JP2875646B2 - バックラッシ加速補正装置 - Google Patents

バックラッシ加速補正装置

Info

Publication number
JP2875646B2
JP2875646B2 JP3189526A JP18952691A JP2875646B2 JP 2875646 B2 JP2875646 B2 JP 2875646B2 JP 3189526 A JP3189526 A JP 3189526A JP 18952691 A JP18952691 A JP 18952691A JP 2875646 B2 JP2875646 B2 JP 2875646B2
Authority
JP
Japan
Prior art keywords
command
acceleration
cycle
speed
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
JP3189526A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0511824A (ja
Inventor
平輔 岩下
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.)
FUANATSUKU KK
Original Assignee
FUANATSUKU KK
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 FUANATSUKU KK filed Critical FUANATSUKU KK
Priority to JP3189526A priority Critical patent/JP2875646B2/ja
Priority to US07/971,970 priority patent/US5343132A/en
Priority to PCT/JP1992/000852 priority patent/WO1993001534A1/ja
Priority to KR1019920703399A priority patent/KR970005562B1/ko
Priority to EP92914378A priority patent/EP0547239B1/en
Priority to DE69218362T priority patent/DE69218362T2/de
Publication of JPH0511824A publication Critical patent/JPH0511824A/ja
Application granted granted Critical
Publication of JP2875646B2 publication Critical patent/JP2875646B2/ja
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)
JP3189526A 1991-07-04 1991-07-04 バックラッシ加速補正装置 Expired - Fee Related JP2875646B2 (ja)

Priority Applications (6)

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
US07/971,970 US5343132A (en) 1991-07-04 1992-07-06 Backlash acceleration control method
PCT/JP1992/000852 WO1993001534A1 (fr) 1991-07-04 1992-07-06 Procede de limitation de l'acceleration du jeu
KR1019920703399A KR970005562B1 (ko) 1991-07-04 1992-07-06 백래시(backlash) 가속제어방법
EP92914378A EP0547239B1 (en) 1991-07-04 1992-07-06 Back-lash acceleration control method
DE69218362T DE69218362T2 (de) 1991-07-04 1992-07-06 Verfahren zur steuerung der back-lash-beschleunigung

Applications Claiming Priority (1)

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

Publications (2)

Publication Number Publication Date
JPH0511824A JPH0511824A (ja) 1993-01-22
JP2875646B2 true JP2875646B2 (ja) 1999-03-31

Family

ID=16242768

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3189526A Expired - Fee Related JP2875646B2 (ja) 1991-07-04 1991-07-04 バックラッシ加速補正装置

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 (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012057231A1 (ja) 2010-10-27 2012-05-03 株式会社牧野フライス製作所 送り軸反転時の補正方法
CN104076740A (zh) * 2013-03-27 2014-10-01 兄弟工业株式会社 数控装置

Families Citing this family (16)

* 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
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
JP6392726B2 (ja) * 2015-10-30 2018-09-19 ファナック株式会社 バックラッシを補正するモータ制御装置
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 (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012057231A1 (ja) 2010-10-27 2012-05-03 株式会社牧野フライス製作所 送り軸反転時の補正方法
JP2012093989A (ja) * 2010-10-27 2012-05-17 Makino Milling Mach Co Ltd 送り軸反転時の補正方法
US9588509B2 (en) 2010-10-27 2017-03-07 Makino Milling Machine Co., Ltd. Correction method at time of feed axis reversal
CN104076740A (zh) * 2013-03-27 2014-10-01 兄弟工业株式会社 数控装置

Also Published As

Publication number Publication date
WO1993001534A1 (fr) 1993-01-21
JPH0511824A (ja) 1993-01-22
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
DE69218362T2 (de) 1997-06-26
DE69218362D1 (de) 1997-04-24
EP0547239A1 (en) 1993-06-23

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