KR900702425A - 서어보 모터에 의해 구동되는 기계에 있어서의 충돌 검출·구동 정지방법 - Google Patents

서어보 모터에 의해 구동되는 기계에 있어서의 충돌 검출·구동 정지방법

Info

Publication number
KR900702425A
KR900702425A KR1019900700628A KR900700628A KR900702425A KR 900702425 A KR900702425 A KR 900702425A KR 1019900700628 A KR1019900700628 A KR 1019900700628A KR 900700628 A KR900700628 A KR 900700628A KR 900702425 A KR900702425 A KR 900702425A
Authority
KR
South Korea
Prior art keywords
servo motor
machine driven
stopping driving
detecting collision
collision
Prior art date
Application number
KR1019900700628A
Other languages
English (en)
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 filed Critical
Publication of KR900702425A publication Critical patent/KR900702425A/ko

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
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • 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
    • G05B19/406—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 monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • 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
    • G05B2219/34047—Dsp digital signal processor
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36399—On excess error or on release joystick stop movement, dead man, shut off motors
    • 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
    • G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49162—On collision, obstruction reverse drive, accelerate, cancel 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50179—Dynamic tolerance, limit values as function of speed, type of command

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Safety Devices In Control Systems (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)
KR1019900700628A 1988-08-11 1990-03-24 서어보 모터에 의해 구동되는 기계에 있어서의 충돌 검출·구동 정지방법 KR900702425A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP19882388 1988-08-11
JP63328866A JPH02146602A (ja) 1988-08-11 1988-12-28 サーボモータにより駆動される被駆動体の衝突検出・停出方法
PCT/JP1989/000821 WO1990001732A1 (en) 1988-08-11 1989-08-11 Impingement detection/driving stop method in machine driven by servo motor

Publications (1)

Publication Number Publication Date
KR900702425A true KR900702425A (ko) 1990-12-07

Family

ID=26511195

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019900700628A KR900702425A (ko) 1988-08-11 1990-03-24 서어보 모터에 의해 구동되는 기계에 있어서의 충돌 검출·구동 정지방법

Country Status (5)

Country Link
US (1) US5214362A (ko)
EP (1) EP0380707A4 (ko)
JP (1) JPH02146602A (ko)
KR (1) KR900702425A (ko)
WO (1) WO1990001732A1 (ko)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5304906A (en) * 1989-12-26 1994-04-19 Fanuc Ltd. Collision detecting method using an observer
JP2608161B2 (ja) * 1990-03-29 1997-05-07 ファナック株式会社 産業用ロボットの停止制御方法
IT1244315B (it) * 1990-09-12 1994-07-08 Castel Mac Spa Dispositivo elettronico di controllo della velocita' e senso di rotazione di un motore per macchina per la produzione di ghiaccio in scaglie
JP2732159B2 (ja) * 1991-10-29 1998-03-25 ファナック株式会社 異常負荷検出方法
EP0578062A3 (en) * 1992-06-29 1995-05-10 Sunny Co Ltd Control system for driving an object.
JP2871993B2 (ja) * 1993-03-31 1999-03-17 日本電気株式会社 サーボモータの位置制御装置
DE19514257C2 (de) * 1995-04-15 2003-09-18 Kostal Leopold Gmbh & Co Kg Verfahren zur Überwachung des Bewegungsvorgangs von motorisch verstellbaren Gegenständen
US5796221A (en) * 1994-07-14 1998-08-18 Paper Converting Machine Company Overload detector for servo driven machines
EP0791872A1 (de) * 1996-02-27 1997-08-27 Siemens Aktiengesellschaft Einrichtung und Verfahren zur Überwachung von Kupplungen und/oder Riemengetrieben bei Achsen oder Spindeln an Werkzeugmaschinen, Robotern oder dergleichen
US6289256B1 (en) * 1997-01-16 2001-09-11 Matsushita Electric Industrial Co., Ltd. Method and apparatus for mounting parts
JPH1133960A (ja) * 1997-07-17 1999-02-09 Fanuc Ltd ロボット制御方法
DE19756752A1 (de) * 1997-12-19 1999-06-24 Heidenhain Gmbh Dr Johannes Verfahren und Schaltungsanordnung zur Überprüfung von Motorbremsen
US6246924B1 (en) * 1998-11-30 2001-06-12 Honda Of America Mfg., Inc. Apparatus and method for automatically realigning an end effector of an automated equipment to prevent a crash
US6242879B1 (en) * 2000-03-13 2001-06-05 Berkeley Process Control, Inc. Touch calibration system for wafer transfer robot
JP2000277039A (ja) * 1999-03-26 2000-10-06 Toshiba Corp 画像表示装置およびその製造方法
DE10026991A1 (de) * 2000-05-31 2001-12-13 Bosch Gmbh Robert Verfahren zur Positionierung einer fremdkraftbetätigten Schliessfläche
DE10226853B3 (de) * 2002-06-15 2004-02-19 Kuka Roboter Gmbh Verfahren zum Begrenzen der Krafteinwirkung eines Roboterteils
ATE358839T1 (de) * 2002-08-06 2007-04-15 Assembleon Nv Verfahren zur erkennung einer funktionsstörung während der bewegung eines teiles durch ein antriebsystem und vorrichtung zur ausführung eines solchen verfahrens
JP2006154998A (ja) * 2004-11-26 2006-06-15 Fanuc Ltd 制御装置
DE102005015317B4 (de) 2005-04-01 2007-02-01 Siemens Ag Verfahren und Steuereinrichtung zur gezielten Reaktion bei einem Kontakt zwischen einem Maschinenelement einer Maschine mit einem Gegenstand
DE102007059481A1 (de) * 2007-12-11 2009-06-18 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Bereichsüberwachung eines Manipulators
JP5367623B2 (ja) * 2010-03-15 2013-12-11 オムロン株式会社 サーボシステム、サーボモータ駆動装置、セーフティユニットおよびサーボシステムの制御方法
ITMI20111868A1 (it) * 2011-10-13 2013-04-14 Gima Spa Procedimento per il controllo dell'interferenza e/o collisione d'organi meccanici e sistema connesso
CN103371837B (zh) * 2012-04-27 2017-05-24 Ge医疗系统环球技术有限公司 用于往复式运动装置的抗碰撞方法和装置
EP2952300A1 (en) * 2014-06-05 2015-12-09 Aldebaran Robotics Collision detection
WO2016077387A1 (en) 2014-11-10 2016-05-19 Brooks Automation, Inc. Tool auto-teach method and apparatus
JP6517567B2 (ja) * 2015-03-31 2019-05-22 日本電産サンキョー株式会社 サーボモータ制御装置及び衝突検出方法
EP3579066A1 (en) * 2018-06-06 2019-12-11 Agie Charmilles SA Collision protection method
CN109732599B (zh) * 2018-12-29 2020-11-03 深圳市越疆科技有限公司 一种机器人碰撞检测方法、装置、存储介质及机器人
JP6620380B1 (ja) * 2019-02-12 2019-12-18 株式会社安川電機 モータ制御システム
CN116392259B (zh) * 2023-04-28 2024-06-04 极限人工智能有限公司 同轨道双驱动模块的行程和防撞监测方法、系统和机器人

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54141971A (en) * 1978-04-27 1979-11-05 Toshiba Corp Numerical control device
JPS5549702A (en) * 1978-10-06 1980-04-10 Hitachi Ltd Trip reliability improving system
JPS5565110A (en) * 1978-11-13 1980-05-16 Fuji Photo Optical Co Ltd Distance meter
US4375611A (en) * 1980-06-14 1983-03-01 Burroughs Corporation Protected servomechanism
DE3122621A1 (de) * 1981-06-06 1982-12-23 Dr. Johannes Heidenhain Gmbh, 8225 Traunreut Postitioniereinrichtung
JPS58136283A (ja) * 1982-02-05 1983-08-13 Matsushita Electric Ind Co Ltd 可変速電動機の保護装置
JPS5969297A (ja) * 1982-10-08 1984-04-19 株式会社日立製作所 工業用ロボツトの安全装置
US4904999A (en) * 1983-03-28 1990-02-27 The Boeing Company Fault monitoring system for aircraft power control units
US4599698A (en) * 1983-05-02 1986-07-08 United Technologies Corporation Aircraft trim actuator shutdown monitor system and method
US4582438A (en) * 1984-02-29 1986-04-15 Tokyo Juki Industrial Co., Ltd. Type wheel-type selector motor coupling detection device in printer
JPS60230204A (ja) * 1984-04-27 1985-11-15 Toyoda Mach Works Ltd 可動体移動制御装置における保安装置
JPS60237875A (ja) * 1984-05-09 1985-11-26 Graphtec Corp サ−ボ制御装置の保護回路
JPH063994B2 (ja) * 1984-10-05 1994-01-12 株式会社日立製作所 複数台デイジタルサーボの制御方法
JPS61143803A (ja) * 1984-12-17 1986-07-01 Toshiba Corp ロボツトの制御装置
JP2617441B2 (ja) * 1985-03-05 1997-06-04 東芝機械株式会社 交流電動機の速度制御方法
JPS61204707A (ja) * 1985-03-08 1986-09-10 Amada Metoretsukusu:Kk サ−ボモ−タ駆動装置の制御特性計測装置
US4733149A (en) * 1985-05-31 1988-03-22 Kollmorgen Technologies Corporation Adaptive control system
US4695941A (en) * 1985-07-29 1987-09-22 General Electric Company Loss of electrical feedback detector
JPS62256007A (ja) * 1986-04-30 1987-11-07 Mitsubishi Electric Corp 故障診断装置
JP2638594B2 (ja) * 1986-11-08 1997-08-06 フアナツク株式会社 デイジタルサーボシステム
US4794309A (en) * 1987-08-26 1988-12-27 Bailey Japan Co., Ltd. Electric actuator for a control valve
JPH01116704A (ja) * 1987-10-30 1989-05-09 Fanuc Ltd 産業ロボットの動作制御方式
JP2620833B2 (ja) * 1992-08-24 1997-06-18 住友ゴム工業株式会社 ゴム粉砕粒状物構造体
JP3346597B2 (ja) * 1993-03-25 2002-11-18 日立ソフトウエアエンジニアリング株式会社 ウィンドウの制御方法

Also Published As

Publication number Publication date
WO1990001732A1 (en) 1990-02-22
EP0380707A4 (en) 1992-07-08
JPH02146602A (ja) 1990-06-05
EP0380707A1 (en) 1990-08-08
US5214362A (en) 1993-05-25

Similar Documents

Publication Publication Date Title
KR900702425A (ko) 서어보 모터에 의해 구동되는 기계에 있어서의 충돌 검출·구동 정지방법
KR900700247A (ko) 서어보 모우터에 의해 구동되는 기계작동부의 충돌검출방법
DE68908068D1 (de) System zum antreiben eines buerstenlosen motors.
GB2171174B (en) A device for reducing vibrations excited in a motor driven drive line
DE68923375D1 (de) Verfahren zum zusammenbauen eines bürstenlosen motors.
DE69000372D1 (de) Energie und geschwindigkeit als aufprallstaerkemass gebrauchendes kraftfahrzeugaufprallerfassungsverfahren und -vorrichtung.
GB2176027B (en) Method and apparatus for controlling a driving system in a packaging machine
IT9019755A0 (it) Disposizione di azionamento per un autoveicolo
IT8822952A0 (it) Generatore di segnali di pilotaggio per transistori connessi in configurazione a semiponte
DE59208867D1 (de) Motorgetriebene handwerkzeugmaschine
DE69215059D1 (de) Mikroprozessor gesteuerter SCR-Antriebsmotor für Verpackungsmaschinen
GB2178822B (en) Device for reducing vibrations excited in a motor-driven drive line
DE69029420D1 (de) Geschwindigkeitsregler für eine durch einen Wechselrichter angetriebene Waschmaschine
KR870700487A (ko) 서어보 모우터로 구동되는 사출 성형기의 구동 제어장치
DE58900093D1 (de) Vorrichtung zum antrieb eines drucksteif gefuehrten antriebskabels.
ATA208088A (de) Einrichtung zum verspannen einer vortriebsmaschine in einer strecke
GB2217934A (en) Device for driving a brushless motor
AU4067789A (en) A method for the registering of the driving pattern of a motor vehicle, and an apparatus in the form of an interval counter for carrying out the method
DE69321159T2 (de) Vorrichtung zum Antreiben eines Schrittmotors
IT1237134B (it) Rullo di trascinamento servocomandato per macchina che produce sacchetti
IT8720828A0 (it) Metodo e dispositivo perl'azionamento mediante motore singolo di un fuso in una macchina di filatura.
DE68902897D1 (de) Antriebsvorrichtung fuer eine mehrspindelbearbeitungsmaschine.
EP0411508A3 (en) Method and device for driving a supersonic motor
DK70889D0 (da) Driv- og bremseindretning til et motorkoeretoej
DE69510160D1 (de) Antriebsgerät für eine Fahrkraftmaschine

Legal Events

Date Code Title Description
WITN Application deemed withdrawn, e.g. because no request for examination was filed or no examination fee was paid