Controller including means for confirmation in preparation of synchronous operation teaching data
AssigneeFanuc Corporation
InventorTakehiro Yamaguchi
Life of this patent
Estimating the term…
Abstract
A controller teaches a teaching point of a slave axis corresponding to a master axis so as to perform a synchronous operation. The controller calculates a teaching range based on one moving speed pattern selected from a plurality of moving speed patterns of the master axis which are preliminarily registered, a preliminarily-set allowable speed in an operation of the slave axis, and a calculated teaching range, in which teaching can be performed, of a following teaching point, so as to display the teaching range on a display device.
Claims20
A controller which teaches a teaching point of one or more slave axes corresponding to a master axis so as to perform a synchronous operation, the controller comprising:
- a master axis moving speed pattern selection unit that selects a moving speed pattern of the master axis that is preliminarily registered;
- a slave axis allowable speed setting unit that preliminarily sets an allowable speed in an operation of the slave axis;
- a teaching point range calculation unit that calculates a teaching range of a following teaching point in which teaching can be performed;
- and
- a teaching point range information display unit that displays, on a display device, the teaching range calculated by the teaching point range calculation unit wherein the teaching point range calculation unit is configured to calculate the teaching range based on
- (1) the moving speed pattern of the master axis that is selected by the master axis moving speed pattern selection unit,
- (2) the allowable speed in an operation of the slave axis that is set by the slave axis allowable speed setting unit, and
- positions of past teaching points of the master axis and the slave axis,
- wherein, when the master axis moves at a constant speed, the teaching point range calculation unit is configured to
- refer to the moving speed pattern of the master axis,
- acquire a speed of the master axis from a position of a past teaching point to a position of a following teaching point, and
- calculate moving time Tm of the master axis based on the acquired speed, by using Formula (1)
- Tm=(2 ×Xm)/Fm (1)
- where Xm is a moving amount of the master axis, and Fm is the speed of the master axis.
A controller which teaches a teaching point of one or more slave axes corresponding to a master axis so as to perform a synchronous operation, the controller comprising:
- a master axis moving speed pattern selection unit that selects a moving speed pattern of the master axis that is preliminarily registered;
- a slave axis allowable speed setting unit that preliminarily sets an allowable speed in an operation of the slave axis;
- a teaching point range calculation unit that calculates a teaching range of a following teaching point in which teaching can be performed;
- and
- a teaching point range information display unit that displays, on a display device, the teaching range calculated by the teaching point range calculation unit wherein
- the teaching point range calculation unit is configured to calculate the teaching range based on
- (1) the moving speed pattern of the master axis that is selected by the master axis moving speed pattern selection unit,
- (2) the allowable speed in an operation of the slave axis that is set by the slave axis allowable speed setting unit, and
- positions of past teaching points of the master axis and the slave axis,
- wherein when the master axis moves at a constant speed in a circular motion, the teaching point range calculation unit is configured to
- calculate moving time Tm of the master axis, by using Formula (3)
- Tm
- =
- 6
-
-
- Xm
- Aa
- (
- 3
- )
- where Xm is a moving amount of the master axis, Tm is moving time of the master axis, and Aa is an acceleration rate of master axis.
Dependencies are inferred from the claim text.