DE69218362T2 - Verfahren zur steuerung der back-lash-beschleunigung - Google Patents

Verfahren zur steuerung der back-lash-beschleunigung

Info

Publication number
DE69218362T2
DE69218362T2 DE69218362T DE69218362T DE69218362T2 DE 69218362 T2 DE69218362 T2 DE 69218362T2 DE 69218362 T DE69218362 T DE 69218362T DE 69218362 T DE69218362 T DE 69218362T DE 69218362 T2 DE69218362 T2 DE 69218362T2
Authority
DE
Germany
Prior art keywords
command
period
motion
value
backlash
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
DE69218362T
Other languages
German (de)
English (en)
Other versions
DE69218362D1 (de
Inventor
Yasusuke Iwashita
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Application granted granted Critical
Publication of DE69218362D1 publication Critical patent/DE69218362D1/de
Publication of DE69218362T2 publication Critical patent/DE69218362T2/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
    • 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
    • G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41084—Compensation speed axis with changing, reversing direction, quadrant circle

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)
DE69218362T 1991-07-04 1992-07-06 Verfahren zur steuerung der back-lash-beschleunigung Expired - Fee Related DE69218362T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3189526A JP2875646B2 (ja) 1991-07-04 1991-07-04 バックラッシ加速補正装置
PCT/JP1992/000852 WO1993001534A1 (fr) 1991-07-04 1992-07-06 Procede de limitation de l'acceleration du jeu

Publications (2)

Publication Number Publication Date
DE69218362D1 DE69218362D1 (de) 1997-04-24
DE69218362T2 true DE69218362T2 (de) 1997-06-26

Family

ID=16242768

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69218362T Expired - Fee Related DE69218362T2 (de) 1991-07-04 1992-07-06 Verfahren zur steuerung der back-lash-beschleunigung

Country Status (6)

Country Link
US (1) US5343132A (show.php)
EP (1) EP0547239B1 (show.php)
JP (1) JP2875646B2 (show.php)
KR (1) KR970005562B1 (show.php)
DE (1) DE69218362T2 (show.php)
WO (1) WO1993001534A1 (show.php)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016012626B4 (de) 2015-10-30 2024-02-29 Fanuc Corporation Motorsteuerungseinrichtung zum Ausgleichen von Spiel

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH690661A5 (de) * 1994-11-03 2000-11-30 Bosch Gmbh Robert Verfahren zur Kompensation der Anfahrreibung eines Antriebs.
DE4441620A1 (de) * 1994-11-23 1996-05-30 Bosch Gmbh Robert Verfahren zur Steuerung eines Servoantriebs
US5710498A (en) * 1994-12-06 1998-01-20 Trinova Corporation Method and apparatus for friction compensation
US5684375A (en) * 1995-06-20 1997-11-04 Allen-Bradley Company, Inc. Method and apparatus for tuning a motion control system
KR100241148B1 (ko) * 1995-07-13 2000-03-02 이종수 수치 제어기의 백래시 보정 장치 및 그 방법
JP3912286B2 (ja) * 2000-11-01 2007-05-09 三菱電機株式会社 サーボ制御方法及びその装置
JP3805309B2 (ja) * 2003-01-30 2006-08-02 ファナック株式会社 サーボモータ駆動制御装置
US7141946B2 (en) * 2003-09-15 2006-11-28 Rockwell Automation Technologies, Inc. Method and apparatus for providing optimal acceleration feedback
JP2008302449A (ja) * 2007-06-06 2008-12-18 Fanuc Ltd ロボット制御装置
JP4838817B2 (ja) * 2008-01-09 2011-12-14 三菱重工業株式会社 ロストモーション解消制御装置
JP5111589B2 (ja) 2010-10-27 2013-01-09 株式会社牧野フライス製作所 送り軸反転時の補正方法
JP5915329B2 (ja) * 2012-03-29 2016-05-11 株式会社デンソーウェーブ ロボットの制御装置
JP5991249B2 (ja) * 2013-03-27 2016-09-14 ブラザー工業株式会社 数値制御装置
USD965990S1 (en) 2017-09-01 2022-10-11 3M Innovative Properties Company Patterned reflective material
USD948223S1 (en) 2017-09-01 2022-04-12 3M Innovative Properties Company Patterned reflective material
US11385139B2 (en) 2018-11-21 2022-07-12 Martin E. Best Active backlash detection methods and systems
CN121444027A (zh) * 2023-07-11 2026-01-30 发那科株式会社 控制装置以及计算机可读取的记录介质

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6375907A (ja) * 1986-09-19 1988-04-06 Fanuc Ltd フルクロ−ズフイ−ドバツクｎｃシステムにおける追従遅れの除去方法
JPS63308613A (ja) * 1987-06-10 1988-12-16 Fanuc Ltd サ−ボモ−タの制御方式
JP2703575B2 (ja) * 1988-09-30 1998-01-26 ファナック株式会社 サーボ制御装置
JPH02143605A (ja) * 1988-11-25 1990-06-01 Toshiba Corp 可変インピーダンス回路
US5134354A (en) * 1989-04-10 1992-07-28 Kabushiki Kaisha Yaskawa Denki Seisakusho Servo motor control apparatus
JPH02143605U (show.php) * 1989-05-01 1990-12-05
JPH02309402A (ja) * 1989-05-25 1990-12-25 Yaskawa Electric Mfg Co Ltd サーボシステム
JPH0384603A (ja) * 1989-08-29 1991-04-10 Fanuc Ltd バックラッシュ加速量自動調整方式
JP3253022B2 (ja) * 1989-09-26 2002-02-04 ファナック株式会社 サーボモータのバックラッシュ補正制御方法
JP2709969B2 (ja) * 1989-12-12 1998-02-04 ファナック株式会社 サーボモータの制御方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016012626B4 (de) 2015-10-30 2024-02-29 Fanuc Corporation Motorsteuerungseinrichtung zum Ausgleichen von Spiel

Also Published As

Publication number Publication date
WO1993001534A1 (fr) 1993-01-21
JPH0511824A (ja) 1993-01-22
JP2875646B2 (ja) 1999-03-31
EP0547239B1 (en) 1997-03-19
KR970005562B1 (ko) 1997-04-17
US5343132A (en) 1994-08-30
KR930701268A (ko) 1993-06-11
EP0547239A4 (show.php) 1995-02-01
DE69218362D1 (de) 1997-04-24
EP0547239A1 (en) 1993-06-23

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)
8339 Ceased/non-payment of the annual fee