Title:
SERVO CONTROLLER
Document Type and Number:
WIPO Patent Application WO/1990/003603
Kind Code:
A1
Abstract:
A servo controller which, when the rotational direction of the servo motor is inverted, adds backlash correction data (BC) to position deviation data (PC) to generate a speed instruction (VCMD) and adds backlash acceleration quantity (BACC) to the speed instruction to correct backlash. In order to terminate the backlash acceleration at a suitable timing, a counter (19) adds up the speed feedback pulses from a moment when the acceleration control is started, an acceleration stop instruction unit (20) monitors the added-up value of the speed feedback pulses, and an acceleration quantity output unit (21) no more produces the backlash acceleration quantity (BACC) when the added-up value has reached a predetermined value such as 2 or 3, thereby to complete the backlash acceleration control operation.
Inventors:
IWASHITA YASUSUKE (JP)
Application Number:
PCT/JP1989/000969
Publication Date:
April 05, 1990
Filing Date:
September 25, 1989
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
G05B19/404; G05D3/00; G05D3/12; (IPC1-7): G05D3/00
Foreign References:
| JPS63156639A | 1988-06-29 | |||
| JPH05837709A | ||||
| JPH0666694A | 1994-03-11 | |||
| JPS58214906A | 1983-12-14 | |||
| JPS49128211A | 1974-12-09 | |||
| JPS61178157A | 1986-08-09 |
Other References:
Utility Model Application No. 81688/1980 (Utility Model Laid-Open No. 10008/1982 (JP, U, 57-10008)) no Gansho ni Saisho ni Tenpusareta Specification and Drawing no Microfilm, Hitachi, Ltd. 19 January 1982 (19. 01. 82), page 4, line 2 to page 7, line 19, (Family: None)
See also references of EP 0389641A4
See also references of EP 0389641A4
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