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EP0072870A1 Expired / Lapsed EP ⏱️ 0.0 years remaining

Backlash compensation system for dual position-feedback control systems

Assignee: Fanuc Corp
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Filing: 1982-02-24
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Granted: —
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Expires: 2002-02-24
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Abstract

Abstract Machine tool with a movable mechanism (TBL) driven by a servomotor (MT). There are provided first and second posltion-control systems in the respective one of which a first position sensor (RSV) and a second position sensor (IND) are fed back, respectively. The polarity of the difference between the second sensor signal (FP 2 ) and a command signal (CP) is discriminated, and in response to changes in the polarity, a backlash compensation circuit (BCP) supplies a correction value corresponding to the amount of backlash of the movable mechanism (TBL), to the input terminal of the first position-control system as the next stage to compensate for the backlash.

Inventors

  • 👤 Tetsurou Sakano

Bibliographic Details

Application Number —
Jurisdiction EP
Data Source google_patents
Last Synchronized 2026-11-03 13:38
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/21; G05B19/23; G05B19/231; G05B19/232; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37297; G05B2219/41; G05B2219/41038

Claims Analysis

Total Claims: 3
Claim 1
Independent Claim 144 words
A system for correcting a backlash in a dual-position control system including a first minor position feedback control system in which a detection signal from a first position detector mounted on the shaft of a servo motor is fed back, and a second major position feedback control system in which a detection signal from a second positional detector mounted on a mechanical movable unit is fed back, for thereby performing positional control of the mechanical movable unit, characterized in that either a command signal or the detection signal generated by said second position detector, or an error signal indicative of the difference between the command signal and the detection signal is used to determine reversal of the direction of movement, and an amount of correction corresponding to a backlash is added to an input to a positional control system employing said first position detector.
Claim 2
Independent Claim 144 words
A system for correcting a backlash in a dual-position control system including a first minor position feedback control system in which a detection signal from a first position detector mounted on the shaft of a servo motor is fed back, and a second major position feedback control system in which a detection signal from a second positional detector mounted on a mechanical movable unit is fed back, for thereby performing positional control of the mechanical movable unit, characterized in that either a command signal or the detection signal generated by said second position detector, or an error signal indicative of the difference between the command signal and the detection signal is used to determine reversal of the direction of movement, and an amount of correction corresponding to a backlash is added to an input to a positional control system employing said first position detector.
Claim 3
Dependent Claim 29 words
A system according to claim 1, wherein said second major position feedback control system includes a digital integrating circuit composed of an error register, an accumulator, and an adder.

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