Control apparatus, control program, and recording medium

Patent metadata

Field	Value
Publication number	US-9996076-B2
Application number	US-201615382758-A
Country	US
Kind code	B2
Filing date	Dec 19, 2016
Priority date	Feb 26, 2016
Publication date	Jun 12, 2018
Grant date	Jun 12, 2018

Abstract

The present invention uses a simple structure to precisely control a position of a rotator. A controller ( 1 ) sends a pulse for controlling rotation of a work ( 34 ) to a servo driver ( 2 ), and the work ( 34 ) is rotated by a motor ( 31 ) according to a reduction ratio as prescribed of a decelerator in which the motor ( 31 ) is driven by the servo driver ( 2 ) using a pulse quantity of the pulse for indicating an instruction position. The controller ( 1 ) includes a counting range determining part ( 132 ), and the counting range determining part ( 132 ) determines a counting range of an instruction position counter ( 21 a ) for counting the pulse quantity. The counting range determining part ( 132 ) multiples a prescribed pulse quantity of each turn of the motor ( 31 ) by a reciprocal of the reduction ratio and a correction value, and determines the correction value which enables a multiplication result to be an integer.

First claim

What is claimed is:

1. A control apparatus, configured to send a pulse used to control rotation of a rotator to a driver, wherein the rotator is rotated by a motor according to a reduction ratio as prescribed of a decelerator in which the motor is driven by the driver using a pulse quantity of the pulse for indicating an instruction position, the control apparatus comprising:
a processor configured to:
determine a counting range of a counter for counting the pulse quantity; and
multiply a prescribed pulse quantity for each rotation turn of the motor by a reciprocal of the reduction ratio and a correction value, and determine the correction value which enables a multiplication result to be an integer.

2. The control apparatus according to claim 1 , wherein
the decelerator is a gear pair with the reduction ratio being N/M, the gear pair enabling the rotator to rotate for integer N turns relative to the motor rotating for integer M turns; and
the processor is further configured to determine a rotational speed N of the rotator as the correction value.

3. The control apparatus according to claim 1 , wherein
the processor is further configured to use a positive integer as a multiplier, multiply the multiplier sequentially increasing from 1 by a multiplicative value of the prescribed pulse quantity and the reciprocal of the reduction ratio, and determine the multiplier multiplying the multiplicative value as the correction value when a multiplication result is an integer.

4. A control program, configured to use a computer as the control apparatus according to claim 1 to implement functions, wherein the control program is configured to causes the computer to serve as all parts to implement functions.

5. A recording medium, wherein the recording medium records the control program according to claim 4 and is readable by the computer.

6. The control apparatus according to claim 1 , wherein
the decelerator is a gear pair with the reduction ratio being N/M, the gear pair enabling the rotator to rotate for integer N turns relative to the motor rotating for integer M turns; and
the counting range determining circuit further determines a rotational speed N of the rotator as the correction value.

7. The control apparatus according to claim 1 , wherein
the counting range determining circuit further uses a positive integer as a multiplier, multiplies the multiplier sequentially increasing from 1 by a multiplicative value of the prescribed pulse quantity and the reciprocal of the reduction ratio, and determines the multiplier multiplying the multiplicative value as the correction value when a multiplication result is an integer.

8. A control apparatus, configured to send a pulse used to control rotation of a rotator to a driver, wherein the rotator is rotated by a motor according to a reduction ratio as prescribed of a decelerator in which the motor is driven by the driver using a pulse quantity of the pulse for indicating an instruction position, the control apparatus comprising:
a counting range determining circuit, configured to:
determine a counting range of a counter for counting the pulse quantity; and
multiply a prescribed pulse quantity for each rotation turn of the motor by a reciprocal of the reduction ratio and a correction value, and determine the correction value which enables a multiplication result to be an integer.

Assignees

• Omron Tateisi Electronics Co

Inventors

• Yamamoto Eiji
• Matsunaga Daisuke
• Shimamura Tomonori
• Kamitani Yoshimi

Classifications

• H02P8/14 Primary

  Arrangements for controlling speed or speed and torque (H02P8/12, H02P8/22 take precedence) · CPC title

• G05B2219/36495

  Recording position and other parameters, current, tool diameter, voltage · CPC title

• G05B19/416 Primary

  characterised by control of velocity, acceleration or deceleration (G05B19/19 takes precedence) · CPC title

• G05B2219/34013

  Servocontroller · CPC title

• G05B19/404 Primary

  characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) · CPC title