Patent classifications
G05B2219/42062
CONTROLLER AND EXTRAPOLATION METHOD OF COMMAND VALUE
A controller which controls an apparatus having motors each of which drives each axis includes a control part which is provided so as to correspond to a motor for each axis and servo-controls the motor based on a command value applied to the motor. The control part receives the command value from a host apparatus and updates the command value in a predetermined updating period. When the command value in a “t”-th updating period used in the control part is defined as y(t), the control part includes an extrapolation calculation part which calculates a command value y(k) used in a “k”-th updating period according to the following expression when the control part has not received the command value from the host apparatus or abnormality occurs in the communication in the “k”-th updating period:
y(k)=y(k−2)+{y(k−1)−y(k−3)}, or
y(k)=y(k−2)+{y(k−2)−y(k−4)}.
MOTOR CONTROL DEVICE AND MOTOR CONTROL COMPUTER PROGRAM
A control device calculates a position deviation between a position of a movable member designated by a position command and a measured position of the movable member by a position detector at each sampling period, adds a disturbance signal generated from a phase signal having a predetermined period to a drive signal generated from the position deviation to which an amount of correction is added, causes a motor for driving the movable member to operate based on the drive signal to which the disturbance signal is added, calculates the amount of correction by using a dynamic characteristic compensation filter in such a way as to reduce the position deviation, and changes a configuration of the dynamic characteristic compensation filter in such a way that an evaluation value related to magnitude of the position deviation satisfies a predetermined condition.
Motor control device and motor control method
A motor control device capable of promptly positioning a driven object at a target position, while suppressing backlash. The motor control device includes an operation command generation section for generating a first operation command and a second operation command for first and second motors to move the driven object; a preload command generation section for generating a first preload command which is added to the first operation command and a second preload command which is added to the second operation command in order that drive axes of the first motor and the second motor provide the driven object forces in opposite directions; and a preload command adjustment section for adjusting the first preload command and the second preload command in order that an absolute value of the above forces is decreased when an operation amount exceeds a predetermined threshold value.
Servo assembly, robot joint and robot
A servo assembly includes a first speed reducer, a first motor, a first connecting member, a first control circuit board, a second speed reducer, a second motor, a second connecting member and a second control circuit board. The first control circuit board is electrically coupled to the first motor, and the second control circuit board is electrically coupled to the second motor. The output component of the first speed reducer and the first connecting member are coaxial and arranged along a first direction, and the output component of the second speed reducer and the second connecting member are coaxial and arranged along a second direction that is perpendicular to the first direction. The output shaft of the first motor is connected to the input component of the first speed reducer, and the output shaft of the second motor is connected to the input component of the second speed reducer.
SERVO ASSEMBLY, ROBOT JOINT AND ROBOT
A servo assembly includes a first speed reducer, a first motor, a first connecting member, a first control circuit board, a second speed reducer, a second motor, a second connecting member and a second control circuit board. The first control circuit board is electrically coupled to the first motor, and the second control circuit board is electrically coupled to the second motor. The output component of the first speed reducer and the first connecting member are coaxial and arranged along a first direction, and the output component of the second speed reducer and the second connecting member are coaxial and arranged along a second direction that is perpendicular to the first direction. The output shaft of the first motor is connected to the input component of the first speed reducer, and the output shaft of the second motor is connected to the input component of the second speed reducer.
Controller and extrapolation method of command value
A controller which controls an apparatus having motors each of which drives each axis includes a control part which is provided so as to correspond to a motor for each axis and servo-controls the motor based on a command value applied to the motor. The control part receives the command value from a host apparatus and updates the command value in a predetermined updating period. When the command value in a t-th updating period used in the control part is defined as y(t), the control part includes an extrapolation calculation part which calculates a command value y(k) used in a k-th updating period according to the following expression when the control part has not received the command value from the host apparatus or abnormality occurs in the communication in the k-th updating period:
y(k)=y(k?2)+{y(k?1)?y(k?3)}, or
y(k)=y(k?2)+{y(k?2)?y(k?4)}.
MOTOR CONTROL DEVICE AND MOTOR CONTROL METHOD
A motor control device capable of promptly positioning a driven object at a target position, while suppressing backlash. The motor control device includes an operation command generation section for generating a first operation command and a second operation command for first and second motors to move the driven object; a preload command generation section for generating a first preload command which is added to the first operation command and a second preload command which is added to the second operation command in order that drive axes of the first motor and the second motor provide the driven object forces in opposite directions; and a preload command adjustment section for adjusting the first preload command and the second preload command in order that an absolute value of the above forces is decreased when an operation amount exceeds a predetermined threshold value.
Moving position control system for moving apparatus
A moving position control system for a moving apparatus includes an embedded PC, a position control board, a servo driver, a servo motor, and a barcode scanner. The embedded PC sends a positioning instruction to the position control board, which processes the positioning instruction and then sends a signal to the servo driver to drive the servo motor. The barcode scanner collects absolute positions of the moving apparatus on a moving track thereof. The position control board, the servo driver, and the servo motor form a closed-loop control circuit that includes a position loop control circuit, a speed loop control circuit, and a current loop control circuit. Improved operational efficiency is achieved by locating the position loop control circuit at the position control board.
Motor control system
Systems and apparatus relating to motor control (e.g., for thermal transfer printing) include, according to at least one implementation, a motor control system including: a position controller to receive a demanded position (P.sub.D) input for controlling a motor; a torque controller coupled with the position controller, the torque controller to receive a torque bias (T.sub.B) input for controlling the motor; and a feedback circuit coupled with the torque controller and the position controller; wherein the feedback circuit is configured and arranged to combine an output from the position controller, the output being generated based on the demanded position (P.sub.D) input, with the torque bias (T.sub.B) input to generate a torque demand (T.sub.D) input to the torque controller.
Motor control device and motor control computer program
A control device calculates a position deviation between a position of a movable member designated by a position command and a measured position of the movable member by a position detector at each sampling period, adds a disturbance signal generated from a phase signal having a predetermined period to a drive signal generated from the position deviation to which an amount of correction is added, causes a motor for driving the movable member to operate based on the drive signal to which the disturbance signal is added, calculates the amount of correction by using a dynamic characteristic compensation filter in such a way as to reduce the position deviation, and changes a configuration of the dynamic characteristic compensation filter in such a way that an evaluation value related to magnitude of the position deviation satisfies a predetermined condition.