KR860001694A - Homing method of axis in robot controller - Google Patents

Homing method of axis in robot controller Download PDF

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Publication number
KR860001694A
KR860001694A KR1019840005015A KR840005015A KR860001694A KR 860001694 A KR860001694 A KR 860001694A KR 1019840005015 A KR1019840005015 A KR 1019840005015A KR 840005015 A KR840005015 A KR 840005015A KR 860001694 A KR860001694 A KR 860001694A
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KR
South Korea
Prior art keywords
limit switch
home
axis
negative
origin
Prior art date
Application number
KR1019840005015A
Other languages
Korean (ko)
Other versions
KR870000142B1 (en
Inventor
허경무
Original Assignee
윤영석
대우중공업 주식회사
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 윤영석, 대우중공업 주식회사 filed Critical 윤영석
Priority to KR1019840005015A priority Critical patent/KR870000142B1/en
Publication of KR860001694A publication Critical patent/KR860001694A/en
Application granted granted Critical
Publication of KR870000142B1 publication Critical patent/KR870000142B1/en

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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
    • G05B19/37—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 for continuous-path control
    • 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

Abstract

내용 없음No content

Description

로보트제어장치에 있어서 축의 원점복귀 방법Homing method of axis in robot controller

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제1도는 본 발명에 의한 원점복귀장치의 구조를 보인 설명도.1 is an explanatory view showing the structure of the zero point return device according to the present invention.

제3도는 로보트제어장치가 작동중에 고속으로 원점 복귀하는 동작을 보이는 설명도.3 is an explanatory diagram showing an operation of returning to the home position at high speed while the robot controller is in operation.

제5도는 작동중에 행하는 고속 원점 복귀방법을 설명하는 계통로.5 is a system for explaining a high speed homing method performed during operation.

*도면의 주요 부호 설명* Description of the main signs in the drawings

1:구동제어 CPU, 2:D/A콘버어터, 3:속도제어기, 4:모우터, 5:모우터에 의하여 회전하는 볼스크류, 6:볼스크류의 회전에 의하여 이동하는 도그(Dog), 7:부방향 리미트 스위치, 8:원점 리미트 스위치, 9:정방향 리미트 스위치, 10:중간점.1: drive control CPU, 2: D / A converter, 3: speed controller, 4: motor, 5: ball screw rotated by motor, 6: dog dog moved by rotation of ball screw, 7: negative limit switch, 8: home limit switch, 9: forward limit switch, 10: midpoint.

Claims (1)

CPU(1) 및 D/A 콘버어터(2)와 속도제어기(3)로써 모우터(4)가 구동되어 축(5)이 일정속도와 설정된 방향으로 이동하도록 된 것에 있어서, 임의의 3점에 설치된 정방향 리미트 스위치(9)와 부방향 리미트 스위치(7) 그리고 원점 리미트 스위치(8)를 축(5)으로써 단속 하도록 하고, 전원이 입력된 초기에 원점 리미트 스위치(8)나 부방향 리미트 스위치(7)가 "ON"되었을 때에는 정방향으로 이동시킨후 원점 리미트스위치(8)를 통과하였을 때 제로펄스(Zero Pulse)를 감지하여 축(5)을 정지시킴으로써 원점 복귀가 완료되도록하며, 전원이 입력된 초기에 원점 리미트 스위치(8)나 부방향 리미트 스위치(7)가 "OFF"되었을 경우에는 부방향으로 이동시켜 원점 리미트 스위치(8)가 "ON"되는 경우에는 부방향으로 계속 이동되어 원점복귀를 완료하며, 부방향 스위치(7)가 "ON"되는 경우에는 초기에 부방향 리미트 스위치(7) "ON"인 상기의 경우와 동일하게 작동하고 축(5)이 정상 작동중에 원점복귀를 하고자 할 때에는 기민성을 향상시키기 위하여 임의의 중간점(10)을 설정하고 축(5)과 원점까지의 거리가 중간점과 원점사이의 거리에 비하여 가까울 때에는 저속으로 이동하여 원점으로 복귀하도록 하고 반대로 먼 경우에는 축(5)이 초고속으로 중간점(10)까지 진행한 후 저속으로 원점에 도달하도록 함을 특징으로 하는 로보트 제어장치에 있어서 축의 원점 복귀 방법.The motor 4 is driven by the CPU 1, the D / A converter 2, and the speed controller 3 so that the shaft 5 moves in a constant speed and in a set direction. In order to control the installed forward limit switch 9, the negative limit switch 7 and the home limit switch 8 by the shaft 5, the home limit switch 8 or the negative limit switch ( When 7) is “ON”, move to the forward direction, and when it passes through the home limit switch 8, it detects zero pulse and stops the axis 5 to complete the home return. Initially, when the home limit switch 8 or the negative limit switch 7 is "OFF", it moves in the negative direction, and when the home limit switch 8 is "ON", it continues to move in the negative direction and returns to the home position. When the negative direction switch 7 is "ON" Initially operates in the same way as the above case where the negative limit switch 7 is "ON" and sets an arbitrary intermediate point 10 to improve agility when the axis 5 wishes to return to home during normal operation. If the distance between the axis 5 and the origin is closer than the distance between the midpoint and the origin, the axis 5 moves at a low speed to return to the origin. A method for returning to the origin of an axis in a robot controller, characterized in that the robot reaches the origin at a low speed afterwards. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019840005015A 1984-08-20 1984-08-20 Zero-point returning method of the shaft for using robot control apparatus KR870000142B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019840005015A KR870000142B1 (en) 1984-08-20 1984-08-20 Zero-point returning method of the shaft for using robot control apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019840005015A KR870000142B1 (en) 1984-08-20 1984-08-20 Zero-point returning method of the shaft for using robot control apparatus

Publications (2)

Publication Number Publication Date
KR860001694A true KR860001694A (en) 1986-03-22
KR870000142B1 KR870000142B1 (en) 1987-02-12

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Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019840005015A KR870000142B1 (en) 1984-08-20 1984-08-20 Zero-point returning method of the shaft for using robot control apparatus

Country Status (1)

Country Link
KR (1) KR870000142B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100747792B1 (en) * 2006-03-17 2007-08-08 정동옥 Apparatus for supporting welded object
US8645000B2 (en) 2008-09-27 2014-02-04 Autonics Corporation Temperature controller having phase control and zero-cross cycle control functionality

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100747792B1 (en) * 2006-03-17 2007-08-08 정동옥 Apparatus for supporting welded object
US8645000B2 (en) 2008-09-27 2014-02-04 Autonics Corporation Temperature controller having phase control and zero-cross cycle control functionality

Also Published As

Publication number Publication date
KR870000142B1 (en) 1987-02-12

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