DE3889541D1 - Einrichtung zur Verfolgung und Aufzeichnung der durch einen beweglichen Körper erreichten Position, insbesondere für eine industrielle Robotersteuerung. - Google Patents

Einrichtung zur Verfolgung und Aufzeichnung der durch einen beweglichen Körper erreichten Position, insbesondere für eine industrielle Robotersteuerung.

Info

Publication number
DE3889541D1
DE3889541D1 DE3889541T DE3889541T DE3889541D1 DE 3889541 D1 DE3889541 D1 DE 3889541D1 DE 3889541 T DE3889541 T DE 3889541T DE 3889541 T DE3889541 T DE 3889541T DE 3889541 D1 DE3889541 D1 DE 3889541D1
Authority
DE
Germany
Prior art keywords
position reached
recording
industrial robot
tracking
moving body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE3889541T
Other languages
English (en)
Other versions
DE3889541T2 (de
Inventor
Piero Calcagno
Ferrari Ernesto De
Bruce L Beverly
Alan D Mcnutt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Comau SpA
Siemens Industrial Automation Inc
Original Assignee
Comau SpA
Siemens Industrial Automation Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Comau SpA, Siemens Industrial Automation Inc filed Critical Comau SpA
Application granted granted Critical
Publication of DE3889541D1 publication Critical patent/DE3889541D1/de
Publication of DE3889541T2 publication Critical patent/DE3889541T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34215—Microprocessor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37478—Excitation of resolver by pulses instead of continuous wave, to save energy
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37487—Counter combined with angle to digital convertor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37489—Emit binary code at quadrant 00+01+10+11, count pulse for 11-to-000 and 00-to-11
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42264—Slow down sampling if power down is detected
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50077—Keep position by switching over to auxiliary power supply for resolver, encoder
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50078—Single battery backup for all axis, encoders, resolvers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50084—Keep position, setup parameters in memory

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Control Of Position Or Direction (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Recording Measured Values (AREA)
DE3889541T 1988-10-24 1988-12-27 Einrichtung zur Verfolgung und Aufzeichnung der durch einen beweglichen Körper erreichten Position, insbesondere für eine industrielle Robotersteuerung. Expired - Fee Related DE3889541T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT67952/88A IT1223863B (it) 1988-10-24 1988-10-24 Dispositivo per determinare e rilevare la posizione raggiunta da un organo mobile particolarmente per il controllo di automi industriali

Publications (2)

Publication Number Publication Date
DE3889541D1 true DE3889541D1 (de) 1994-06-16
DE3889541T2 DE3889541T2 (de) 1994-08-25

Family

ID=11306657

Family Applications (1)

Application Number Title Priority Date Filing Date
DE3889541T Expired - Fee Related DE3889541T2 (de) 1988-10-24 1988-12-27 Einrichtung zur Verfolgung und Aufzeichnung der durch einen beweglichen Körper erreichten Position, insbesondere für eine industrielle Robotersteuerung.

Country Status (7)

Country Link
US (1) US5038272A (de)
EP (1) EP0365736B1 (de)
JP (1) JPH02257003A (de)
AT (1) ATE105639T1 (de)
DE (1) DE3889541T2 (de)
IT (1) IT1223863B (de)
RU (1) RU1836621C (de)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03256693A (ja) * 1990-03-08 1991-11-15 Fanuc Ltd ロボットの停電制御方式
EP0479525A3 (de) * 1990-10-01 1994-10-12 Yaskawa Denki Seisakusho Kk Gerät zum Messen der absoluten Position mittels eines Resolvers mit Speichermittel gegen Netzausfall.
US5204603A (en) * 1992-01-30 1993-04-20 Siemens Industrial Automation, Inc. Open circuit detection for a pulsed resolver position sensing system
US5198735A (en) * 1992-01-30 1993-03-30 Siemens Industrial Automation, Inc. Method for eliminating position tracking errors in the presence of resolver excitation errors for motion control systems
US5323309A (en) * 1992-01-30 1994-06-21 Siemens Industrial Automation, Inc. Algorithm for optimizing data sampling in a discrete periodic system with a bounded rate of change for the discrete system periods
US5198739A (en) * 1992-01-30 1993-03-30 Siemens Industrial Automation, Inc. Software controllable circuit for resolver excitation switching in a motion control system
US5229697A (en) * 1992-01-30 1993-07-20 Siemens Industrial Automation, Inc. Sampling bipolar peak detector for sensing a non-symmetrical decay of an AC voltage signal
US5200683A (en) * 1992-01-30 1993-04-06 Siemens Industrial Automation, Inc. Method for optimizing sampling rates for position tracking for motion control systems
DE19610626C2 (de) * 1996-03-19 2003-01-23 Bosch Gmbh Robert Nachlauferfassung von elektrischen Verstellmotoren
DE19702931C1 (de) 1997-01-28 1998-07-02 Bosch Gmbh Robert Anordnung zur Nachlauferfassung von elektrischen Stellmotoren mit inkrementaler Positionserfassung
DE10130183B4 (de) * 2001-06-22 2005-03-10 Brose Fahrzeugteile Verfahren zur Positionserfassung eines elektro-motorisch angetriebenen Verstellsystem eines Kraftfahrzeugs
JP4755631B2 (ja) * 2001-12-06 2011-08-24 本田技研工業株式会社 電動パワーステアリング装置
DE10312045B4 (de) * 2003-03-18 2014-07-31 Anton Rodi Messsystem zur Absolutwerterfassung von Winkeln und Wegen
JP4453037B2 (ja) * 2004-05-21 2010-04-21 株式会社安川電機 多回転型絶対値エンコーダ
EP1978428B1 (de) * 2006-01-17 2013-03-13 Musashi Engineering, Inc. Vorrichtung zur Wiederaufnahme der Arbeit eines Roboters nach einer Unterbrechung
US7737653B2 (en) * 2007-04-17 2010-06-15 Lutron Electronics Co., Inc. Method of controlling a motorized window treatment
JP5140122B2 (ja) * 2010-08-26 2013-02-06 三菱電機株式会社 電動パワーステアリングの制御装置
EP2920552B1 (de) * 2012-11-19 2017-01-11 ABB Schweiz AG Resolverpositionierungssystem, roboter und verfahren dafür
JP6657584B2 (ja) * 2015-03-31 2020-03-04 株式会社ジェイテクト 回転検出装置、回転角検出装置および電動パワーステアリング装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3624640A (en) * 1968-06-17 1971-11-30 Inductsoyn Corp Multiple-speed position-measuring system
NO149522C (no) * 1980-03-21 1984-05-09 Trallfa Nils Underhaug As Anordning ved posisjonsmaaler
US4484287A (en) * 1980-09-30 1984-11-20 Fujitsu Fanuc Limited System for restoring numerically controlled machine tool to former condition
DE3569290D1 (en) * 1984-10-11 1989-05-11 Toshiba Kk Robot joint angle detecting system
JP2667150B2 (ja) * 1986-04-21 1997-10-27 ファナック 株式会社 電源切断前の指令上の機械位置復元方法
JPS63158402A (ja) * 1986-12-22 1988-07-01 Omron Tateisi Electronics Co 多回転絶対位置検出器

Also Published As

Publication number Publication date
RU1836621C (ru) 1993-08-23
EP0365736A2 (de) 1990-05-02
ATE105639T1 (de) 1994-05-15
JPH02257003A (ja) 1990-10-17
IT1223863B (it) 1990-09-29
DE3889541T2 (de) 1994-08-25
EP0365736B1 (de) 1994-05-11
US5038272A (en) 1991-08-06
IT8867952A0 (it) 1988-10-24
EP0365736A3 (de) 1991-01-02

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee