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US 10,946,514 B2Granted
Controller, work control unit, multi-axis motion control unit, and drive control unit
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsYumie Kubota, Shinichi Maehara, Hajime Kimura, Naoki Mizuno, Ken Nakamura
Life of this patent
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Abstract
A controller includes control function circuits that are connected to each other and control a multi-axis control machine. Each of the control function circuits performs a respective control function upon receipt of a control signal from another control function circuit of the control function circuits, and the control signal corresponds to a predetermined interface standard determined from the control function.
Claims9
A controller, comprising:
- a plurality of control function circuits connected to each other and configured to control a multi-axis control machine,
- wherein at least one of the control function circuits is configured to perform a respective control function upon receipt of a control signal from another control function circuit of the plurality of control function circuits, and the control signal corresponds to a predetermined interface standard determined from the control function, and
- wherein the plurality of control function circuits includes
- a work control circuit configured to control work that is to be performed by the multi-axis control machine,
- a multi-axis motion control circuit configured to control motion of each of drive axes of the multi-axis control machine to implement the work controlled by the work control circuit, the multi-axis motion control circuit being configured to control the motion of each of the drive axes by determining a trajectory plan, generating an angle command, a speed command, or a torque command, and correcting the angle command, the speed command, or the torque command based on a mechanism condition that includes an arrangement of each of the drive axes, a posture of each of the drive axes, an output of each of the drive axes, or a reduction gear ratio of each of the drive axes, and
- a drive control circuit configured to control power feed driving of each of the drive axes to implement the motion controlled by the multi-axis motion control circuit, wherein
- the multi-axis motion control circuit determines the trajectory plan, generates the angle command, the speed command, or the torque command, and corrects the angle command, the speed command, or the torque command, without the work control circuit and the drive control circuit determining the trajectory plan, generating the angle command, the speed command, or the torque command, and correcting the angle command, the speed command, or the torque command.
4 more elements
A multi-axis motion control device, comprising:
- a multi-axis motion control circuit configured to
- upon receipt of a control signal from a work control circuit, which is configured to control work that is to be performed by a multi-axis control machine and which is connected to the multi-axis motion control circuit, execute a motion control function that controls a motion of each of drive axes of the multi-axis control machine by determining a trajectory plan, generating an angle command, a speed command, or a torque command, and correcting the angle command, the speed command, or the torque command based on a mechanism condition that includes an arrangement of each of the drive axes, a posture of each of the drive axes, an output of each of the drive axes, or a reduction gear ratio of each of the drive axes, wherein the control signal corresponds to a motion control interface standard determined from the motion control function, and
- output to a drive control circuit a drive control signal corresponding to the motion control function, wherein
- the multi-axis motion control circuit determines the trajectory plan, generates the angle command, the speed command, or the torque command, and corrects the angle command, the speed command, or the torque command, without the work control circuit and the drive control circuit determining the trajectory plan, generating the angle command, the speed command, or the torque command, and correcting the angle command, the speed command, or the torque command.
1 more element
Dependencies are inferred from the claim text.