US Patent No. 9,541,915

NUMERICAL CONTROLLER HAVING FUNCTION OF SWITCHING POSITION CONTROL GAIN DURING SYNCHRONOUS CONTROL


Patent No. 9,541,915
Issue Date January 10, 2017
Title Numerical Controller Having Function Of Switching Position Control Gain During Synchronous Control
Inventorship Kouichirou Horiguchi, Minamitsuru-gun (JP)
Assignee FANUC CORPORATION, Minamitsuru-gun, Yamanashi (JP)

Claim of US Patent No. 9,541,915

1. A numerical controller that outputs a position command corresponding to a synchronous position in consideration of a servo
delay of a slave axis, to the slave axis from a real position of a master axis, in order to perform position control of the
slave axis, thereby making a real position of the slave axis synchronously follow the real position of the master axis,
wherein a position control gain of the slave axis is changed based on a predetermined physical quantity during the synchronous
control and a compensation value for the position command for the slave axis is varied depending on the amount of change of
the position control gain of the slave axis.