A process for monitoring backlash in a gear of a joint of an industrial robot, wherein said joint includes a first joint body and a second joint body coupled together with the possibility of moving with respect to one other, a motor provided with an encoder, and a motion-transmission assembly designed to transmit the torque generated by said motor to said second joint body to bring about a movement of said second joint body with respect to said first joint body, said transmission assembly comprising said gear. The process is characterized in that the signal of the encoder of the motor for driving the joint is used without providing any additional sensor specifically dedicated to monitoring of the backlash.

A method for driving an actuator of an HVAC system having a region of mechanical play is provided, and which comprises the steps of: a] monitoring a position of a movable member of the HVAC system or at least one rotatable element of the actuator to determine when the region of mechanical play has been entered or exited; and b] ramping a drive power to the actuator between a zero-velocity drive power and a steady-state-velocity drive power during the region of mechanical play. The HVAC system implementing the above method is not only capable of reducing the noise produced by an HVAC system, but is also capable of reducing an over-powering of the actuator when there is a low load on the system.

A numerical control device controlling a machine tool capable of machining on orthogonal three axes includes a parameter storage to store a noise-command allowable width to be used for determining whether to perform movement based on a movement command, and a path-correction processor to compare an absolute value of a movement amount according to a movement command in a command non-target axis direction that is a direction of an axis not included in a designated plane with the noise-command allowable width when a machining program block includes the movement command in the command non-target axis direction, determine the movement command in the command non-target axis direction to be a noise command when the absolute value of the movement amount according to the movement command in the command non-target axis direction is smaller, and perform path correction to set a movement amount according to the noise command to zero.

To provide a motor control device, motor control method, and non-transitory computer readable medium recording a motor control program, which add a backlash correction amount to a position command for a motor at the appropriate timing. Included are a first position detection part that detects a first position which is a position of a movable part; a second position detection part that detects a second position which is a position of a driven part; a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value and a second position detected value; and a backlash correction part that adds a backlash correction amount when the absolute value for the variation of the positional error since reversal of a position command was detected exceeds the predetermined reference value.

A method for driving an actuator of an HVAC system is provided, and which comprises the steps of: a] determining an actuation command to the actuator; and b] ramping a drive power to the actuator between a steady-state-velocity drive power and a zero-velocity drive power to effect a required acceleration or deceleration to a movable member of the HAVC system without or substantially without over-powering of the actuator. An HVAC system is also provided. The HVAC system implementing the above method is not only capable of reducing the noise produced by an HVAC system, but is also capable of reducing an over-powering of the actuator when there is a low load on the system.

A backlash automatic detection system comprises a control device and a machine tool. The machine tool comprises a servo driver, a lead screw, a nut seat and a platform. The method comprises: entering an initial state and outputting a control command to the servo driver through the control device; driving the lead screw by the servo driver to move the nut seat towards a first direction and changing the movement direction of the nut seat towards a reverse second direction by the servo driver; defining a backlash phenomenon period according to one time point at which the nut seat starts to move towards the second direction and another time point at which the platform is driven to move by the nut seat; defining the displacement of the nut seat corresponding to the backlash phenomenon period as a backlash value.

A tooth contact position adjustment amount estimation device that performs processing with respect to estimating a tooth contact position adjustment amount for dimensional data of parts constituting a power transmission mechanism according to the present invention, comprising: a machine learning device that performs processing with respect to estimating the tooth contact position adjustment amount for the dimensional data of parts constituting the power transmission mechanism, wherein the machine learning device observes part dimensional data, which is the dimensional data of parts constituting the power transmission mechanism, as a state variable indicating a current state of an environment, and performs processing with respect to estimating the tooth contact position adjustment amount for the dimensional data of parts constituting the power transmission mechanism in assembling the power transmission mechanism by performing processing with respect to machine learning based on the observed state variable.

A motor control system including an input shaft connected to an output shaft of the motor and an output shaft connected to a load, the system including: a detection unit for detecting a rotation speed of the output shaft; a speed deviation generation unit generating a speed command position and calculates a speed deviation between the speed command and rotation speed of the output shaft; an angular transmission error compensation unit estimated between a rotation angle of the output shaft and of the speed reducer, and corrects the speed command, speed deviation, or rotation speed of the output shaft detected based on the event detected by the detection unit, based on the estimated angular transmission error; a current command generation unit generates a current command based on the speed deviation; and a current control unit controls a current supplied to the motor based on the current command.

A process for monitoring backlash in a gear of a joint of an industrial robot, wherein said joint includes a first joint body and a second joint body coupled together with the possibility of moving with respect to one other, a motor provided with an encoder, and a motion-transmission assembly designed to transmit the torque generated by said motor to said second joint body to bring about a movement of said second joint body with respect to said first joint body, said transmission assembly comprising said gear.

The process is characterized in that the signal of the encoder of the motor for driving the joint is used without providing any additional sensor specifically dedicated to monitoring of the backlash.

A robot controlling method for operating an arm using a motor includes: performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor; and performing, in a period during which the robot arm is not in motion, subtraction to reduce the backlash compensation value added to the position command.