Title:
METHOD OF CONTROLLING ROTATIONS OF MAIN SHAFTS
Document Type and Number:
WIPO Patent Application WO/1991/004812
Kind Code:
A1
Abstract:
A method of controlling rotations of main shafts, capable of preventing a work from being distorted during transfer of the work between the two main shafts of a machine. When speed loop controls are conducted by speed control sections (111, 211) of a first and a second main shaft control circuits (110, 210) and rotational speeds of a first and a second main shaft (100, 200) reach synchronous rotational speeds, positional loop controls are conducted by positional control sections (112, 212) of the two control circuits and the respective main shafts are operated at reduced speeds in accordance with rotational phases of the main shafts, thereafter, the speed loop controls are conducted again, and the two main shafts come to be rotated in equal phases and at equal and synchronous rotational speeds. In these states, the transfer of the work (300) is started between the two main shafts and integration controls at the two speed control sections are invalidated. For this reason, even if there is the difference in speed between the two main shafts at the time of starting the work transfer due to fluctuations in the rotational speeds of the two main shafts, the difference between torque commands from the two speed control sections due to the difference in rotational speed between the two main shafts is not gradually increased by the integration controls, thus the work can be prevented from being distorted.
Inventors:
KONO SHINICHI (JP)
FUKUKURA MASAAKI (JP)
FUKUKURA MASAAKI (JP)
Application Number:
PCT/JP1990/001296
Publication Date:
April 18, 1991
Filing Date:
October 05, 1990
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
B23Q15/00; B23B3/30; B23Q15/08; G05B19/18; G05B19/416; (IPC1-7): B23B3/30; B23Q15/00; H02P5/52
Foreign References:
| JPS6033756Y2 | 1985-10-07 | |||
| JPH02109606A | 1990-04-23 |
Other References:
See also references of EP 0447561A4
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