EP0302943A1
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EP
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Numerical control method having a function for compensating the delay in the follow-up operation
Assignee: Fanuc Corp
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Filing: 1988-02-04
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Granted: —
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Expires: 2008-02-04
Abstract
Abstract A numerical control method capable of rapidly and repetitively reciprocating an object to be controlled over the range from one position to the other inclusive of both positions by compensating the delay in the follow-up operation in the servo system for the instruction pulses, without increasing the time required for executing the operation. A period (TO) required for sending the whole amount of instruction pulses for the forward motion is calculated based upon the instructed moving amount and the instructed feeding speed (VO) that are stated in a program, and a corrective feeding speed (V1) is calculated based upon the amount (ESO) of instruction pulses for the backward motion that are sent during the period between a moment (t1) at which the transmission of the instruction pulses for the backward motion is started and a moment (t2) at which the positional deviation becomes zero. The instruction pulses for forward motion and the instruction pulses for the backward motion are sent over the period (TO) at the corrected feeding speed (V1).
Inventors
- 👤 Hideaki Kawamura
- 👤 Kentaro Fujibayashi
- 👤 Haruhiko Fanuc Utsugiryo Kozai
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-31 20:18
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/404; G05B2219/00; G05B2219/30; G05B2219/43; G05B2219/43122; G05B2219/49; G05B2219/49381; G05B2219/49382
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
228 words
In a numerical control method for repetitively and alternately effect forward movement and backward movement of a controlled object, a numerical control method with response delay compensating function, comprising the steps of: (a) reading a program in which a commanded amount of forward movement, a commanded amount of backward movement, a commanded feed rate for forward movement, and a commanded feed rate for backward movement are stated, respectively; (b) calculating a command time period required for delivery of all of first command pulses relating to one of the forward movement and the backward movement of the controlled object on the basis of contents of statement of the thus read program; (c) detecting an amount of second command pulses delivered over a time period from an instant at which delivery of the second command pulses is started to an instant at which an amount of positional deviation becomes less than a predetermined value, said second command pluses relating to the other of the forward movement and the backward movement of the controlled object; (d) calculating a corrected commanded feed rate for at least one of the forward movement and the backward movement in dependence on the detected delivery amount of said second command pulses; and (e) delivering at least one of said first and second command pulses at said corrected commanded feed rate over said calculated command time period.
Claim 2
Dependent Claim
228 words
In a numerical control method for repetitively and alternately effect forward movement and backward movement of a controlled object, a numerical control method with response delay compensating function, comprising the steps of: (a) reading a program in which a commanded amount of forward movement, a commanded amount of backward movement, a commanded feed rate for forward movement, and a commanded feed rate for backward movement are stated, respectively; (b) calculating a command time period required for delivery of all of first command pulses relating to one of the forward movement and the backward movement of the controlled object on the basis of contents of statement of the thus read program; (c) detecting an amount of second command pulses delivered over a time period from an instant at which delivery of the second command pulses is started to an instant at which an amount of positional deviation becomes less than a predetermined value, said second command pluses relating to the other of the forward movement and the backward movement of the controlled object; (d) calculating a corrected commanded feed rate for at least one of the forward movement and the backward movement in dependence on the detected delivery amount of said second command pulses; and (e) delivering at least one of said first and second command pulses at said corrected commanded feed rate over said calculated command time period.
Claim 3
Dependent Claim
81 words
A numerical control method with response delay compensating function according to claim 1, wherein said commanded amount of forward movement is the same as said commanded amount of backward movement, and said commanded feed rate for forward movement is the same as said commanded feed rate for backward movement, which are stated in said program, respectively, and, in said step (e), said first and second command pulses are sequentially delivered over said calculated command time period at said corrected feed rate.
Claim 4
Dependent Claim
93 words
A numerical control method with response delay compensating function according to claim 1, wherein, after execution of an initial control cycle including said series of steps (a) to (e), a control cycle including said steps (c) to (e) is repetitively carried out, and said numerical control method further includes the step (f) of executing said step (e) by succeedingly using the feed rate obtained in the preceding control cycle when it is determined that the delivery amount of said second command pulses detected by said step (c) is less than a predetermined value.
Claim 5
Dependent Claim
122 words
A numerical control method with response delay compensating function according to claim 1, wherein after execution of an initial control cycle including said series of steps (a) to (e), a control cycle including said steps. (c) to (e) is repetitively carried out, and said numerical-control method further includes the step (g) of calculating either one of a predicted forward moving amount and a predicted backward moving amount, and of executing said step (e) by succeedingly using the corrected feed rate obtained in the preceding control cycle when it is determined that the difference between the aforementioned calculated amount and an associated one of said commanded amount of forward movement and said commanded amount of backward movement is less than a predetermined amount.
Claim 6
Dependent Claim
79 words
A numerical control method with response delay compensating function according to claim 4, wherein said calculated value is obtained in said step (g) by subtracting the delivery amount of said second command pulses detected by said step (c) from the product of said calculated command time period and a corresponding one of said commanded feed rate for forward movement stated in said program, said commanded feed rate for backward movement stated in said program, and said corrected feed rate.
Claim 7
Dependent Claim
65 words
A numerical control method with response delay compensating function according to claim 3 or 4, wherein said step (d) is executed solely when the difference between the delivery amount of said second command pulses detected by said step (c) of the present control cycle and the delivery amount of said second command pulses detected in the preceding control cycle is less than a predetermined value.
Claim 8
Dependent Claim
22 words
A numerical control method with response delay compensating function according to claim 1, wherein said command pulses are subjected to acceleration/deceleration processing.
Claim 9
Dependent Claim
51 words
A numerical control method with response delay compensating function according to claim 1, wherein said commanded amount of forward movement, said commanded amount of backward movement, said commanded feed rate for forward movement, and said commanded feed rate for backward movement are provided in the form of a fixed cycle command.
Claim 10
Dependent Claim
32 words
A numerical control method with response delay compensating function according to claim 1, wherein said predetermined value of the positional deviation in said step (c) is set to a value of zero.
References Cited (Backward Citations)
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