Method for detecting contact position

Claim 2

A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising: moving said body in a direction said object; determining whether a representative value for driving a load, said representative value comprising at least one of: a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement has exceeded a preset reference value or not; writing positional data for said body in a memory when the representative value for driving the load exceeds the reference value; accumulating a difference between the representative value for driving the load and the reference value after the representative value for driving the load has exceeded the reference value; and regarding a position indicated by the positional data stored in said memory as a contact position when the accumulated difference reaches a preset specified value.

Claim 3

A contact position detecting method according to claim 1 further comprising: subjecting a speed integration instruction value, a current instruction value, or a current feedback value to integration with a time equal to the period of cyclic noise; and regarding the integrated value as a representative value for driving the load.

Claim 4

A contact position detecting method according to claim 1 further comprising: measuring a speed integration instruction value, a current instruction value, or a current feedback value for one rotation of a motor that drives said body; writing a load fluctuation component value computed from the measured value for one rotation of the motor in said memory for each rotation of said motor; executing load fluctuation compensation for the speed integration instruction value, the current instruction value, or the current feedback value based on the load fluctuation component value stored in said memory; and regarding the value obtained after the compensation as the representative value for driving the load.

Claim 5

A contact position detecting method according to claim 1 further comprising: measuring a speed integration instruction value, a current value, or a current feedback value during movement of said body; writing a load fluctuation component value for said body at each position obtained from the measured value in said memory; executing load fluctuation compensation for the speed integration instruction value, the current value, or the current feedback value based on the load fluctuation component value stored in said memory; and regarding the value obtained after the compensation as the representative value for driving the load.

Claim 6

A contact position detecting method according to claim 1 further comprising: executing feed forward correction to a current instruction with a sinusoidal wave signal having a cycle equal to that of a load fluctuation component with a constant cycle and a constant amplitude specified to a motor in current instruction control in said servo section; and regarding a current instruction value before the feed forward correction or a speed integration instruction value in PI control as the representative value for driving the load.

Claim 7

A contact position detecting method according to claim 1 further comprising: computing an external disturbance compensating current value with an external disturbance observer in current instruction control in said servo section; executing feed forward correction to a current instruction according to the external disturbance compensating current value; and regarding a current instruction value before the feed forward correction or a speed integration instruction value in PI controls as the representative value for driving the load.

Claim 8

A contact position detecting method according to claim 1 further comprising: immediately moving said body away from said object when a contact position is detected.

Claim 9

A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising: moving said body in a direction of said object; calculating a time differentiation of a representative value for driving a load, said representative value comprising at least one of: a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement; determining whether the time-differentiated value has exceeded a preset reference value or not; and regarding a position indicated by positional data for said body as a contact position when the time-differentiated value has exceeded the reference value.

Claim 10

A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising: moving said body in a direction of said object; calculating a time differentiation of a representative value for driving a load, said representative value comprising at least one of: a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement; determining whether the time-differentiated value has exceeded a preset reference value or not; and regarding a position indicated by positional data for said body as a contact position when the time-differentiated value has exceeded the reference value.

Claim 11

A contact position detecting method according to claim 8 further comprising: subjecting a speed integration instruction value, a current instruction value, or a current feedback value to integration with a time equal to the period of cyclic noise; and regarding the integrated value as a representative value for driving the load.

Claim 12

A contact position detecting method according to claim 8 further comprising: measuring a speed integration instruction value, a current instruction value, or a current feedback value for one rotation of a motor that drives said body; writing a load fluctuation component value computed from the measured value for one rotation of the motor in said memory for each rotation of said motor; executing load fluctuation compensation for the speed integration instruction value, the current instruction value, or the current feedback value based on the load fluctuation component value stored in said memory; and regarding the value obtained after the compensation as the representative value for driving the load.

Claim 13

A contact position detecting method according to claim 8 further comprising: measuring a speed integration instruction value, a current value, or a current feedback value during movement of said body; writing a load fluctuation component value for said body at each position obtained from the measured value in said memory; executing load fluctuation compensation for the speed integration instruction value, the current value, or the current feedback value based on the load fluctuation component value stored in said memory; and regarding the value obtained after the compensation as the representative value for driving the load.

Claim 14

A contact position detecting method according to claim 8 further comprising: executing feed forward correction to a current instruction with a sinusoidal wave signal having a cycle equal to that of a load fluctuation component with a constant cycle and a constant amplitude specified to a motor in current instruction control in said servo section; and regarding a current instruction value before the feed forward correction or a speed integration instruction value in PI control as the representative value for driving the load.

Claim 15

A contact position detecting method according to claim 8 further comprising: computing an external disturbance compensating current value with an external disturbance observer in current instruction control in said servo section; executing feed forward correction to a current instruction according to the external disturbance compensating current value; and regarding a current instruction value before the feed forward correction or a speed integration instruction value in PI controls as the representative value for driving the load.

Claim 16

A contact position detecting method according to claim 8 further comprising: immediately moving said body away from said object when a contact position is detected.

Claim 17

A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising: moving said body in a direction of said object; calculating a time differentiation of a representative value for driving a load, said representative value comprising at least one of: a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement; determining whether the time-differentiated value has exceeded a preset reference value or not; writing positional data for said body in a memory when the time-differentiated value has exceeded the reference value; accumulating a difference between the time-differentiated value and the reference value after the time-differentiated value has exceeded the reference value; and regarding a position indicated by the positional data stored in said memory as a contact position when the accumulated value has reached a preset specified value.

Claim 18

A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising: moving said body in a direction of said object; calculating a time differentiation of a representative value for driving a load, said representative value comprising at least one of: a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement; determining whether the time-differentiated value has exceeded a preset reference value or not; writing positional data for said body in a memory when the time-differentiated value has exceeded the reference value; accumulating a difference between the time-differentiated value and the reference value after the time-differentiated value has exceeded the reference value; and regarding a position indicated by the positional data stored in said memory as a contact position when the accumulated value has reached a preset specified value.

Claim 19

A contact position detecting method according to claim 15 further comprising: subjecting a speed integration instruction value, a current instruction value, or a current feedback value to integration with a time equal to the period of the cyclic noise; and regarding the integrated value as a representative value for driving the load.

Claim 20

A contact position detecting method according to claim 15 further comprising: measuring a speed integration instruction value, a current instruction value, or a current feedback value for one rotation of a motor that drives said body; writing a load fluctuation component value computed from the measured value for one rotation of the motor in said memory for each rotation of said motor; executing load fluctuation compensation for the speed integration instruction value, the current instruction value, or the current feedback value based on the load fluctuation component value stored in said memory; and regarding the value obtained after the compensation as the representative value for driving the load.

Claim 21

A contact position detecting method according to claim 15 further comprising: measuring a speed integration instruction value, a current value, or a current feedback value during movement of said body; writing a load fluctuation component value for said body at each position obtained from the measured value in said memory; executing load fluctuation compensation for the speed integration instruction value, the current value, or the current feedback value based on the load fluctuation component value stored in said memory; and regarding the value obtained after the compensation as the representative value for driving the load.

Claim 22

A contact position detecting method according to claim 15 further comprising: executing feed forward correction to a current instruction with a sinusoidal wave signal having a cycle equal to that of a load fluctuation component with a constant cycle and a constant amplitude specified to a motor in current instruction control in said servo section; and regarding a current instruction value before the feed forward correction or a speed integration instruction value in PI control as the representative value for driving the load.

Claim 23

A contact position detecting method according to claim 15 further comprising: computing an external disturbance compensating current value with an external disturbance observer in current instruction control in said servo section; executing feed forward correction to a current instruction according to the external disturbance compensating current value; and regarding a current instruction value before the feed forward correction or a speed integration-instruction value in PI controls as the representative value for driving the load.

Claim 24

A contact position detecting method according to claim 15 further comprising: immediately moving said body away from said object when a contact position is detected.

Claim 25

A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising: moving said body in a direction of said object; writing positional data for said body during this movement in time series in a memory; calculating a time-differentiation of a representative value for driving a load, said representative value comprising at least one of: a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement; determining whether the time-differentiated value has exceeded a preset reference value or not; accumulating a difference between the time-differentiated value and the reference value at the point in time and on, when the time-differentiated value has exceeded the reference value; calculating an average of the time-differentiated values between the point in time when the time-differentiated value has exceeded the reference value and the accumulated difference value has reached the specified value when the time-differentiated value exceeds the reference value, and estimating a point in time when the representative value for driving the load has exceeded the preset reference value; reading out positional data at the estimated point in time from said memory; and regarding a position indicated by the positional data as a contact position.

Claim 26

A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising: moving said body in a direction of said object; writing positional data for said body during this movement in time series in a memory; calculating a time-differentiation of a representative value for driving a load, said representative value comprising at least one of: a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement; determining whether the time-differentiated value has exceeded a preset reference value or not; accumulating a difference between the time-differentiated value and the reference value at the point in time and on, when the time-differentiated value has exceeded the reference value; calculating an average of the time-differentiated values between the point in time when the time-differentiated value has exceeded the reference value and the accumulated difference value has reached the specified value when the time-differentiated value exceeds the reference value, and estimating a point in time when the representative value for driving the load has exceeded the preset reference value; reading out positional data at the estimated point in time from said memory; and regarding a position indicated by the positional data as a contact position.

Claim 27

A contact position detecting method according to claim 22 further comprising: subjecting a speed integration instruction value, a current instruction value, or a current feedback value to integration with a time equal to the period of a cyclic noise; and regarding the integrated value as a representative value for driving the load.

Claim 28

A contact position detecting method according to claim 22 further comprising: measuring a speed integration instruction value, a current instruction value, or a current feedback value for one rotation of a motor that drives said body; writing a load fluctuation component value computed from the measured value for one rotation of the motor in said memory for each rotation of said motor; executing load fluctuation compensation for the speed integration instruction value, the current instruction value, or the current feedback value based on the load fluctuation a component value stored in said memory; and regarding the value obtained after the compensation as the representative value for driving the load.

Claim 29

A contact position detecting method according to claim 22 further comprising: measuring a speed integration instruction value, a current value, or a current feedback value during movement of said body; writing a load fluctuation component value for said body at each position obtained from the measured value in said memory; executing load fluctuation compensation for the speed integration instruction value, the current value, or the current feedback value based on the load fluctuation component value stored in said memory; and regarding the value obtained after the compensation as the representative value for driving the load.

Claim 30

A contact position detecting method according to claim 22 further comprising the steps of: executing feed forward correction to a current instruction with a sinusoidal wave signal having a cycle equal to that of a load fluctuation component with a constant cycle and a constant amplitude specified to a motor in current instruction control in said servo section; and regarding a current instruction value before the feed forward correction or a speed integration instruction value in PI control as the representative value for driving the load.

Claim 31

A contact position detecting method according to claim 22 further comprising: computing an external disturbance compensating current value with an external disturbance observer in current instruction control in said servo section; executing feed forward correction to a current instruction according to the external disturbance compensating current value; and regarding a current instruction value before the feed forward correction or a speed integration instruction value in PI controls as the representative value for driving the load.

Claim 32

A contact position detecting method according to claim 22 further comprising: immediately moving said body away from said object when a contact position is detected.