In this machining method, in which a rotary tool is moved relative to a workpiece and/or the workpiece is moved relative to the rotary tool so as to machine a curved surface on said workpiece, rotation in the direction of said curved surface is added to the workpiece such that the positions of reversal marks left on the curved surface per tool path are dispersed in the direction of said rotation.

To provide a motor control device that prevents from becoming excessive correction, upon adding a backlash correction amount to a position command for a motor. Provided are: a positional error calculation part that calculates a positional error which is deviation between a converted first position detected value arrived at by converting a first position detected value which is the position of a movable part according to a rotation ratio between the movable part and the driven part, and a second position detected value which is the position of the driven part; and a position deviation calculation part that calculates a position deviation which is a difference between a position command and the second position detected value, in which the backlash correction part starts addition of the backlash correction amount when the variation of the positional error exceeds the first reference value, ends the addition of the backlash correction amount when the variation of the positional error exceeds the second reference value, and suspends the addition of the backlash correction amount when the position deviation becomes no more than the third reference value during correction.

To provide a motor control device that prevents from becoming excessive correction, upon adding a backlash correction amount to a position command for a motor. Provided are: a positional error calculation part that calculates a positional error which is deviation between a converted first position detected value arrived at by converting a first position detected value which is the position of a movable part according to a rotation ratio between the movable part and the driven part, and a second position detected value which is the position of the driven part; and a position deviation calculation part that calculates a position deviation which is a difference between a position command and the second position detected value, in which the backlash correction part starts addition of the backlash correction amount when the variation of the positional error exceeds the first reference value, ends the addition of the backlash correction amount when the variation of the positional error exceeds the second reference value, and suspends the addition of the backlash correction amount when the position deviation becomes no more than the third reference value during correction.

A system and method for measuring an amount of backlash in an actuator assembly that includes a housing assembly, an actuator, a drive source, an actuator position sensor, a drive source position sensor, and a controller. The controller is in operable communication with the drive source, the actuator position sensor, and the drive source position sensor, and is configured to selectively implement a built-in test that determines the amount of backlash in the actuator assembly.

A motor control device includes a first position detecting unit for detecting a position of a movable part, a second position detecting unit for detecting a position of a driven part, an error computing unit for computing an error between a first position detection value detected by the first position detecting unit and a second position detection value detected by the second position detecting unit, a memory unit for memorizing, as an initial error, an error computed when the movable part engages with the driven part, a compensation amount computing unit for computing a backlash compensation amount for compensating backlash, a compensation gain computing unit for computing a compensation gain based on the acceleration command, and a compensation amount computing unit for computing the backlash compensation amount using the compensation gain.

In this machining method, in which a rotary tool is moved relative to a workpiece and/or the workpiece is moved relative to the rotary tool so as to machine a curved surface on said workpiece, rotation in the direction of said curved surface is added to the workpiece such that the positions of reversal marks left on the curved surface per tool path are dispersed in the direction of said rotation.

A motor control device includes a first position detecting unit for detecting a position of a movable part, a second position detecting unit for detecting a position of a driven part, an error computing unit for computing an error between a first position detection value detected by the first position detecting unit and a second position detection value detected by the second position detecting unit, a memory unit for memorizing, as an initial error, an error computed when the movable part engages with the driven part, a compensation amount computing unit for computing a backlash compensation amount for compensating backlash, a compensation gain computing unit for computing a compensation gain based on the acceleration command, and a compensation amount computing unit for computing the backlash compensation amount using the compensation gain.

A system and method for reducing mechanical oscillations in a multi-axis control system provides a first command for a dynamic notch filter at a first update rate to multiple motor drives. Each motor drive is operatively connected to a motor for an axis in the multi-axis control system. Each motor drive receives a second command for desired operation of the motor at a second update rate. Operation of the dynamic notch filter in each motor drive is changed as a function of the first command at the first update rate, and each motor drive generates a desired output voltage for desired operation of the motor at a third update rate. The third update rate is faster than the second update rate, the second command is passed through the dynamic notch filter to generate a filtered command, and the desired output voltage is generated as a function of the filtered command.

A system and method for reducing mechanical oscillations in a multi-axis control system provides a first command for a dynamic notch filter at a first update rate to at least one motor drive. Each motor drive is connected to a motor for an axis in the multi-axis control system. Each motor drive receives a second command for desired operation of the motor at a second update rate. Operation of the dynamic notch filter in each motor drive is changed as a function of the first command at the first update rate, and each motor drive generates a desired output voltage for operation of the motor at a third update rate. The third update rate is faster than the second update rate, the second command is passed through the dynamic notch filter to generate a filtered command, and the desired output voltage is generated as a function of the filtered command.