WO1996010223A1 - Delayed safety braking apparatus for a servomotor control system - Google Patents

Delayed safety braking apparatus for a servomotor control system Download PDF

Info

Publication number
WO1996010223A1
WO1996010223A1 PCT/US1995/011495 US9511495W WO9610223A1 WO 1996010223 A1 WO1996010223 A1 WO 1996010223A1 US 9511495 W US9511495 W US 9511495W WO 9610223 A1 WO9610223 A1 WO 9610223A1
Authority
WO
WIPO (PCT)
Prior art keywords
servomotor
control system
programmable
servo amplifier
braking
Prior art date
Application number
PCT/US1995/011495
Other languages
English (en)
French (fr)
Inventor
Anders Ek
Johan Hegardt
Original Assignee
Tetra Laval Holdings & Finance S.A.
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 Tetra Laval Holdings & Finance S.A. filed Critical Tetra Laval Holdings & Finance S.A.
Priority to JP51180996A priority Critical patent/JP3638285B2/ja
Priority to MX9702344A priority patent/MX9702344A/es
Priority to BR9509151A priority patent/BR9509151A/pt
Priority to AU36298/95A priority patent/AU3629895A/en
Priority to DE69524635T priority patent/DE69524635T2/de
Priority to EP95933773A priority patent/EP0809822B1/en
Priority to RU97106763A priority patent/RU2137171C1/ru
Publication of WO1996010223A1 publication Critical patent/WO1996010223A1/en
Priority to NO19972652A priority patent/NO317026B1/no

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
    • 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
    • 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
    • G05B2219/41279—Brake
    • 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
    • G05B2219/50188—If operation, feed movement not done after maximum allowable time, emergency stop
    • 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
    • G05B2219/50192—If braking fails due to controller or amplifier fault, separate delayed braking
    • 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
    • G05B2219/50198—Emergency stop

Definitions

  • the present invention relates to a servomotor
  • control system More specifically, the present
  • invention relates to a delayed safety braking circuit
  • the servo-amplifier 40 controls a servo-amplifier 40.
  • the servo-amplifier 40 controls a servo-amplifier 40.
  • control system 20 may be initiated by start switch 70.
  • the programmable control system 20 Upon detection of a depression of the start switch 70, the programmable control system 20 sends the necessary
  • an emergency stop switch 80 may be used to control
  • programmable control system 10 sends the appropriate
  • the servo-amplifier 40 may fail to properly receive and/or respond to the braking
  • the system 20 detects the actuation of the emergency
  • a servomotor control system is set forth that
  • servomotor control system includes a programmable
  • control system having one or more output signals
  • a servomotor that is connected for
  • a safety switch is
  • the programmable control system controlling the
  • braking apparatus is disposed between the servo-
  • the predetermined time period is a time period that is
  • Such a predetermined time period may be implemented
  • FIG. 1 is a schematic block diagram of a known servomotor control system.
  • FIG. 2 is a schematic block diagram of a servomotor
  • control system including a delayed braking circuit.
  • FIG. 3 is a timing diagram illustrating the
  • FIG. 4 is a schematic diagram of one embodiment of
  • FIG. 5 is a schematic diagram of one embodiment of
  • FIG. 6 is a schematic diagram of one embodiment of
  • FIG. 7 is a schematic block diagram of a further embodiment
  • a servomotor control system shown generally at 100, is illustrated in FIG. 2. As illustrated, the
  • servomotor control system 100 includes a programmable
  • the programmable control system 110 The programmable control system 110.
  • the start signal may, for example,
  • chassis ground for example, chassis ground.
  • system 110 is also connected to receive an emergency
  • chassis ground For example, chassis ground.
  • the programmable control system 110 As illustrated, the programmable control system 110
  • the servo-amplifier 170 in turn,
  • control system 110 along the lines 180 and provides the necessary power to drive a servomotor 190 in accordance
  • a delayed braking circuit 200 is disposed between
  • delayed braking circuit 200 is further connected to
  • One or more lines 220 connect the servo-amplifier
  • lines 230 connect the delayed braking circuit 200 to the
  • FIG. 3 is a timing diagram illustrating one manner
  • line 240 illustrates the state of the emergency stop signal
  • line 250 illustrates
  • line 260 illustrates the activation
  • servomotor 190 is actively executing a motion profile in accordance with commands received by the servo-amplifier
  • the emergency stop signal may, for
  • system 100 is opened thereby exposing bystanders to a
  • delayed braking circuit 200 are connected to receive the
  • system 110 begins executing a braking sequence at time
  • braking sequence is effective as of time t 3 , at which
  • a braking sequence is thus initiated
  • braking sequence initiated by the delayed braking circuit 200 is effective as of time t 5 , at which point
  • control system 110 and servo-amplifier 170 is more time
  • the delayed braking circuit 200 is synchrony. As such, the delayed braking circuit 200
  • t 1 and t initiates its braking sequence a predetermined time period, illustrated here as between t 1 and t, , after
  • delay period prevents the delayed braking circuit 200 from initiating its braking sequence until after the
  • FIG. 4 illustrates one embodiment of the servomotor
  • the start switch 130 is connected to the
  • switch 140 has a first terminal connected to a power
  • switch 140 is shown in its inactive state while relay
  • a servo timer delay circuit 310 The output of the servo timer delay circuit 310 is supplied for actuation
  • Relay 320 is shown in its activated state. In this
  • FIG. 5 illustrates the servomotor control system
  • servomotor relay 320 disconnects the
  • servomotor 190 are connected through servomotor relay
  • the servo timer delay circuit 310 will also be described.
  • FIG. 6 illustrates one embodiment of the servo
  • timer delay circuit 310 As illustrated, the circuit
  • connection is connected to resistor 410 while a second
  • 430 is connected to receive a voltage, for example, +24
  • FIG. 7 illustrates use of the delayed braking
  • a plurality of servo-amplifiers 170 and servomotors 190 are arranged in a plurality of servo-amplifiers 170 and servomotors 190.
  • the programmable control system 110 includes a programmable logic controller
  • PLC Physical Organic Chemical Vapor
  • I/O interface 520 for use with the PLC
  • the PLC programmable axis manager
  • I/O interface 520 may be connected for communication over a VME bus.
  • PAM 530 may be connected for communication over a VME bus.
  • the programmable control system 110 may be
  • the PLC 510 may be a Model 9070 Programmable
  • 530 may be a programmable axis manager available from
  • the PAM 530 is connected to control the servo-
  • amplifiers 170 over one or more lines 540 which, for
  • example may form an optical ring network.
  • braking circuit 200 is disposed between each servo-
  • the servo- amplifiers 190 may be, for example, Model ST-1 servo-
  • the PLC 510 then instructs the PAM 530
  • the PAM 530 sends the requisite braking signals to
  • the emergency stop switch may be connected for detection by

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Stopping Of Electric Motors (AREA)
  • Safety Devices In Control Systems (AREA)
  • Protection Of Generators And Motors (AREA)
  • Braking Arrangements (AREA)
  • Braking Systems And Boosters (AREA)
  • Sewing Machines And Sewing (AREA)
  • Regulating Braking Force (AREA)
PCT/US1995/011495 1994-09-28 1995-09-11 Delayed safety braking apparatus for a servomotor control system WO1996010223A1 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
JP51180996A JP3638285B2 (ja) 1994-09-28 1995-09-11 サーボモータ制御システム用の遅れ安全制動装置
MX9702344A MX9702344A (es) 1994-09-28 1995-09-11 Aparato de frenado de seguridad tardio para un sistema de control de servomotor.
BR9509151A BR9509151A (pt) 1994-09-28 1995-09-11 Aparato de freio de sugurança retardado para um sistema de controle de servo-motor
AU36298/95A AU3629895A (en) 1994-09-28 1995-09-11 Delayed safety braking apparatus for a servomotor control system
DE69524635T DE69524635T2 (de) 1994-09-28 1995-09-11 Versörgtes sicherheitsabbremsungsgerät für ein servomotorsteuerungssystem
EP95933773A EP0809822B1 (en) 1994-09-28 1995-09-11 Delayed safety braking apparatus for a servomotor control system
RU97106763A RU2137171C1 (ru) 1994-09-28 1995-09-11 Предохранительное тормозное устройство с выдержкой времени для системы управления серводвигателем
NO19972652A NO317026B1 (no) 1994-09-28 1997-06-09 Servomotorstyresystem og bremsekrets for bruk ved bremsing av en servomotor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/315,407 US5587640A (en) 1994-09-28 1994-09-28 Delayed safety braking apparatus for a servomotor control system
US08/315,407 1994-09-28

Publications (1)

Publication Number Publication Date
WO1996010223A1 true WO1996010223A1 (en) 1996-04-04

Family

ID=23224281

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1995/011495 WO1996010223A1 (en) 1994-09-28 1995-09-11 Delayed safety braking apparatus for a servomotor control system

Country Status (11)

Country Link
US (1) US5587640A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
EP (1) EP0809822B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JP (1) JP3638285B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
AU (1) AU3629895A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
BR (1) BR9509151A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
CA (1) CA2201289A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
DE (1) DE69524635T2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
MX (1) MX9702344A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
NO (1) NO317026B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
RU (1) RU2137171C1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
WO (1) WO1996010223A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1589388A2 (en) 2004-04-21 2005-10-26 Komori Corporation Synchronous control method and device of the same
EP1589387A3 (en) * 2004-04-07 2009-07-29 Komori Corporation Method and device for synchronously controlling multiple printing presses or multiple units in printing press

Families Citing this family (14)

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CN1115258C (zh) * 1996-12-17 2003-07-23 拓磨艾电机工业株式会社 轨道行走移动体用车轮、具有该车轮的移动体及移动体用车轮的轨面形成体
JPH11299274A (ja) * 1998-04-10 1999-10-29 Rohm Co Ltd モータ駆動回路
JP2001161091A (ja) * 1999-11-30 2001-06-12 Ito Denki Kk モータローラの制御方法
DE20005054U1 (de) * 2000-03-20 2000-05-18 Dewert Antriebs- und Systemtechnik GmbH & Co KG, 32278 Kirchlengern Elektromotorischer Antrieb
KR100381415B1 (ko) 2000-07-14 2003-04-23 삼성전자주식회사 무인운반차 및 무인운반차의 비상정지방법
DE10261454B4 (de) * 2002-12-31 2010-04-08 Danfoss Drives A/S Motorsteuerung mit sicherem Halt
JP3944156B2 (ja) * 2003-12-03 2007-07-11 ファナック株式会社 非常停止回路
ATE528848T1 (de) * 2004-10-07 2011-10-15 Sew Eurodrive Gmbh & Co Motorsteuerung
DE102006037975A1 (de) * 2006-08-14 2008-02-28 Siemens Ag Signalumsetzeinrichtung, Betriebsverfahren für eine Signalumsetzeinrichtung und Erstellverfahren für eine Programmierung für eine Signalumsetzeinrichtung
JP2011108044A (ja) * 2009-11-18 2011-06-02 Fanuc Ltd Ｎ個のロボットを同時に制御するロボット制御装置
CN102055412B (zh) * 2010-12-02 2014-04-16 华为技术有限公司 一种功率放大器保护电路、通信设备和方法
RU2489795C1 (ru) * 2011-12-26 2013-08-10 Туркин Александр Николаевич Устройство торможения электродвигателя
DE102014222678A1 (de) 2014-11-06 2016-05-12 Kuka Roboter Gmbh Verfahren und System zum Stillsetzen von Achsen eines Industrieroboters
FR3028625B1 (fr) * 2014-11-18 2018-04-27 Staubli Faverges Procede de deconnexion d'un boitier de commande manuelle d'un robot multi-axes et robot pour la mise en oeuvre d'un tel procede

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US4065074A (en) * 1976-06-02 1977-12-27 Sperry Rand Corporation Reel servo control system
US4250440A (en) * 1977-08-10 1981-02-10 Lee Yu Kuang Multiple-purpose closed-loop, automatic control system
US4494199A (en) * 1981-09-18 1985-01-15 Dr. Ing. H.C.F. Porsche Ag Brake system, especially for a motor vehicle

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US4035705A (en) * 1975-03-17 1977-07-12 Sperry Rand Corporation Fail-safe dual channel automatic pilot with maneuver limiting
SE434932B (sv) * 1977-03-30 1984-08-27 Vdo Schindling Anordning for reglering av ett motorfordons korhastighet
JPS5919654A (ja) * 1982-07-22 1984-02-01 Amada Co Ltd Ｎｃ工作機械の非常時における電源遮断方法
SU1522149A1 (ru) * 1987-04-03 1989-11-15 Предприятие П/Я В-8495 Устройство дл защиты систем автоматического управлени
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DE4040764A1 (de) * 1990-12-19 1992-07-02 Weiler Werkzeugmaschinen Gmbh Einrichtung zum abschalten eines vorschubs bei einer konventionellen drehmaschine oder fraese

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Publication number Priority date Publication date Assignee Title
US4065074A (en) * 1976-06-02 1977-12-27 Sperry Rand Corporation Reel servo control system
US4250440A (en) * 1977-08-10 1981-02-10 Lee Yu Kuang Multiple-purpose closed-loop, automatic control system
US4494199A (en) * 1981-09-18 1985-01-15 Dr. Ing. H.C.F. Porsche Ag Brake system, especially for a motor vehicle

Non-Patent Citations (1)

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See also references of EP0809822A4 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1589387A3 (en) * 2004-04-07 2009-07-29 Komori Corporation Method and device for synchronously controlling multiple printing presses or multiple units in printing press
EP1589388A2 (en) 2004-04-21 2005-10-26 Komori Corporation Synchronous control method and device of the same
EP1589388A3 (en) * 2004-04-21 2009-07-29 Komori Corporation Synchronous control method and device of the same

Also Published As

Publication number Publication date
JPH10506520A (ja) 1998-06-23
US5587640A (en) 1996-12-24
MX9702344A (es) 1997-08-30
EP0809822A1 (en) 1997-12-03
EP0809822B1 (en) 2001-12-12
NO972652D0 (no) 1997-06-09
CA2201289A1 (en) 1996-04-04
BR9509151A (pt) 1998-05-26
EP0809822A4 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1997-12-03
JP3638285B2 (ja) 2005-04-13
DE69524635D1 (de) 2002-01-24
NO972652L (no) 1997-06-19
DE69524635T2 (de) 2002-05-23
NO317026B1 (no) 2004-07-26
AU3629895A (en) 1996-04-19
RU2137171C1 (ru) 1999-09-10

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