CN104076740B - Numerical-control device - Google Patents
Numerical-control device Download PDFInfo
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- CN104076740B CN104076740B CN201410035270.6A CN201410035270A CN104076740B CN 104076740 B CN104076740 B CN 104076740B CN 201410035270 A CN201410035270 A CN 201410035270A CN 104076740 B CN104076740 B CN 104076740B
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Abstract
The utility model discloses a numerical-control device, and the device can precisely compensate the dislocation generated by reverse rotation of a shaft in a movement direction. The device comprises a compensator which can calculate a dislocated value. The dislocation is generated caused by the elastic deformation of a workbench mechanism after the movement direction of a workbench is reverse. The compensate judges whether the workbench is in movement or stops (S1). When the workbench is in movement (S1: no), a compensation value is calculated through a formula (1) (S2), wherein the formula (1) is a formula for calculating the compensation value through the addition of a proportional value of the movement of the workbench (3) and a last compensation value. When the workbench stops (S1: yes), the compensation value is calculated through a formula (2) (S5), wherein the formula (2) is a formula for calculating the compensation value based on a torque instruction. Therefore, the device can precisely compensate the dislocation according to the conditions that the workbench is in movement, in reverse rotation, or stops.
Description
Technical field
The present invention relates to a kind of numerical control device.
Background technology
Lathe can produce sluggishness when the moving direction of drive shaft is inverted because of the elastic deformation of mechanism.Sluggishness is referred to as losing
Position, it is the reason for machining accuracy is reduced.Unsceptered in order to compensate, numerical control device is suitable with unsceptered when moving direction is inverted pair
Amount is predicted, and it is added with the location of instruction.In No. 152910 publications of Japanese Patent Laid-Open 1996 year, using with
Distance away from backward position is compensated as input, using compensation rate as the function of output to unsceptered.In Japanese Patent Laid
In disclosing No. 154007 publications in 1998, similarly, compensate using the function pair of the distance away from backward position is unsceptered, but profit
Unsceptered rising is fitted with exp functions (exponential function).When gimmick described in above-mentioned publication can compensate reversion well
And it is unsceptered in moving process, but then it is changed into overcompensation when stopping, there is machining accuracy reduces this technical problem.
The content of the invention
It is an object of the invention to provide a kind of numerical control device, its can according to when being in moving process, reversion or
During stopping, accurately to compensate unsceptered.
The numerical control device of technical scheme 1 includes：Feed mechanism, the feed mechanism has ballscrew shaft and is sheathed on the rolling
The ball nut of ballscrew axle, and make to be fixed on the moving body movement of the ball nut；Motor, the motor drives above-mentioned ball wire
Thick stick axle rotates；Position detecting mechanism, after rotation amount of the position detecting mechanism based on said motor using said motor to being moved
The position of above-mentioned moving body detected；Speed generating unit, the speed generating unit formation speed instruction, so that the inspection of above-mentioned position
The position for surveying the above-mentioned moving body that mechanism detects is consistent with the position command that control unit is generated；Speed detecting mechanism, the speed
Testing agency is detected to the speed of said motor；Torque generating unit, the torque generating unit generates torque instruction, so that above-mentioned
The speed command that the speed that speed detecting mechanism is detected is generated with above-mentioned speed generating unit is consistent；Operational part, the operational part pair
After the moving direction reversion of above-mentioned moving body, the unsceptered compensation rate that produces because of the elastic deformation of above-mentioned feed mechanism transported
Calculate；And adder, the adder makes the above-mentioned compensation rate that above-mentioned operational part is calculated be added with above-mentioned position command, to upper
State position command to be modified, it is characterized in that, above-mentioned operational part includes：Judging part, the judging part judges that above-mentioned moving body is place
It is in stopped process in moving process；First operational part, first operational part is judged as above-mentioned in above-mentioned judging part
When moving body is in moving process, make to be added with previous compensation rate based on the value of the amount of movement of above-mentioned moving body, carry out computing
Go out above-mentioned compensation rate；And second operational part, second operational part is judged as above-mentioned moving body in stopping in above-mentioned judging part
During when, based on above-mentioned torque instruction, calculate above-mentioned compensation rate.In the moving process of moving body, the first operational part makes
Computing is carried out with the function pair compensation rate of amount of movement.In the stopped process of moving body, the second operational part uses torque instruction
Function pair compensation rate carries out computing.Operational part is to be in stopped process distinguishing in moving process according to moving body
Using function.Therefore, numerical control device can carry out stable compensation in the moving process of moving body and when inverting, and when stopping
Overcompensation can be prevented.So, when numerical control device energy when being in moving process, reversion according to being also off, come accurately
Compensation is unsceptered.
The numerical control device of technical scheme 2 is characterized in that in addition to the structure of the invention described in technical scheme 1, will make
Above-mentioned moving body using fixing speed towards certain orientation move when torque value as reference torque, above-mentioned second operational part is to above-mentioned
Compensation rate carries out computing, with proportional to the ratio of said reference torque and above-mentioned torque instruction.Therefore, the second operational part can be right
The unsceptered of generation compensates in stopped process.
The numerical control device of technical scheme 3 is characterized in that in addition to the structure of the invention described in technical scheme 2, will make
Above-mentioned moving body using above-mentioned fixing speed towards above-mentioned certain orientation move when maximum compensation rate as maximum compensation rate, it is above-mentioned
Second operational part makes above-mentioned maximum compensation rate and above-mentioned ratio be multiplied to calculate above-mentioned compensation rate.Therefore, the second operational part energy
The unsceptered of generation in stopped process is compensated.
The numerical control device of technical scheme 4 in addition to the structure of the invention described in any one of technical scheme 1 to 3, its
Be characterized in that, above-mentioned first operational part when above-mentioned moving body starts to move from stopped process, by the above-mentioned benefit in stopped process
The amount of repaying is used as above-mentioned previous compensation rate.Therefore, numerical control device can be to beginning to transfer to unsceptered change when moving from stopping
Compensate well.
Description of the drawings
Fig. 1 is the stereogram of table mechanism 20.
Fig. 2 is the figure of the electrical structure for representing numerical control device 1.
Fig. 3 is the figure for representing the compensation rate in moving process.
Fig. 4 is the figure for representing the compensation rate in stopped process.
Fig. 5 is to represent the figure from compensation starting position when being transferred to mobile is stopped.
Fig. 6 is to represent the figure from compensation rate when being transferred to stopping is moved.
Fig. 7 is the flow chart of compensation deals.
Fig. 8 is the structure chart of table mechanism 40.
Fig. 9 is the figure for representing the result obtained from the first gimmick calculates compensation rate.
Figure 10 is the figure for representing the result obtained from the second gimmick calculates compensation rate.
Figure 11 is the figure for representing the result obtained from the 3rd gimmick calculates compensation rate.
Specific embodiment
Hereinafter, one embodiment of the present invention is illustrated referring to the drawings.In the following description, using arrow in figure
Represented top to bottom, left and right, front and rear.The left and right directions of table mechanism 20, fore-and-aft direction, above-below direction be respectively X-direction,
Y direction, Z-direction.Table mechanism 20 shown in Fig. 1 is located at lathe (not shown).Table mechanism 20 is by workbench 3
Supportting into can move in X-direction and Y direction.The main shaft (not shown) of lathe can be lifted in the Z-axis direction.Numerical control device 1
According to the path specified by NC (numerical control) program, the action to main shaft and table mechanism 20 is controlled, and to utilizing fixture
The workpiece (not shown) being fixed on workbench 3 carries out machining.
The structure of table mechanism 20 is illustrated with reference to Fig. 1.Table mechanism 20 includes pedestal 2, middle workbench
50th, workbench 3.Thereon middle workbench 50 is supported into and can moved in the Y-axis direction pedestal 2 by surface.Middle workbench 50
Thereon workbench 3 is supported into and can moved in the X-axis direction by surface.Therefore, workbench 3 can be on the basis of pedestal 2 in X-axis side
To with Y direction on move.Thereon surface has a pair of rectilinear guide 6A, ballscrew shaft 4A, motor 2A etc. to pedestal 2.
Rectilinear guide 6A extends in the Y-axis direction.Rectilinear guide 6A is guided in the Y-axis direction to middle workbench 50.Rolling
Ballscrew axle 4A is abreast arranged between a pair of rectilinear guide 6A with Y direction.Middle workbench 50 is solid in its lower surface
Surely there is ball nut (not shown).Ballscrew shaft 4A inserts ball nut.Motor 2A rotates ballscrew shaft 4A.When making rolling
When ballscrew axle 4A rotates, middle workbench 50 is moved in the Y-axis direction by ball nut.Middle workbench 50 is in X-axis side
To longer tabular, thereon surface is provided with a pair of rectilinear guide 6B, ballscrew shaft 4B, motor 2B etc..Rectilinear guide
6B extends in the X-axis direction.Rectilinear guide 6B is guided in the X-axis direction to workbench 3.Ballscrew shaft 4B is at a pair
Abreast arrange with X-direction between rectilinear guide 6B.Workbench 3 is fixed with the (reference picture of ball nut 5 in its lower surface
8).Ballscrew shaft 4B inserts ball nut 5.Motor 2B rotates ballscrew shaft 4B.When ballscrew shaft 4B is rotated,
Workbench 3 is moved in the X-axis direction by ball nut 5.Therefore, table mechanism 20 can make workbench 3 in X-direction and Y
Move on direction of principal axis.
Numerical control device 1 is connected respectively with motor 2A, 2B.Numerical control device 1 drives motor 2A, 2B, so that workbench 3 exists
Move in X-direction and Y direction.Ballscrew shaft 4A, 4B and it is installed on the ball nut of ballscrew shaft 4A, ball nut
The rotary motion of motor 2A, 2B is converted to translatory movement of the workbench 3 on two direction of principal axis (X-direction and Y direction) by 5.
Numerical control device 1 is controlled to motor 2A, 2B, to be controlled to the position of workbench 3, speed and acceleration.Rotary coding
Device 60 (hereinafter referred to as encoder 60) is respectively arranged in motor 2A, 2B.Each position (rotation of each encoder 60 to motor 2A, 2B
Angle) detected.Each position, the pitch of ballscrew shaft 4A, 4B of the numerical control device 1 based on motor 2A, 2B is (between ridge
Every) calculating the position of workbench 3.
With reference to Fig. 2, the structure of numerical control device 1 is illustrated.Numerical control device 1 includes upper control portion 10, position control
Device 11, speed control 12, compensator 13, current control amplifier 15, differentiator 16, adder 17 etc..Upper control portion 10
Based on NC programs, by position command signal output to positioner 11.Each encoder 60 believes the position detection of motor 2A, 2B
Number output is to positioner 11.Positioner 11 is generated in the mode for making position command signal consistent with position detection signal
Speed command signal, and it is output to speed control 12.Position detection signal is converted to velocity measuring letter by differentiator 16
Number, and it is output to speed control 12.Speed control 12 is so that speed command signal is consistent with speed detection signal
Mode generates torque instruction signal, and is respectively outputted to current control amplifier 15 and compensator 13.
Compensator 13 according to the state of workbench 3, based on the position command signal from upper control portion 10 or from speed
The torque instruction signal of degree controller 12, calculates unsceptered compensation rate (hereinafter referred to as compensation rate), and generates unsceptered thermal compensation signal,
Then it is output to adder 17.Adder 17 makes unsceptered thermal compensation signal with the output of upper control portion 10 to positioner 11
Position command signal be added.Therefore, positioner 11 is so as to the unsceptered position command signal for being compensated and position
The consistent mode of detection signal, generates torque instruction signal.Speed control 12 generates and the unsceptered torque for being compensated is referred to
Make signal.Current control amplifier 15 is controlled to the electric current of motor 2A, 2B, to produce torque instruction letter as faithful to as possible
Number torque.
With reference to Fig. 3～Fig. 6, the unsceptered compensation method that compensator 13 is carried out is illustrated.Unsceptered characteristic is because of workbench 3
State and it is different.The state of so-called workbench 3, including at least mobile status and halted state.Lathe to workpiece in order to carry out
Processing, makes workbench 3 alternately move repeatedly and stop.Therefore, numerical control device 1 need for mobile status and halted state come
Change the computational methods of compensation rate respectively.Additionally, numerical control device 1 need setting from mobile status be transferred to halted state when, from
Halted state is transferred to compensation rate during mobile status.Therefore, in the present embodiment, according to the following institute of state of workbench 3
State and compensation rate is calculated.Compensator 13 is calculated the compensation rate of mobile status using following (1) formulas.LcnFor compensation
Device is exported, Lcn-1For the output of previous compensator, Pc is maximum compensation rate, and Ap is slope coefficient, and Δ x is the increment of position command.
Pls is pulse.
(1) formula
Fig. 3 is the figure of the compensation rate for representing the mobile status that utilization (1) formula is calculated.The movement of compensation rate and workbench 3
Amount proportionally increases or reduces.Wherein ,-Pc/2≤Lcn≤ Pc/2, beyond this scope, compensation rate will not increase and protect
Hold constant.The slope that proportionally increases with amount of movement, maximum compensation rate are the parameters determined by practical measurement.Work as compensation
When measuring constant rear moving direction reversion, compensation rate is reduced at once.Therefore, compensation rate depicts the track of lagging characteristics.It is sluggish special
The track of property is the track of the position for not returning to original.
Compensator 13 is calculated the compensation rate of halted state using following (2) formulas.Lc is compensator output, and Pc is most
Large compensation amount, Tl is reference torque, and Tc is torque instruction.Wherein ,-Pc/2≤Lc≤Pc/2.
(2) formula
Fig. 4 is the figure of the compensation rate for representing the halted state that utilization (2) formula is calculated.The value of compensation rate and torque instruction into
Ratio ground increases.When compensation rate reaches certain value, compensation rate is not further added by.The compensation rate proportional to torque instruction it is oblique
Rate is obtained by actual measurement.Maximum compensation rate Pc is identical with the maximum compensation rate in moving process.Reference torque is to make work
Make platform 3 with fixing speed towards certain orientation move when torque value.It is different from mobile status when in midway, torque instruction is inverted,
Compensation rate returns to original position.
As shown in figure 5, when mobile status is transferred to from halted state, compensator 13 is from corresponding with compensation rate when stopping
Position proceed by compensation.
As shown in fig. 6, when halted state is transferred to from mobile status, torque instruction of the compensator 13 based on the stop timing
To determine compensation rate.
The compensation deals that compensator 13 is carried out are illustrated with reference to Fig. 7.When lathe starts action, compensator 13 is based on
Present treatment is performed from the position command signal in upper control portion 10 or from the torque instruction signal of speed control 12.Mend
Repay device 13 and judge whether Δ x is 0 (S1).(the S1 when Δ x is not 0：It is no), workbench 3 is in mobile status.Therefore, compensator
13 utilization (1) formulas calculate compensation rate (S2).It is previous for halted state when be transfer from halted state towards mobile status, institute
With as shown in figure 5, compensator 13 proceeds by compensation from position corresponding with compensation rate when stopping.Compensator 13 is based on meter
The compensation rate for calculating generates unsceptered thermal compensation signal, and is output to adder 17 (S3).
(the S1 in Δ x=0：It is), workbench 3 is in halted state.Therefore, compensator 13 utilizes (2) formula to calculate compensation
Amount (S5).As shown in fig. 6, when halted state is transferred to from mobile status, torque instruction of the compensator 13 based on the stop timing
To calculate compensation rate.Compensator 13 generates unsceptered thermal compensation signal based on the compensation rate for calculating, and is output to adder
17(S3).Compensator 13 judges whether the action of lathe terminates (S4).(the S4 when action continues：It is no), compensator 13 is returned
Process to S1 and repeatedly.(the S4 at the end of action：It is), the end of compensator 13 is processed.
Various tests to carrying out to confirm the effect of present embodiment below are illustrated.With reference to Fig. 8 in test
The table mechanism 40 for using is illustrated.In the table mechanism 20 as shown in Figure 1 of table mechanism 40, in the X-axis direction
The part guided to workbench 3 is constituted.Table mechanism 40 includes workbench 3, ball nut 5, ballscrew shaft 4B, X
Axle feeding guiding piece (not shown), motor 2B, encoder 60, linear staff 30.Linear staff 30 is obtained according to scale (scale)
The detector of positional information is taken, its position to workbench 3 is detected.The feedback position of the output of encoder 60 is (hereinafter referred to as
FB positions) be motor 2B position detection signal represented by workbench 3 position.It is unsceptered to may be considered FB under synchronization
Difference between position and linear staff position.
Alternately repeat to move and stop this series of action with regard to workbench 3, carried out using three kinds of gimmick difference
Calculate compensation rate and the test being compared.A series of action is as described below.Towards positive direction movement (500mm/min) regulation
Time, stop the stipulated time, towards negative direction (- 500mm/min) stipulated time is moved, then stop the stipulated time.Positive direction with
Negative direction is relation reversely with each other in the X-axis direction.
Three kinds of gimmicks are as described below.The first gimmick is the method for only being compensated by (1) formula, and second gimmick is only
The method compensated by (2) formula, the third gimmick is the gimmick of the present invention.The gimmick of the present invention be according to it is mobile when and stop
The method that (1) formula and (2) formula are compensated is used separately when only.In each test, practical measurement is carried out to unsceptered, and to reality
Measured value is compared, is evaluated with the compensation rate obtained using each gimmick.
The result with reference to obtained from Fig. 9 by the first gimmick to calculating compensation rate is illustrated.As shown in figure 9, unsceptered
Measured value slightly fluctuates during the movement of workbench 3, smoothly reduces after workbench 3 stops, and then keeps
Certain value.The reason for floating, is likely to caused because X-axis feeds the accuracy error of guiding piece and ballscrew shaft 4B etc.
Friction variation.The compensation rate calculated by the first gimmick can represent the value being close to measured value in moving process.Stopping
During only, start to change without the compensation rate from moving process before, so cannot close measured value.Its reason
It is that (1) formula used in the first gimmick is the calculating formula of the mobile status for being only applicable to workbench 3, is completely unsuitable for stopping
Only state.
The result with reference to obtained from Figure 10 by the second gimmick to calculating compensation rate is illustrated.Unsceptered measured value and figure
9 is identical.The compensation rate calculated by the second gimmick can represent the value being close to measured value in stopped process.In moving process
In, the compensation rate calculated by the second gimmick is also bigger than the floating of measured value, deviate from measured value.Its reason is, second
(2) formula used in gimmick can calculate the impact of the above-mentioned friction variation in the moving process of workbench 3 than unsceptered reality
Measured value is also big.(2) formula is completely unsuitable for mobile status.
The result with reference to obtained from Figure 11 by the 3rd gimmick to calculating compensation rate is illustrated.Unsceptered measured value and figure
9 is identical.The compensation rate calculated by the 3rd gimmick can be represented in moving process and in stopped process and is close to measured value
Value.Therefore, the 3rd gimmick (1) formula used in moving process, (2) formula, is used separately used in stopped process, so as to
Calculate the compensation rate corresponding with the state of workbench 3.
In the above description, equivalent to moving body of the invention, table mechanism 20 enters workbench 3 equivalent to the present invention's
To mechanism, equivalent to the position detecting mechanism of the present invention, upper control portion 10 is equivalent to control unit of the invention, position for encoder 60
Speed generating unit of the controller 11 equivalent to the present invention is put, differentiator 16 is equivalent to speed detecting mechanism of the invention, speed control
, equivalent to the torque generating unit of the present invention, equivalent to the operational part of the present invention, adder 17 is equivalent to this for compensator 13 for device processed 12
The adder of invention.The compensator 13 that S1 shown in execution Fig. 7 is processed performs the benefit that S2 is processed equivalent to the judging part of the present invention
First operational part of the device 13 equivalent to the present invention is repaid, second operational part of the compensator 13 equivalent to the present invention of S5 process is performed.
As described above, the numerical control device 1 of present embodiment includes compensator 13.Compensator 13 is to unsceptered compensation
Amount carries out computing.Unsceptered produced after the moving direction of workbench 3 is inverted, because of the elastic deformation of table mechanism 20.Mend
Repay device 13 and judge that workbench 3 is in stopped process in moving process, when being judged as in moving process,
The value proportional to the amount of movement of workbench 3 is set to be added in previous compensation rate to calculate compensation rate.As the one of arithmetic expression
Example, Lcn=Lcn-1+(Pc/Ap)Δx。LcnFor compensator output, Lcn-1Export for previous compensator, Pc is maximum compensation rate, Ap
For slope coefficient, Δ x is the increment of position command.Wherein ,-Pc/2≤Lcn≤Pc/2.Compensator 13 is being judged as in stopping
During when, computing is carried out to compensation rate based on torque instruction.Used as one of arithmetic expression, Lc=(Pc/2) is (Tc/Tl).Lc is
Compensator is exported, and Pc is maximum compensation rate, and Tl is reference torque, and Tc is torque instruction.Wherein ,-Pc/2≤Lc≤Pc/2.Compensation
Device 13 is to be in stopped process using mathematical expression to distinguish in moving process according to workbench 3.Therefore, compensator
13 can carry out stable compensation in the moving process of workbench 3 and when inverting, and can prevent overcompensation when stopping.So,
When numerical control device 1 is also off when can be in moving process, reversion according to workbench 3, accurately to compensate unsceptered.
The Z axis of present embodiment are affected by gravity in stopped process.For the impact for eliminating gravity on Z axis,
One of arithmetic expression in above-mentioned stopped process is, Lc=(Pc/2) [(Tc-To)/(Tl-To)].Lc is that compensator is exported, Pc
It is maximum compensation rate, Tl is reference torque, and Tc is torque instruction, and To is the torque that gravity is produced.Wherein ,-Pc/2≤Lc≤Pc/
2。
Above-mentioned embodiment is the invention is not limited in, various modifications can be carried out.For example, in the above-described embodiment, mend
It is an example formula to repay (1) formula that device 13 used and (2) formula, it is possible to use other mathematical expressions.Such as (1) formula is except using linear
Beyond approximate formula, exponential function, tanh functions are it is also possible to use.Additionally, tanh functions can use one, but also can be using two
More than individual.
In the present embodiment, workbench 3 being supported into can move in X-direction and Y direction and prop up on main shaft
Supportting into can be illustrated but it is also possible to be by workbench relative to the lathe that workbench 3 is moved in the Z-axis direction as one
3 fix, make the lathe that main shaft moves relative to workbench 3 in X-direction and Y direction.As long as lathe can make to be installed on master
The instrument of axle is relative to movable workbench.
Claims (4)
1. a kind of numerical control device, including：Feed mechanism, the feed mechanism has ballscrew shaft and is sheathed on the ballscrew shaft
Ball nut, and make to be fixed on the moving body movement of the ball nut；Motor, the motor drives the ballscrew shaft rotation
Turn；Position detecting mechanism, the position detecting mechanism based on the motor rotation amount to using the motor movement after described in
Detected the position of moving body；Speed generating unit, the speed generating unit formation speed instruction, so that the position detecting mechanism
The position of the moving body for detecting is consistent with the position command that control unit is generated；Speed detecting mechanism, the velocity measuring machine
Structure is detected to the speed of the motor；Torque generating unit, the torque generating unit generates torque instruction, so that speed inspection
The speed that survey mechanism detects is consistent with the speed command that the speed generating unit is generated；Operational part, the operational part is to the shifting
After the moving direction reversion of kinetoplast, the unsceptered compensation rate that produces because of the elastic deformation of the feed mechanism carry out computing；With
And adder, the adder makes the compensation rate that the operational part is calculated be added with the position command, to institute's rheme
Put instruction to be modified, it is characterised in that
The operational part includes：
Judging part, the judging part judges that the moving body is in stopped process in moving process；
First operational part, first operational part makes base when the judging part is judged as that the moving body is in moving process
It is added to calculate the compensation rate with previous compensation rate in the value of the amount of movement of the moving body；And
Second operational part, second operational part is based on when the judging part is judged as that the moving body is in stopped process
The torque instruction, calculates the compensation rate.
2. numerical control device as claimed in claim 1, it is characterised in that
By make the moving body using fixing speed towards certain orientation move when torque value as reference torque,
Second operational part carries out computing to the compensation rate, with the ratio of the reference torque and the torque instruction into
Ratio.
3. numerical control device as claimed in claim 2, it is characterised in that
By make the moving body using the fixing speed towards the certain orientation move when maximum compensation rate as maximum benefit
The amount of repaying,
Second operational part makes the maximum compensation rate and the ratio be multiplied to calculate the compensation rate.
4. numerical control device as claimed any one in claims 1 to 3, it is characterised in that
First operational part when the moving body starts to move from stopped process, by the compensation rate in stopped process
As the previous compensation rate.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013065368A JP5991249B2 (en) | 2013-03-27 | 2013-03-27 | Numerical controller |
| JP2013-065368 | 2013-03-27 |
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| CN104076740A CN104076740A (en) | 2014-10-01 |
| CN104076740B true CN104076740B (en) | 2017-04-12 |
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| TWI558495B (en) | 2014-11-12 | 2016-11-21 | 財團法人工業技術研究院 | Machining assistance method and the apparatus using the same |
| JP6211240B1 (en) * | 2016-10-04 | 2017-10-11 | 三菱電機株式会社 | Numerical controller |
| JP2018092357A (en) * | 2016-12-02 | 2018-06-14 | ファナック株式会社 | Servo motor control apparatus, servomotor control method, and computer program |
| JP6942577B2 (en) * | 2017-09-15 | 2021-09-29 | オークマ株式会社 | Numerical control device and numerical control method for machine tools |
| CN111113147A (en) * | 2020-01-09 | 2020-05-08 | 威世特汽车部件（常州）有限公司 | Process for automatic detection and automatic compensation of gear |
| CN114714364B (en) * | 2022-05-26 | 2023-05-09 | 成都卡诺普机器人技术股份有限公司 | Robot joint friction force compensation adjustment method and robot friction force compensation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0833763B2 (en) * | 1988-03-01 | 1996-03-29 | 義昭 垣野 | Numerical control unit |
| JP2875646B2 (en) * | 1991-07-04 | 1999-03-31 | ファナック株式会社 | Backlash acceleration correction device |
| JP3902256B2 (en) * | 1994-09-30 | 2007-04-04 | 三菱電機株式会社 | Positioning device |
| JP2907164B2 (en) * | 1996-11-22 | 1999-06-21 | 日本電気株式会社 | Numerical control unit |
| JP4510722B2 (en) * | 2005-08-22 | 2010-07-28 | オークマ株式会社 | Position control device having lost motion correction function |
| CN102455683B (en) * | 2010-10-22 | 2014-08-06 | 兄弟工业株式会社 | Number control device and friction compensation method |
| CN102637011B (en) * | 2011-11-30 | 2014-02-26 | 沈阳工业大学 | Robust control method and system for directly driving numerical control platform based on coordinate transformation and parameter adjustment |
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| Publication number | Publication date |
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| JP2014191520A (en) | 2014-10-06 |
| CN104076740A (en) | 2014-10-01 |
| JP5991249B2 (en) | 2016-09-14 |
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