WO2014102895A1 - 位置決め装置および位置決め方法 - Google Patents
位置決め装置および位置決め方法 Download PDFInfo
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- WO2014102895A1 WO2014102895A1 PCT/JP2012/083424 JP2012083424W WO2014102895A1 WO 2014102895 A1 WO2014102895 A1 WO 2014102895A1 JP 2012083424 W JP2012083424 W JP 2012083424W WO 2014102895 A1 WO2014102895 A1 WO 2014102895A1
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- positioning
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- timer value
- external input
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- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- 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
- G05B19/402—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 control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
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- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
-
- 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
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer 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
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
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- 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
- G05B2219/37627—Measure elapsed time needed for positioning
Definitions
- the present invention relates to a positioning device and a positioning method, and more particularly to a positioning device mounted on a programmable controller (PLC).
- PLC programmable controller
- positioning control start positioning start
- the timing of positioning start varies depending on the timing at which a signal is input from an external sensor.
- the external sensor is required to be installed at an accurate position so that the positioning start is at a desired timing.
- the position of the external sensor is provisionally determined, and then the positioning system is actually operated to check the positioning start timing by the input from the external sensor. If the positioning start is not performed at a desired timing, the physical position of the external sensor is changed and then the positioning system is operated again to check the timing of the positioning start.
- the position of the external sensor is determined by repeatedly changing the position of the external sensor and confirming the timing of positioning start, and bringing the positioning start close to a desired timing.
- External sensors are often installed by screwing. Until the position of the external sensor is determined, it is necessary to sequentially attach and detach the screw as the position of the external sensor is changed. The more times the position of the external sensor is changed in the process of determining the position of the external sensor, the longer it takes to start up the positioning system.
- the position where the external sensor is installed and the timing of positioning start have a one-to-one correspondence. After the position of the external sensor is once determined, when the positioning start timing is updated, it is necessary to readjust the position of the external sensor. Further, when setting a plurality of timings for positioning start in one positioning system, the number of external sensors is set. The more external sensors that need to be installed, the higher the cost of the positioning system. In order to cope with these problems in the prior art, it is desired to be able to freely adjust the timing of positioning start regardless of the position of the external sensor.
- Patent Document 2 The technique described in Patent Document 2 is for correcting a timing shift due to a sensor mounting error for a motor in which a position detection sensor is incorporated. This technique does not assume correction of input timing by an external sensor. In addition, after the motor is shipped as a product, the mounting position of the position detection sensor is not changed, so that the timing deviation of the sensor signal is corrected by a fixed correction value. Since the correction value only needs to be set as a fixed value that satisfies the product specification of the motor drive current at the time of product shipment, this method cannot cope with a case where the correction value is arbitrarily changed by the user after product shipment. Become.
- the present invention has been made in view of the above, and a positioning device capable of starting up a positioning system in a short time by enabling the start of positioning control to be freely delayed regardless of the position where an external sensor is installed.
- the object is to obtain a positioning method.
- the present invention is provided in a programmable controller, and positioning with respect to an object to be controlled by the programmable controller based on an output of a positioning command according to an input of an external input signal from an external sensor.
- a positioning device that starts control, an external input unit that receives an input of the external input signal from the external sensor, and a timer unit that counts a time from when the external input signal is input to the external input unit And an arithmetic processing unit that calculates positioning command data based on positioning parameters set as operating conditions of the control target by the positioning control program, and a delay time for delaying the start of the positioning control is set by the positioning control program Set timer value and the above calculation A memory that holds the positioning command data calculated by the unit, and a positioning command output unit that outputs the positioning command to the control object based on the positioning command data held by the memory, and The positioning command output unit outputs the positioning command when the count value by the timer unit matches the set timer value held in the memory, and the set timer value held in the memory It can be changed according to the setting in the control program.
- the positioning device can adjust the timing for outputting the positioning command according to the set timer value.
- the positioning device can freely delay positioning start by a simple operation of changing the set timer value regardless of the movement of the external sensor.
- the positioning device eliminates the need to adjust the physical position of the external sensor in order to set the positioning start to a desired timing, thereby enabling the positioning system to be started up in a short time. Even after the positioning start timing is once determined, the positioning device can update the positioning start timing by changing the set timer value without adjusting the position of the external sensor.
- the positioning device can also set a plurality of timings for positioning start by changing the set timer value without changing the position of the external sensor.
- FIG. 1 is a block diagram showing a configuration of a positioning system including a positioning device according to an embodiment of the present invention.
- FIG. 2 is a flowchart showing a procedure for adjusting the timing of positioning start by the positioning device.
- FIG. 3 is a flowchart showing a procedure for adjusting the timing of positioning start by the positioning device according to the comparative example.
- FIG. 1 is a block diagram showing a configuration example of a positioning system including a positioning device according to an embodiment of the present invention.
- the positioning device 1 is provided in the PLC.
- the configuration of the PLC other than the positioning device 1 is not shown.
- the positioning device 1 includes a CPU 11, a timer unit 12, a memory 13, an external input unit 14, and a positioning command output unit 15.
- the CPU 11, the timer unit 12, the memory 13, the external input unit 14, and the positioning command output unit 15 are connected via an internal bus. Note that the configuration of the positioning device 1 can be changed as appropriate.
- the CPU 11 functions as an arithmetic processing unit that performs various arithmetic processes.
- the CPU 11 calculates positioning command data based on the positioning parameters.
- the positioning parameter is set by the positioning control program as the operation condition of the control target by the PLC.
- the external input unit 14 receives an input of an external input signal from the external sensor 2.
- the timer unit 12 performs counting using the input from the external sensor 2 as a trigger.
- the timer unit 12 counts the time from when an external input signal is input from the external sensor 2 to the external input unit 14.
- the memory 13 holds a set timer value, positioning parameters, and positioning command data.
- the set timer value is a value set by the positioning control program as a delay time for delaying the start of positioning control (positioning start).
- the CPU 11 reads the positioning parameters for calculating the positioning command data from the memory 13.
- the memory 13 stores the positioning command data calculated by the CPU 11.
- the positioning command output unit 15 outputs a positioning command to the control target based on the positioning command data held in the memory 13.
- the positioning device 1 starts positioning control for the controlled object by outputting a positioning command corresponding to the input of an external input signal from the external sensor 2.
- the user sets positioning parameters, such as movement speed and movement time, which are operating conditions to be controlled, in the positioning control program. Further, the user sets a setting timer value as a delay time for delaying the positioning start in the positioning control program.
- the memory 13 stores positioning parameters and set timer values set in the positioning control program.
- the CPU11 reads the positioning parameter which memory 13 holds.
- the CPU 11 calculates positioning command data based on the read positioning parameters.
- the memory 13 stores positioning command data calculated by the CPU 11.
- the timer unit 12 When an external input signal from the external sensor 2 is input to the external input unit 14, the timer unit 12 starts counting up from zero using the external input signal as a trigger. The timer unit 12 counts up until the count value from when the external input signal is input to the external input unit 14 matches the set timer value held in the memory 13. The positioning command output unit 15 outputs a positioning command when the count value by the timer unit 12 matches the set timer value held in the memory 13.
- the positioning device 1 can change the setting timer value held in the memory 13 according to the setting in the positioning control program. By changing the setting timer value, the timing at which the count value by the timer unit 12 reaches the setting timer value changes. The positioning device 1 can adjust the timing at which the positioning command is output from the positioning command output unit 15 by adjusting the set timer value.
- the drilling machine 4 is controlled by the PLC.
- the drilling machine 4 performs drilling on the conveyed products 6 and 7.
- the transport device 3 transports the transported objects 6 and 7. It is assumed that the length m1 of the conveyed product 6 in the traveling direction on the conveying device 3 and the length m2 of the conveyed product 7 in the traveling direction on the conveying device 3 are in a relationship of m1> m2.
- the external sensor 2 detects the transported objects 6 and 7 being transported by the transport device 3.
- the external sensor 2 is connected to the external input unit 14.
- the drive unit 5 drives the drilling machine 4.
- the drive unit 5 is connected to the positioning command output unit 15.
- the positioning device 1 positions the drilling machine 4 so that, for example, a hole is formed in the central portion of the transported objects 6 and 7 in the traveling direction on the transport device 3.
- the external sensor 2 outputs an external input signal when the ends of the conveyed objects 6 and 7 reach directly below the external sensor 2.
- the drive unit 5 drives the drilling machine 4 in response to a positioning command input from the positioning command output unit 15.
- FIG. 2 is a flowchart showing a procedure for adjusting the positioning start timing by the positioning device.
- the user installs the external sensor 2 at a rough position on the transport device 3 (step S ⁇ b> 1).
- the user installs the external sensor 2 by, for example, screwing to a fixed position.
- the installation of the external sensor 2 requires a work time t2.
- the user sets a positioning parameter related to a position to move the drilling machine 4 up and down for drilling in the positioning control program (step S2).
- the user sets a set timer value in the positioning control program (step S3).
- the user sets, for example, zero as the initial value of the setting timer value.
- the memory 13 holds the set timer value “0”. It is assumed that work time t3 is required for setting the set timer value.
- step S4 calculates positioning command data based on the positioning parameters set in step S2 (step S4).
- the memory 13 holds positioning parameters set for the drilling machine 4 and positioning command data calculated by the CPU 11.
- the user starts a trial run of the PLC (step S5).
- the PLC performs a drilling process on the conveyed product 6 as a trial operation.
- the external sensor 2 When the end of the conveyed product 6 being conveyed by the conveying device 3 passes vertically below the external sensor 2, the external sensor 2 generates an external input signal corresponding to the detection of the conveyed product 6.
- An external input signal from the external sensor 2 is input to the external input unit 14 (step S6).
- step S7 When the external input signal from the external sensor 2 is input to the external input unit 14, the timer unit 12 starts counting (step S7). In the next step S ⁇ b> 8, the CPU 11 determines whether or not the count value of the timer unit 12 matches the set timer value held in the memory 13.
- step S8 Yes.
- the timer unit 12 interrupts the count before increasing the count value from “0”.
- the positioning command output unit 15 outputs a positioning command (step S9).
- the drive unit 5 moves the drilling machine 4 up and down in response to a positioning command from the positioning command output unit 15.
- step S10 After moving the drilling machine 4 up and down, the user confirms whether or not the output of the positioning command in step S9 has been made at a desired timing (step S10).
- the user determines whether or not a positioning command is output at a desired timing by, for example, visually checking whether or not a hole is formed in the center of the conveyed product 6.
- step S 10 If a hole is formed in the center of the conveyed product 6, it is determined that the positioning command output from the positioning command output unit 15 has been made at a desired timing (step S 10, Yes).
- the positioning device 1 determines the set timer value “0” held in the memory 13 at this time as a set timer value (set to t1) that enables a positioning command to be output at a desired timing (step S11).
- step S10 when no hole is formed in the central portion of the conveyed product 6, it is determined that the positioning command output from the positioning command output unit 15 is not performed at a desired timing (No in step S10).
- the user sets a value other than “0” as the set timer value (step S3).
- the positioning device 1 changes the set timer value held in the memory 13.
- the memory 13 holds the set timer value after the change. After changing the set timer value held in the memory 13, the procedure from step S4 is repeated.
- the timer unit 12 increases the count value from “0” by starting the count in step S7.
- the CPU 11 determines whether or not the count value of the timer unit 12 matches the changed set timer value.
- the timer unit 12 When the count value of the timer unit 12 does not match the set timer value (No at Step S8), the timer unit 12 continues counting (Step S12). When the timer unit 12 continues counting and the count value matches the set timer value (step S8, Yes), the positioning command output unit 15 outputs a positioning command (step S9).
- the drive unit 5 moves the drilling machine 4 up and down in response to a positioning command from the positioning command output unit 15.
- step S10 After moving the drilling machine 4 up and down, the user confirms whether or not the output of the positioning command in step S9 has been made at a desired timing for this test run (step S10). Also in this trial run, when the positioning command output from the positioning command output unit 15 is not performed at a desired timing (No at Step S10), the positioning device 1 returns to Step S3 and further changes the set timer value. The procedure after step S4 is repeated.
- the positioning device 1 sets the set timer value held in the memory 13 at this time. Is determined as a set timer value t1 that enables a positioning command to be output at a desired timing (step S11). The positioning device 1 ends the adjustment of the positioning start timing through the determination of the set timer value t1 in step S11.
- FIG. 3 is a flowchart showing a procedure for adjusting the timing of positioning start by the positioning device according to the comparative example of the present embodiment.
- the positioning device according to the comparative example has the same configuration as that of the positioning device 1 according to the present embodiment shown in FIG. 1 except that the provision of the timer unit 12 and the retention of the set timer value in the memory 13 are omitted. Prepare.
- the same parts as those shown in FIG. 1 the same parts as those shown in FIG.
- the user installs the external sensor 2 at a rough position on the transport device 3 (step S21).
- the user installs the external sensor 2 by, for example, screwing to a fixed position.
- the installation of the external sensor 2 requires a work time t2.
- the user sets a positioning parameter related to a position to move the drilling machine 4 up and down for drilling in the positioning control program (step S22).
- the CPU 11 calculates positioning command data based on the positioning parameters set in step S22 (step S23).
- the user starts a trial run of the PLC (step S24).
- the PLC performs a drilling process on the conveyed product 6 as a trial operation.
- the external sensor 2 outputs an external input signal based on detection of the conveyed product 6.
- An external input signal from the external sensor 2 is input to the external input unit 14 (step S25).
- the positioning command output unit 15 outputs a positioning command when an external input signal is input to the external input unit 14 in step S25 (step S26).
- the drive unit 5 moves the drilling machine 4 up and down in response to a positioning command from the positioning command output unit 15.
- step S27 After moving the drilling machine 4 up and down, the user confirms whether or not the output of the positioning command in step S26 has been made at a desired timing (step S27). The user determines whether or not a positioning command is output at a desired timing by, for example, visually checking whether or not a hole is formed in the center of the conveyed product 6.
- step S ⁇ b> 27, Yes If a hole is formed in the central portion of the conveyed product 6, it is determined that the positioning command output from the positioning command output unit 15 has been made at a desired timing (step S ⁇ b> 27, Yes).
- the positioning device 1 determines the position where the external sensor 2 is temporarily installed at this time as the position of the external sensor 2 from which a positioning command is obtained at a desired timing (step S28).
- step S27 If no hole is formed in the center of the conveyed product 6, it is determined that the positioning command output from the positioning command output unit 15 is not performed at a desired timing (No in step S27). In this case, returning to step S21, the user re-installs the external sensor 2 at a position different from the previous position. After changing the physical position of the external sensor 2 in step S21, the procedure after step S22 is repeated.
- the timing of the positioning start is adjusted by changing the physical position of the external sensor 2. In this method, every time the position of the external sensor 2 is changed, the work time t2 in step S21 is required.
- the positioning start timing is adjusted by changing the set timer value.
- the work time t3 in step S3 shown in FIG. 2 is required.
- the screw for fixing the external sensor 2 is removed, the position of the external sensor 2 is corrected, and the screw for fixing the external sensor 2 is tightened.
- the numerical values in the positioning control program are rewritten. Since the work content at the work time t3 can be completed in a short time compared to the work content at the work time t2, the work time t3 is clearly shorter than the work time t2 (t2 >> t3). .
- the positioning device 1 As the number of times of correcting the output timing of the positioning command increases, the time until the adjustment of the timing for starting the positioning is significantly increased as compared with the comparative example. It can be shortened.
- the positioning device 1 can freely delay the positioning start by a simple operation of changing the set timer value regardless of the movement of the external sensor 2.
- the positioning device 1 makes it possible to start up the positioning system in a short time by eliminating the need to adjust the physical position of the external sensor 2 in order to set the positioning start to a desired timing.
- the positioning device 1 sets a set timer value t1 for the conveyed product 6, and sets a set timer value (t4) other than t1 for the conveyed product 7 having a length different from that of the conveyed product 6. Can be set.
- the positioning device 1 switches the set timer values t1 and t4 for the transported objects 6 and 7 so that the timing is adjusted for any of the transported objects 6 and 7 using one external sensor 2. Commands can be output.
- the memory 13 may hold a plurality of setting timer values. Since the positioning device 1 can reduce the number of external sensors 2 that need to be installed, the cost of the positioning system can be reduced.
- the positioning device 1 can update the timing of positioning start by changing the set timer value without adjusting the position of the external sensor 2 even after once determining the timing of positioning start.
- the positioning device 1 can set a plurality of positioning start timings by switching the set timer value without changing the position of the external sensor 2. For example, by changing the set timer value t1 when processing the transported object 6 and t4 when processing the transported object 7, a positioning system capable of processing a plurality of transported objects having different shapes. Can be built.
- the positioning device 1 may include a plurality of positioning command output units 15.
- a drive unit 5 is connected to each positioning command output unit 15. By connecting various processing devices to each drive unit 5, it is possible to construct a positioning system that can handle a plurality of processes.
- the memory 13 is a positioning parameter that is an operating condition of each drive unit 5,
- the positioning data calculated by the CPU 11 based on each positioning parameter and the set timer value for adjusting the timing of positioning command output to each drive unit 5 are held.
- the positioning device 1 can output a positioning command based on the positioning command data held in the memory 13 in response to an external input signal from the external sensor 2 at a timing corresponding to the set timer value held in the memory 13.
- the positioning device 1 can be provided with extensibility so that a plurality of positioning commands whose timings are adjusted can be output in response to an input from one external sensor 2.
- the positioning device 1 may apply the adjustment of the positioning start timing in the present embodiment to the adjustment of the positioning control stop timing and the timing of changing the control content or the control condition.
- the positioning device and positioning method according to the present invention are suitable for starting positioning control in response to an input from an external sensor.
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Abstract
Description
図1は、本発明の実施の形態にかかる位置決め装置を含む位置決めシステムの構成例を示すブロック図である。位置決め装置1は、PLCに設けられている。PLCのうち位置決め装置1以外の構成については、図示を省略している。
Claims (2)
- プログラマブルコントローラに設けられ、外部センサからの外部入力信号の入力に応じた位置決め指令の出力により、前記プログラマブルコントローラによる制御対象に対する位置決め制御を始動させる位置決め装置であって、
前記外部センサからの前記外部入力信号の入力を受け付ける外部入力部と、
前記外部入力部へ前記外部入力信号が入力されたときからの時間をカウントするタイマ部と、
位置決め制御プログラムによって前記制御対象の動作条件として設定される位置決めパラメータに基づき位置決め指令データを算出する演算処理部と、
前記位置決め制御の始動を遅滞させる遅滞時間として前記位置決め制御プログラムによって設定された設定タイマ値と、前記演算処理部が算出した前記位置決め指令データとを保持するメモリと、
前記メモリが保持している前記位置決め指令データに基づき、前記制御対象へ前記位置決め指令を出力する位置決め指令出力部と、を有し、
前記位置決め指令出力部は、前記タイマ部によるカウント値が、前記メモリが保持している前記設定タイマ値と一致したときに前記位置決め指令を出力し、
前記メモリが保持する前記設定タイマ値を、前記位置決め制御プログラムにおける設定に応じて変更可能とすることを特徴とする位置決め装置。 - 外部入力信号の入力に応じた位置決め指令の出力により、プログラマブルコントローラによる制御対象に対する位置決め制御を始動させる位置決め方法であって、
前記外部入力信号の入力を受け付ける工程と、
前記外部入力信号が入力されたときからの時間をカウントする工程と、
位置決め制御プログラムによって前記制御対象の動作条件として設定される位置決めパラメータに基づき位置決め指令データを算出する工程と、
前記位置決め制御の始動を遅滞させる遅滞時間として前記位置決め制御プログラムによって設定された設定タイマ値をメモリに保持する工程と、
前記位置決め指令データに基づき、前記制御対象へ前記位置決め指令を出力する工程と、を含み、
前記外部入力信号が入力されたときからの時間を示すカウント値が、前記メモリに保持されている前記設定タイマ値と一致したときに前記位置決め指令を出力し、
前記メモリに保持される前記設定タイマ値を、前記位置決め制御プログラムにおける設定に応じて変更可能とすることを特徴とする位置決め方法。
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JP2013515609A JPWO2014102895A1 (ja) | 2012-12-25 | 2012-12-25 | 位置決め装置および位置決め方法 |
PCT/JP2012/083424 WO2014102895A1 (ja) | 2012-12-25 | 2012-12-25 | 位置決め装置および位置決め方法 |
CN201280077971.5A CN104871099A (zh) | 2012-12-25 | 2012-12-25 | 定位装置以及定位方法 |
US14/648,331 US20150316920A1 (en) | 2012-12-25 | 2012-12-25 | Positioning apparatus and positioning method |
DE112012007253.7T DE112012007253T5 (de) | 2012-12-25 | 2012-12-25 | Positioniervorrichtung und Positionierverfahren |
TW102123436A TW201426228A (zh) | 2012-12-25 | 2013-07-01 | 定位裝置及定位方法 |
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JPH0911367A (ja) * | 1995-06-30 | 1997-01-14 | Fuji Supairaru Kogyo Kk | 紙管製造装置 |
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US5086964A (en) * | 1988-07-29 | 1992-02-11 | Amplas, Inc. | Dual drive web feed apparatus and method |
JPH0277709U (ja) * | 1988-12-01 | 1990-06-14 | ||
JP3480349B2 (ja) * | 1999-01-27 | 2003-12-15 | 富士ゼロックス株式会社 | ステッピングモータ制御装置 |
JP4649005B2 (ja) * | 1999-06-18 | 2011-03-09 | 株式会社アマダ | 板材の切断方法およびその装置 |
US6313591B1 (en) * | 2000-02-17 | 2001-11-06 | Siemens Aktiengesellschaft | Delay time modeling filter for cascaded regulator structure |
US6491115B2 (en) * | 2000-03-15 | 2002-12-10 | Vermeer Manufacturing Company | Directional drilling machine and method of directional drilling |
JP2002182718A (ja) * | 2000-12-13 | 2002-06-26 | Star Micronics Co Ltd | 工作機械の数値制御装置 |
JP3923047B2 (ja) * | 2003-03-04 | 2007-05-30 | ファナック株式会社 | 同期制御装置 |
CN1277509C (zh) * | 2003-07-28 | 2006-10-04 | 东软飞利浦医疗设备系统有限责任公司 | X线机影像系统运动控制装置及调试方法 |
CN100503122C (zh) * | 2007-02-13 | 2009-06-24 | 包钢钢威液压件有限责任公司 | 一种控制无缝管管坯打孔机在线自动定心打孔的方法 |
CN101602418B (zh) * | 2009-06-10 | 2010-12-08 | 常德烟草机械有限责任公司 | 一种贴标签装置的控制方法 |
JP2011161502A (ja) * | 2010-02-15 | 2011-08-25 | Shinko Kiki Kk | セット不良検出装置 |
JP2011211678A (ja) * | 2010-03-12 | 2011-10-20 | Omron Corp | 画像処理装置および画像処理プログラム |
JP5437891B2 (ja) * | 2010-04-12 | 2014-03-12 | Dmg森精機株式会社 | 工作機械における被加工物計測装置およびその方法 |
JP5689704B2 (ja) * | 2010-08-08 | 2015-03-25 | 日本電産サンキョー株式会社 | モータ制御装置およびモータ制御方法 |
JP6175809B2 (ja) * | 2013-03-05 | 2017-08-09 | 株式会社リコー | モータ制御装置およびモータ制御方法 |
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2012
- 2012-12-25 JP JP2013515609A patent/JPWO2014102895A1/ja active Pending
- 2012-12-25 WO PCT/JP2012/083424 patent/WO2014102895A1/ja active Application Filing
- 2012-12-25 CN CN201280077971.5A patent/CN104871099A/zh active Pending
- 2012-12-25 DE DE112012007253.7T patent/DE112012007253T5/de not_active Withdrawn
- 2012-12-25 US US14/648,331 patent/US20150316920A1/en not_active Abandoned
-
2013
- 2013-07-01 TW TW102123436A patent/TW201426228A/zh unknown
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JPH02103603A (ja) * | 1988-04-21 | 1990-04-16 | Mitsubishi Electric Corp | プログラマブルコントローラによる位置決め方法 |
JPH05333913A (ja) * | 1992-06-04 | 1993-12-17 | Fanuc Ltd | 位置決め装置 |
JPH0911367A (ja) * | 1995-06-30 | 1997-01-14 | Fuji Supairaru Kogyo Kk | 紙管製造装置 |
Also Published As
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US20150316920A1 (en) | 2015-11-05 |
CN104871099A (zh) | 2015-08-26 |
JPWO2014102895A1 (ja) | 2017-01-12 |
TW201426228A (zh) | 2014-07-01 |
DE112012007253T5 (de) | 2015-10-08 |
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