannot be pre-read, the NC program is excluded from the pre-reading objects.
摘要翻译：数值控制器在并行执行NC程序的同时，从存储器或经由网络连接的存储装置连续预读取多个NC程序的块。相对于作为预读取对象的所有NC程序，预读块的执行时间被集成，并且当预读块的累积执行时间最短的NC程序可以被预读取时，该NC程序中的下一个程序段被预读。另一方面，当NC程序无法预读取时，NC程序将被排除在预读物体之外。

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