Patent No. | 9,152,142 |
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Issue Date | October 06, 2015 |

Title | Servo Controller For Correcting Position Error When Moving Member Reverses |

Inventorship | Junichi Tezuka, Yamanashi (JP) Hajime Ogawa, Yamanashi (JP) |

Assignee | FANUC CORPORATION, Yamanashi (JP) |

1. A servo controller which drives a threaded shaft of a ball screw which is connected to a servo motor so as to make a moving

member which is engaged with said threaded shaft move,

said servo controller comprising:

a motor position acquiring part which acquires a position of said servo motor every predetermined control period,

a moving member position acquiring part which acquires a position of said moving member said every predetermined control period,

a torque command preparing unit which prepares a torque command of said servo motor said every predetermined control period,

a reversal change calculating part which uses a position of said moving member which was acquired by said moving member position

acquiring part as the basis to calculate the amount of change of the position of said moving member when the servo motor reverses,

a distance calculating part which uses the position of said servo motor which was acquired by said motor position acquiring

part or the position of said moving member which was acquired by said moving member position acquiring part as the basis to

calculate a distance from an output end of said servo motor to said moving member,

an approximation equation determining part which uses the amount of change of the position of said moving member which was

calculated by said reversal change calculating part, the torque command which was prepared by said torque command preparing

unit, and the distance which was calculated by said distance calculating part as the basis to determine an approximation equation

for calculating a position correction amount which corrects delay of said servo motor due to reversal of said servo motor,

and

a position correction calculating part which uses the approximation equation which was determined by said approximation equation

determining part as the basis to calculate said position correction amount.

member which is engaged with said threaded shaft move,

said servo controller comprising:

a motor position acquiring part which acquires a position of said servo motor every predetermined control period,

a moving member position acquiring part which acquires a position of said moving member said every predetermined control period,

a torque command preparing unit which prepares a torque command of said servo motor said every predetermined control period,

a reversal change calculating part which uses a position of said moving member which was acquired by said moving member position

acquiring part as the basis to calculate the amount of change of the position of said moving member when the servo motor reverses,

a distance calculating part which uses the position of said servo motor which was acquired by said motor position acquiring

part or the position of said moving member which was acquired by said moving member position acquiring part as the basis to

calculate a distance from an output end of said servo motor to said moving member,

an approximation equation determining part which uses the amount of change of the position of said moving member which was

calculated by said reversal change calculating part, the torque command which was prepared by said torque command preparing

unit, and the distance which was calculated by said distance calculating part as the basis to determine an approximation equation

for calculating a position correction amount which corrects delay of said servo motor due to reversal of said servo motor,

and

a position correction calculating part which uses the approximation equation which was determined by said approximation equation

determining part as the basis to calculate said position correction amount.