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1. 发明申请

WO1988002140A1 METHOD OF REMOVING FOLLOW-UP DELAY USING A DIGITAL SERVO SYSTEM IN A FULL-CLOSE FEEDBACK NC SYSTEM 审中-公开
标题翻译：使用数字伺服系统在全关反馈数控系统中移除后续延迟的方法
公开(公告)号：WO1988002140A1
公开(公告)日：1988-03-24
申请号：PCT/JP1987000680
申请日：1987-09-16
申请人： FANUC LTD , OKUDA, Kanemasa
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/404 , G05B19/19 , G05B2219/41068 , G05B2219/41081 , G05B2219/41085 , G05B2219/41186
摘要： A method of removing follow-up delay using a digital servo system in a full-close feedback NC system, in which a position instruction is received from an NC controller (11), and in which a speed instruction (12) and a torque instruction (13) are supplied, in order to drive a table of a machine tool via a servo motor (14). A position detection value is produced from the servo motor. Further, a step (18) is provided wherein a correction instruction (19) having a correction quantity (K. DELTA X) and a correction time (1:Pg:K) ( DELTA X denotes a play of the table, Pg denotes a position gain of the servo system, and K denotes a correction coefficient) is added to the position instruction (11) at a moment when the moving direction of the table is reversed so that the position error becomes zero, and wherein the addition is stopped at a moment when a position detection value of the servo motor becomes equal to a position detection value of the table. Thus, a machine tool which produces little error in position can be obtained.
摘要翻译：一种在全关闭反馈NC系统中使用数字伺服系统去除后续延迟的方法，其中从NC控制器（11）接收到位置指令，并且其中速度指令（12）和转矩指令（13），以通过伺服马达（14）驱动机床的工作台。从伺服电机产生位置检测值。此外，提供了一个步骤（18），其中具有校正量（K·DELTA X）和校正时间（1：Pg：K）（DELTA X表示表的播放的校正指令（19），Pg表示在表的移动方向反转的时刻，位置指令（11）被添加到伺服系统的位置增益，并且K表示校正系数），使得位置误差变为零，并且其中相加停止在当伺服电动机的位置检测值变得等于表的位置检测值的时刻。因此，可以获得几乎不产生位置误差的机床。

2. 发明申请

WO1995010076A1 MOTION CONTROL WITH PRECOMPUTATION 审中-公开
标题翻译：运动控制与预制
公开(公告)号：WO1995010076A1
公开(公告)日：1995-04-13
申请号：PCT/US1994011161
申请日：1994-09-30
申请人： OMAX CORPORATION , OLSEN, John, H.
发明人： OMAX CORPORATION
IPC分类号： 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.
摘要翻译：一种用于控制机床和工业机器人运动的系统。从要切割的部件的规格或机床或机器人遵循的路径，系统针对沿着路径的每个增量步长计算每个轴，位置指令（69），连续位置之间的时间延迟命令和可选地基于预测的阻力的预测的力命令（68）。规定精确控制速度，加速度和加加速度的计算。生成的数据被存储在存储设备中，并且随后指向机床或机器人。

3. 发明申请

WO1988008563A1 SERVO CONTROL CIRCUIT 审中-公开
标题翻译：伺服控制电路
公开(公告)号：WO1988008563A1
公开(公告)日：1988-11-03
申请号：PCT/JP1988000408
申请日：1988-04-26
申请人： FANUC LTD , SAKAMOTO, Keiji , MATSUBARA, Shunsuke
发明人： FANUC LTD
IPC分类号： G05D03/12
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.

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