KR970005562B1 - 백래시(backlash) 가속제어방법 - Google Patents

백래시(backlash) 가속제어방법 Download PDF

Info

Publication number
KR970005562B1
KR970005562B1 KR1019920703399A KR920703399A KR970005562B1 KR 970005562 B1 KR970005562 B1 KR 970005562B1 KR 1019920703399 A KR1019920703399 A KR 1019920703399A KR 920703399 A KR920703399 A KR 920703399A KR 970005562 B1 KR970005562 B1 KR 970005562B1
Authority
KR
South Korea
Prior art keywords
command
movement command
cycle
backlash acceleration
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 - Lifetime
Application number
KR1019920703399A
Other languages
English (en)
Korean (ko)
Other versions
KR930701268A (ko
Inventor
야스스께 이와시따
Original Assignee
화낙 가부시끼가이샤
이나바 세이우에몽
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 화낙 가부시끼가이샤, 이나바 세이우에몽 filed Critical 화낙 가부시끼가이샤
Publication of KR930701268A publication Critical patent/KR930701268A/ko
Application granted granted Critical
Publication of KR970005562B1 publication Critical patent/KR970005562B1/ko
Anticipated expiration legal-status Critical
Expired - Lifetime 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—Program-control systems
    • G05B19/02—Program-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 program 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—Program-control systems
    • G05B19/02—Program-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 program 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 program 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)
KR1019920703399A 1991-07-04 1992-07-06 백래시(backlash) 가속제어방법 Expired - Lifetime KR970005562B1 (ko)

Applications Claiming Priority (3)

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
JP91-189526 1991-07-04
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
KR930701268A KR930701268A (ko) 1993-06-11
KR970005562B1 true KR970005562B1 (ko) 1997-04-17

Family

ID=16242768

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019920703399A Expired - Lifetime KR970005562B1 (ko) 1991-07-04 1992-07-06 백래시(backlash) 가속제어방법

Country Status (6)

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

Families Citing this family (18)

* 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
US6744233B1 (en) * 2000-11-01 2004-06-01 Mitsubishi Denki Kabushiki Kaisha Servo controller and method
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
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
WO2025013209A1 (ja) * 2023-07-11 2025-01-16 ファナック株式会社 制御装置、及びコンピュータ読み取り可能な記録媒体

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
WO1990012448A1 (fr) * 1989-04-10 1990-10-18 Kabushiki Kaisha Yaskawa Denki Seisakusho Dispositif de commande de servomoteur
JPH02143605U (enExample) * 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

Also Published As

Publication number Publication date
WO1993001534A1 (fr) 1993-01-21
DE69218362T2 (de) 1997-06-26
EP0547239A4 (enExample) 1995-02-01
JPH0511824A (ja) 1993-01-22
EP0547239B1 (en) 1997-03-19
JP2875646B2 (ja) 1999-03-31
US5343132A (en) 1994-08-30
EP0547239A1 (en) 1993-06-23
DE69218362D1 (de) 1997-04-24
KR930701268A (ko) 1993-06-11

Similar Documents

Publication Publication Date Title
KR970005562B1 (ko) 백래시(backlash) 가속제어방법
EP0460224B1 (en) Servo motor control method
EP0423357B1 (en) Device for controlling servo motor
EP0557530A1 (en) Numerical control device
US5477117A (en) Motion controller and synchronous control process therefor
KR100231115B1 (ko) 서보모터 제어방법
JPH08179831A (ja) フルクローズド・ループ方式における象限突起補正方法
US5517100A (en) Method of controlling a servo motor
JP2606773B2 (ja) サーボシステムにおける加速制御方法及び装置
JP4193799B2 (ja) ネジ切り制御方法及びその装置
WO1988010171A1 (fr) Dispositif de commande d'acceleration/deceleration
JP2003048136A (ja) 送り装置の制御方法及び制御装置
KR970005566B1 (ko) 백클래시(Backlash) 가속 제어 방법
KR970002259B1 (ko) 서보모터의 제어방법
JP3253022B2 (ja) サーボモータのバックラッシュ補正制御方法
JP2558580B2 (ja) サーボシステムにおける加速制御方法及び装置
JP2555593B2 (ja) ねじ加工装置
JPH10105247A (ja) サーボモータのオーバーシュート防止方法
JPH07266190A (ja) 数値制御装置
JP2734236B2 (ja) サーボモータの制御装置
JPH048451A (ja) サーボモータの制御方式
JP2703099B2 (ja) 産業用ロボットのコンベア追従方法
JPH03246708A (ja) サーボモータの加速度フィードバック制御方式
JP3327298B2 (ja) サーボシステムの同調位相制御における速度指令の生成方法
JPH01300314A (ja) サーボ制御装置

Legal Events

Date Code Title Description
PA0109 Patent application

Patent event code: PA01091R01D

Comment text: Patent Application

Patent event date: 19921229

PG1501 Laying open of application
A201 Request for examination
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 19931220

Comment text: Request for Examination of Application

Patent event code: PA02011R01I

Patent event date: 19921229

Comment text: Patent Application

G160 Decision to publish patent application
PG1605 Publication of application before grant of patent

Comment text: Decision on Publication of Application

Patent event code: PG16051S01I

Patent event date: 19970319

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

Patent event code: PE07011S01D

Comment text: Decision to Grant Registration

Patent event date: 19970624

NORF Unpaid initial registration fee
PC1904 Unpaid initial registration fee