JPH04135210A - Synchronizing signal generator - Google Patents
Synchronizing signal generatorInfo
- Publication number
- JPH04135210A JPH04135210A JP2258688A JP25868890A JPH04135210A JP H04135210 A JPH04135210 A JP H04135210A JP 2258688 A JP2258688 A JP 2258688A JP 25868890 A JP25868890 A JP 25868890A JP H04135210 A JPH04135210 A JP H04135210A
- Authority
- JP
- Japan
- Prior art keywords
- synchronization signal
- synchronizing signal
- cnc
- signal
- devices
- 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.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000001934 delay Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Numerical Control (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は外部装置に同期信号を与える同期信号発生装置
に関し、特に互いに同期した数値制御指令によって制御
される複数のＣＮＣ装置に適用される同期信号発生装置
に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a synchronization signal generator that provides a synchronization signal to an external device, and particularly to a synchronization signal generator applied to a plurality of CNC devices controlled by mutually synchronized numerical control commands. This invention relates to a signal generator.
２台の１軸ＣＮＣの間で補間のような密接に関連する同
期動作を行うためには、これらＣＮＣ装置を協調して動
作させる必要がある。その場合に内部のタイミング信号
を外部から常に監視するよりも、同期して動かすＣＮＣ
に対して、外部から同期した信号を与えて、これを内部
の信号と置き換えることが容易であり、かつ精度も高い
。In order to perform closely related synchronized operations such as interpolation between two single-axis CNCs, it is necessary for these CNC devices to operate in coordination. In that case, rather than constantly monitoring internal timing signals from the outside, CNC that operates synchronously
However, it is easy to provide a synchronized signal from the outside and replace it with an internal signal, and the accuracy is high.
しかし、各ＣＮＣ装置に１台の信号発生装置から同期信
号を与えるためには、ＣＮＣ装置との間を接続するケー
ブル長を等しくしておくことが必要になる。ケーブル長
が異なれば、同時に送出された同期信号も各ＣＮＣ装置
に同期信号が到達する時点で、同期が崩れるからである
。このために、従来の複数のＣＮＣ装置からなる数値制
御システムでは、外部からの同期信号を使用して、同期
の精度を高めることが困Ｕであった。また、ＣＮＣ装置
のケーブル長に制約が生じ、システム構成に柔軟性が欠
けるという問題があった。However, in order to provide each CNC device with a synchronizing signal from one signal generator, it is necessary to equalize the length of the cables connecting the CNC devices. This is because if the cable lengths are different, the synchronization signals transmitted at the same time will be out of synchronization when the synchronization signals reach each CNC device. For this reason, in a conventional numerical control system consisting of a plurality of CNC devices, it is difficult to improve the precision of synchronization by using an external synchronization signal. Furthermore, there is a problem in that the cable length of the CNC device is restricted and the system configuration lacks flexibility.
本発明はこのような点に鑑みてなされたものであり、同
期信号の発生タイミングを自動的に調整できる同期信号
発生装置を提供することを目的とする。The present invention has been made in view of these points, and it is an object of the present invention to provide a synchronization signal generation device that can automatically adjust the generation timing of a synchronization signal.
本発明では上記課題を解決するた約に、それぞれ異なる
長さの信号線を介して複数の外部装置に同期信号を与え
る同期信号発生装置において、前記外部装置に対する同
期信号を形成する同期信号形成手段と、前記同期信号を
受けた各外部装置からの返送信号に基づし）で、前記信
号線による送信遅れ時間を測定する測定手段と、前記外
部装置毎に測定された送信遅れ時間の差に応じてそれぞ
れ前記同期信号の発生タイミンクを調整する調整手段と
、を有することを特徴とする同期信号発生装置が、提供
される。In order to solve the above-mentioned problems, the present invention provides a synchronization signal generation device that provides synchronization signals to a plurality of external devices via signal lines of different lengths, and a synchronization signal forming means for forming a synchronization signal for the external devices. and a measuring means for measuring the transmission delay time by the signal line (based on the return signal from each external device that received the synchronization signal), and the difference between the transmission delay time measured for each external device. There is provided a synchronization signal generation device characterized in that it has adjustment means for adjusting the generation timing of the synchronization signal accordingly.
また、本発明では、
互いに同期した数値制御指令によって制御される複数の
ＣＮＣ装置からなる数値制御システムにおいて、前記各
ＣＮＣ装置にその外部から同期信号を送信する同期信号
発生手段と、前記各ＣＮＣ装置側で、前記同期信号を前
記同期信号発生手段に返送する返送手段と、前記返送手
段からの返送信号に基づいて送信遅れ時間を測定し、そ
の差に応じてそれぞれ前記同期信号の発生タイミングを
調整することにより、前記各ＣＮＣ装置への同期信号の
到達時刻を一致させる一致手段と、を有することを特徴
とする数値制御システムが、提供される。Further, in the present invention, in a numerical control system consisting of a plurality of CNC devices controlled by mutually synchronized numerical control commands, a synchronization signal generating means for transmitting a synchronization signal to each of the CNC devices from the outside; at the side, a return means for returning the synchronization signal to the synchronization signal generation means, and a transmission delay time measured based on the return signal from the return means, and adjusting the generation timing of each of the synchronization signals according to the difference. By doing so, there is provided a numerical control system characterized by having a matching means for matching arrival times of synchronization signals to each of the CNC devices.
前記同期信号発生装置と各外部装置、例えばＣＮＣ装置
との間での伝送遅れが測定されるので、ＣＮＣ装置に到
達する時点で確実に同期が取れるように、同期信号の発
生タイミングを調整できる。Since the transmission delay between the synchronization signal generator and each external device, such as a CNC device, is measured, the generation timing of the synchronization signal can be adjusted to ensure synchronization when it reaches the CNC device.
以下、本発明の実施例を図面に基づいて説明する。 Embodiments of the present invention will be described below based on the drawings.
第１図は、複数の外部装置として、それぞれが同期して
数値制御される２台のＣＮＣ１１，２１が接続され、そ
れらに同期信号を与える同期信号発生装置１を示すブロ
ック構成面である。FIG. 1 is a block diagram showing a synchronization signal generating device 1 to which two CNCs 11 and 21, each of which is synchronously and numerically controlled, are connected as a plurality of external devices and provide a synchronization signal to them.
同期信号発生回路２は、ＣＮＣＩＩ、２１に対する同期
信号を形成するた約の回路で、後述するタイミング調整
回路に接続されている。この同期信号発生回路２は、更
に、遅れ時間測定回路３ａ、３ｂ及びドライバ・レシー
バ回路４ａ、４ｂと接続されている。The synchronization signal generation circuit 2 is a circuit for forming a synchronization signal for the CNC II, 21, and is connected to a timing adjustment circuit to be described later. This synchronizing signal generating circuit 2 is further connected to delay time measuring circuits 3a, 3b and driver/receiver circuits 4a, 4b.
遅れ時間測定回路３ａは、ドライバ・レシーバ回路４ａ
のレシーバ側と接続されている。ドライバ・レシーバ回
路４ａには、ＣＮＣＩＩの返送回路１１ａに接続される
２本の信号線５１ａ、５１ｂが、外部端子５ａを介して
接続されている。返送回路１１ａは、同期信号をレシー
バ回路１１ｂに入力すると同時に、信号線５１ｂから同
期信号発生装置１に返送信号として出力している。The delay time measuring circuit 3a is a driver/receiver circuit 4a.
connected to the receiver side. Two signal lines 51a and 51b, which are connected to the CNCII return circuit 11a, are connected to the driver/receiver circuit 4a via an external terminal 5a. The return circuit 11a inputs the synchronization signal to the receiver circuit 11b, and at the same time outputs the synchronization signal to the synchronization signal generator 1 from the signal line 51b as a return signal.
こうして遅れ時間測定回路３ａには、上記同期信号を受
けて互いに協調して動作するＣＮＣＩＩ、２１のうち、
ＣＮＣＩＩからの返送信号が供給される。よって、この
遅れ時間測定回路３ａは、同期信号と返送信号とを受け
、これらの信号に基づいて、信号線５１ａ、５１ｂによ
る送信遅れ時間を測定できる。In this way, the delay time measuring circuit 3a includes two of the CNCIIs 21 that operate in cooperation with each other upon receiving the synchronization signal.
A return signal from CNCII is provided. Therefore, the delay time measuring circuit 3a receives the synchronization signal and the return signal, and can measure the transmission delay time by the signal lines 51a and 51b based on these signals.
他方の遅れ時間測定回路３ｂでは、同様にして、外部端
子５ｂを介して接続されるＣＮＣ２１からの返送信号に
基づいて、信号線５２ａ、５２ｂによる送信遅れ時開を
測定している。なお、このＣＮＣ２１も返送回路２１ａ
を介して、同期信号をレシーバ回路２１ｂに入力してい
る。Similarly, the other delay time measurement circuit 3b measures the transmission delay time of the signal lines 52a and 52b based on the return signal from the CNC 21 connected via the external terminal 5b. Note that this CNC 21 also has a return circuit 21a.
A synchronizing signal is input to the receiver circuit 21b via the receiver circuit 21b.
タイミング調整回路６ａ、６ｂは、上記遅れ時間測定回
路３ａ、３ｂにそれぞれ接続され、各ＣＮＣＩＩ、２１
毎に測定された送信遅れ時間の差に応じた指令信号を同
期信号発生回路２へ与えている。即ち、同期信号発生装
置１から外部装置として接続された２台のＣＮＣＩＩ、
２１までの伝送系をなす、信号線５１ａ、５１ｂ、５２
ａ、５２ｂの遅れは、それぞれ同期信号の発生タイミン
グを調整するタイミング調整回路６ａ、６ｂによって調
整される。The timing adjustment circuits 6a and 6b are connected to the delay time measurement circuits 3a and 3b, respectively, and the timing adjustment circuits 6a and 6b are respectively connected to the delay time measurement circuits 3a and 3b,
A command signal corresponding to the difference in transmission delay time measured each time is given to the synchronization signal generation circuit 2. That is, two CNCIIs connected as external devices from the synchronization signal generator 1,
Signal lines 51a, 51b, 52 forming the transmission system up to 21
The delays of a and 52b are adjusted by timing adjustment circuits 6a and 6b, respectively, which adjust the generation timing of the synchronization signal.
こうして本発明の同期信号発生装置１は、接続されたＣ
ＮＣＩＩ、２１までの伝送系の距離に応じて、同期信号
の発生タイミングを調整し、各ＣＮＣＩＩ、２１に同期
信号が到達した時点で、結果的に同期が保たれるように
している。従って、同期信号発生装置１と各ＣＮＣＩＩ
、２１との間で使用されるケーブル長を考慮することな
く、ＣＮＣ１１，２１を配置することができる。In this way, the synchronization signal generating device 1 of the present invention can
The generation timing of the synchronization signal is adjusted according to the distance of the transmission system to the NCII, 21, so that synchronization is maintained as a result when the synchronization signal reaches each CNCII, 21. Therefore, the synchronization signal generator 1 and each CNCII
, 21 can be arranged without considering the length of the cable used between the CNCs 11 and 21.
次に、第２図に示す本発明の他の実施例について説明す
る。Next, another embodiment of the present invention shown in FIG. 2 will be described.
第２図は、管理室４０側に数値制御装置４１を設け、互
いに同期した数値制御指令によって制御される複数のＣ
ＮＣｌ０１２０．３０を工場Ｆ内に配置した数値制御シ
ステムである。In FIG. 2, a numerical control device 41 is provided on the management room 40 side, and a plurality of controllers are controlled by mutually synchronized numerical control commands.
This is a numerical control system in which NCl0120.30 is installed in factory F.
工場のＦＡ化に伴い、１つの工場で多数のＣＮＣ工作機
械が使用されるようになってきている。With the shift to factory automation, a large number of CNC machine tools are being used in one factory.
その場合に、個々のＣＮＣ工作機械に結合されているＰ
Ｃ（プログラマブル・コントローラ）あるいｌｔＰＭｃ
（プログラマブル・マシン・コントローラ）の制御が正
常に行われているかどうかをチエツクするた約に、管理
室側で全体のＣＮＣ工作機械の入出力の状態をチエツク
することが必要になる。In that case, the P
C (programmable controller) or ltPMc
In order to check whether the programmable machine controller (programmable machine controller) is being controlled normally, it is necessary for the control room to check the input/output status of the entire CNC machine tool.
図において、工場Ｆ内には、ＣＮＣ工作機械Ａ１０、Ｃ
ＮＣ工作機械Ｂ２０、ＣＮＣ工作機械Ｃ３０等の多数の
ＣＮＣ工作機械が設置されている。In the figure, inside factory F are CNC machine tools A10, C
A large number of CNC machine tools such as NC machine tool B20 and CNC machine tool C30 are installed.
ＣＮＣ工作機械ＡＩＤには数値制御装置（ＣＮＣ）１１
が結合されており、軸の制御を行う。また工作機械との
入出力信号の制御はＰＭＣ（プログラマブル・マシン・
コントローラ）１２によって実行される。CNC machine tool AID has numerical control device (CNC) 11
are connected to control the axis. In addition, control of input/output signals with the machine tool is done using a PMC (programmable machine).
controller) 12.
ＣＮＣ工作機械Ｂ２０、ＣＮＣ工作機械Ｃ３０等も、Ｃ
ＮＣ２１，３１、ＰＭＣ２２，３２が結合され、同様な
構成を有している。CNC machine tool B20, CNC machine tool C30, etc.
NCs 21, 31 and PMCs 22, 32 are combined and have a similar configuration.
管理室４０内には、チエツク用の数値制御装置（ＣＮＣ
）４１とＰＭＣ４２がある。ＣＮＣ４１は工場側のＣＮ
ＣＩＩ、２１．３１と通信回線５１．５２．５３で結合
されている。In the management room 40, there is a numerical control device (CNC) for checking.
)41 and PMC42. CNC41 is the factory side CN
It is connected to CII, 21.31 by communication line 51.52.53.
ここで、各ＣＮＣＩＩ、２１．３１は工場Ｆ内のトラン
スファーラインを、互いに協調して制御するために配置
されている。従来は個々のＣＮＣ間でアンサーバックの
やりとりを必要としていたが、ここでは上記第１図で説
明した同期信号発生装置１と同様の機能を管理室４０の
ＣＮＣ４１に持たせることで対処できる。Here, each CNC II, 21.31 is arranged to control the transfer line in the factory F in cooperation with each other. Conventionally, it was necessary to exchange answerbacks between individual CNCs, but this can be done here by providing the CNC 41 in the control room 40 with a function similar to that of the synchronization signal generator 1 described in FIG. 1 above.
すなわち、管理室４０のＣＮＣ４１は、工場Ｆ内に配置
される通信回線５１．５２．５３の長さにかかわらず、
各ＣＮＣ１１，２１，３１に到達する時点で、同期信号
が確実に同期しているように、その発生タイミングを自
動的に調整するようにしている。In other words, the CNC 41 in the management room 40, regardless of the length of the communication lines 51, 52, 53 arranged in the factory F,
The generation timing is automatically adjusted so that the synchronization signals are reliably synchronized when they reach each CNC 11, 21, and 31.
なお、上記した実施例ではＣＮＣが２台、或いは３台の
場合について説明したが、同期信号発生装置１の外部端
子５ａ、５ｂを堆設することで、必要な数のＣＮＣに同
期信号を出力するようにできる。In addition, although the above-mentioned embodiment explained the case where there are two or three CNCs, by installing the external terminals 5a and 5b of the synchronizing signal generator 1, the synchronizing signal can be output to the required number of CNCs. You can do it as you like.
また、外部装置として複数のＣＮＣが接続されて構成さ
れた数値制御システム以外にも、それぞれの外部装置が
異なる長さの信号線で接続され、互いに同期して制御さ
れるシステムであれば、本発明を適用することができる
。In addition to a numerical control system configured by connecting multiple CNCs as external devices, this system can also be used if the external devices are connected with signal lines of different lengths and are controlled in synchronization with each other. The invention can be applied.
以上説明したように本発明では、同期信号発生装置と外
部装置が異なる長さの信号線で接続されていても、各外
部装置に到達する時点で確実に同期が取れるように、同
期信号の発生タイミングを調整できるようにしたので、
ケーブル長に対する制約がなくなり、システム構成を柔
軟に行うことができる。As explained above, in the present invention, even if the synchronization signal generating device and the external device are connected by signal lines of different lengths, the synchronization signal is generated so that synchronization can be reliably achieved when reaching each external device. I made it possible to adjust the timing, so
There are no restrictions on cable length, allowing for flexible system configuration.
ａ１３ ６ａ、６ １１．２ ５１〜５ 同期信号発生装置 同期信号発生回路 −・・ 遅れ時間測定回路 −タイミング調整回路 ３１ ＯＮＣ 通信回線 特許出願人 ファナック株式会社 代理人 弁理士 服部毅巖a13 6a, 6 11.2 51-5 Synchronous signal generator Synchronous signal generation circuit −・・Delay time measurement circuit −Timing adjustment circuit 31 ONC communication line Patent applicant: FANUC Corporation Agent: Patent attorney: Tsuyoshi Hattori
第１図は本発明の一実施例における同期信号発生装置を
示すブロック図、
第２図は数値制御システムの実施例を示すブロック図で
ある。FIG. 1 is a block diagram showing a synchronizing signal generator according to an embodiment of the present invention, and FIG. 2 is a block diagram showing an embodiment of a numerical control system.
Claims (3)
装置に同期信号を与える同期信号発生装置において、 前記外部装置に対する同期信号を形成する同期信号形成
手段と、 前記同期信号を受けた各外部装置からの返送信号に基づ
いて、前記信号線による送信遅れ時間を測定する測定手
段と、 前記外部装置毎に測定された送信遅れ時間の差に応じて
それぞれ前記同期信号の発生タイミングを調整する調整
手段と、 を有することを特徴とする同期信号発生装置。(1) In a synchronization signal generation device that provides synchronization signals to a plurality of external devices via signal lines of different lengths, the synchronization signal generation means forms a synchronization signal for the external devices, and each of the synchronization signals receiving the synchronization signal a measuring means for measuring the transmission delay time by the signal line based on a return signal from an external device; and adjusting the generation timing of the synchronization signal according to the difference in the transmission delay time measured for each of the external devices. A synchronous signal generating device comprising: an adjusting means;
制御されるＣＮＣ装置であることを特徴とする請求項１
記載の同期信号発生装置。(2) Claim 1, wherein each of the plurality of external devices is a CNC device that is synchronously and numerically controlled.
The synchronization signal generator described above.
複数のＣＮＣ装置からなる数値制御システムにおいて、 前記各ＣＮＣ装置にその外部から同期信号を送信する同
期信号発生手段と、 前記各ＣＮＣ装置側で、前記同期信号を前記同期信号発
生手段に返送する返送手段と、 前記返送手段からの返送信号に基づいて送信遅れ時間を
測定し、その差に応じてそれぞれ前記同期信号の発生タ
イミングを調整することにより、前記各ＣＮＣ装置への
同期信号の到達時刻を一致させる一致手段と、 を有することを特徴とする数値制御システム。(3) In a numerical control system consisting of a plurality of CNC devices controlled by mutually synchronized numerical control commands, a synchronization signal generating means for transmitting a synchronization signal to each of the CNC devices from the outside, and on each of the CNC devices, a return means for returning the synchronization signal to the synchronization signal generation means; and a transmission delay time measured based on the return signal from the return means, and adjusting the generation timing of the synchronization signal according to the difference. , a matching means for matching arrival times of synchronization signals to each of the CNC devices, and a numerical control system characterized by having these.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2258688A JP2898387B2 (en) | 1990-09-27 | 1990-09-27 | Synchronous signal generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2258688A JP2898387B2 (en) | 1990-09-27 | 1990-09-27 | Synchronous signal generator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04135210A true JPH04135210A (en) | 1992-05-08 |
| JP2898387B2 JP2898387B2 (en) | 1999-05-31 |
Family
ID=17323720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2258688A Expired - Fee Related JP2898387B2 (en) | 1990-09-27 | 1990-09-27 | Synchronous signal generator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2898387B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997049013A1 (en) * | 1996-06-21 | 1997-12-24 | Fanuc Ltd | Synchronizing method for communication |
| JP2006187134A (en) * | 2004-12-28 | 2006-07-13 | Toshiba Mitsubishi-Electric Industrial System Corp | Motor control device |
| EP1698957A1 (en) | 2005-03-04 | 2006-09-06 | Fanuc Ltd | a PLL for synchronous operation of a distributed control system |
| EP1818742A2 (en) | 2006-02-14 | 2007-08-15 | Fanuc Ltd | Synchronizing control system for a plurality of controllers |
| WO2014108999A1 (en) * | 2013-01-08 | 2014-07-17 | 富士電機株式会社 | Control system, master programmable controller, slave programmable controller, and control method |
| WO2016181504A1 (en) * | 2015-05-12 | 2016-11-17 | 三菱電機株式会社 | Numerical controller device |
| TWI642904B (en) * | 2017-03-15 | 2018-12-01 | 日商歐姆龍股份有限公司 | Measurement system, control device and measurement method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4498250B2 (en) * | 2005-09-22 | 2010-07-07 | ファナック株式会社 | Synchronous control system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02179221A (en) * | 1988-12-28 | 1990-07-12 | Meidensha Corp | Sampling synchronous system for loop digital protective relay |
-
1990
- 1990-09-27 JP JP2258688A patent/JP2898387B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02179221A (en) * | 1988-12-28 | 1990-07-12 | Meidensha Corp | Sampling synchronous system for loop digital protective relay |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5990638A (en) * | 1996-06-21 | 1999-11-23 | Fanuc, Ltd. | Synchronizing method for communication |
| WO1997049013A1 (en) * | 1996-06-21 | 1997-12-24 | Fanuc Ltd | Synchronizing method for communication |
| JP2006187134A (en) * | 2004-12-28 | 2006-07-13 | Toshiba Mitsubishi-Electric Industrial System Corp | Motor control device |
| US7432674B2 (en) | 2005-03-04 | 2008-10-07 | Fanuc Ltd. | Control system |
| EP1698957A1 (en) | 2005-03-04 | 2006-09-06 | Fanuc Ltd | a PLL for synchronous operation of a distributed control system |
| US7525263B2 (en) | 2006-02-14 | 2009-04-28 | Fanuc Ltd | Control system |
| EP1818742A2 (en) | 2006-02-14 | 2007-08-15 | Fanuc Ltd | Synchronizing control system for a plurality of controllers |
| WO2014108999A1 (en) * | 2013-01-08 | 2014-07-17 | 富士電機株式会社 | Control system, master programmable controller, slave programmable controller, and control method |
| CN104854523A (en) * | 2013-01-08 | 2015-08-19 | 富士电机株式会社 | Control system, master programmable controller, slave programmable controller, and control method |
| JP5935903B2 (en) * | 2013-01-08 | 2016-06-15 | 富士電機株式会社 | Control system, master programmable controller, slave programmable controller, and control method |
| WO2016181504A1 (en) * | 2015-05-12 | 2016-11-17 | 三菱電機株式会社 | Numerical controller device |
| JPWO2016181504A1 (en) * | 2015-05-12 | 2017-09-07 | 三菱電機株式会社 | Numerical controller |
| US10732602B2 (en) | 2015-05-12 | 2020-08-04 | Mitsubishi Electric Corporation | Numerical control apparatus |
| TWI642904B (en) * | 2017-03-15 | 2018-12-01 | 日商歐姆龍股份有限公司 | Measurement system, control device and measurement method |
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|---|---|
| JP2898387B2 (en) | 1999-05-31 |
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