# US 12,663,777 B2 · Operation control device and program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,663,777 B2 - Document ID: US12663777B2 - Status: Granted - Kind: B2 - Application number: 18/553,513 - Filed: 2021-06-02 - Published: 2024-06-13 - Granted: 2026-06-23 - Earliest claimed: 2021-06-02 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Takehiro Yamaguchi; Koichiro Horiguchi; Takashi Idei - Web page: https://patentgrep.com/patent/US12663777B2 ## CPC - G05B 19/402: characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence) - G05B 19/416: characterised by control of velocity, acceleration or deceleration (G05B19/19 takes precedence) - B23Q 15/12: Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion - G05B 2219/39321: Force control as function of position of tool - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT ## Abstract Provided are an operation control device and program that can improve processing speed while suppressing the occurrence of synchronization errors. This operation control device uses a synthesis drive signal obtained by synthesizing two drive signals to drive by switching a drive speed of a first drive shaft, and uses one of the synthesized drive signals to drive a second drive shaft for performing a task different from the first drive shaft. The operation control device comprises: a positional deviation calculation unit for calculating a positional deviation of the first drive shaft before switching the driving speed of the first drive shaft and calculating a positional deviation of the second drive shaft; and a gain value calculation unit for calculating a gain value of the first drive shaft after switching the operating speed, on the basis of the drive speed of the first drive shaft before switching the operating speed, the calculated positional deviation of the first drive shaft, and the calculated positional deviation of the second drive shaft. ## Claims ### Claim 1 An operation control device that uses a combined drive signal in which two drive signals are combined with each other to switch a drive speed of a first drive axis to drive the first drive axis, and uses one of the two drive signals to drive a second drive axis that performs another task than a task that the first drive axis performs, the operation control device comprising: a positional error calculation unit that calculates a positional error of the first drive axis before switching the drive speed of the first drive axis, and calculates a positional error of the second drive axis; a gain value calculation unit that calculates a gain value of the first drive axis after switching an operating speed, based on the drive speed of the first drive axis before switching the operating speed, the calculated positional error of the first drive axis, and the calculated positional error of the second drive axis; a parameter setting unit that sets the calculated gain value as a parameter of the first drive axis; and an operation control unit that uses the set parameter, the combined drive signal after switching takes place, and the one of the drive signals to be combined with each other to control operation of the first drive axis and the second drive axis. ### Claim 2 (depends on 1) The operation control device according to claim 1, wherein the positional error calculation unit calculates a positional error of the first drive axis before switching a drive speed of the second drive axis by the one of the drive signals or positional errors of the second drive axis before and after switching the drive speed, and the gain value calculation unit calculates a gain value of the first drive axis after changing the speed of the second drive axis, based on the drive speeds of the first drive axis before and after switching the drive speed, the calculated positional error of the first drive axis, and the calculated positional errors of the second drive axis before and after switching the drive speed. ### Claim 3 (depends on 1) The operation control device according to claim 1, wherein the gain value calculation unit calculates a gain value of the first drive axis in a direction along a drive direction of the second drive axis. ### Claim 4 (depends on 1) The operation control device according to claim 1, wherein the gain value calculation unit calculates a gain value of the first drive axis during driving after switching the operating speed to reduce a difference between the calculated positional error of the first drive axis before switching the drive speed and the positional error of the first drive axis after switching the drive speed. ### Claim 5 (depends on 4) The operation control device according to claim 4, wherein the gain value calculation unit calculates a setting value for a gain during driving after switching the operating speed to allow the difference between the calculated positional error of the first drive axis before switching the drive speed and the positional error of the first drive axis after switching the drive speed to fall within a predetermined range. ### Claim 6 (depends on 1) The operation control device according to claim 1, further comprising a selection unit that selects, for a parameter to be set, either the calculated gain value or smaller one of either the gain value of the first drive axis before switching the drive speed or the gain value of the second drive axis, wherein the parameter setting unit sets the selected gain value as a parameter of the first drive axis. ### Claim 7 A non-transitory computer readable medium which non-transitorily stores a program that causes a computer to function as an operation control device that uses a combined drive signal in which two drive signals are combined with each other to switch a drive speed of a first drive axis to drive the first drive axis, and uses one of the two drive signals to drive a second drive axis that performs another task than a task that the first drive axis performs, the program causing the computer to function as: a positional error calculation unit that calculates a positional error of the first drive axis before switching the drive speed of the first drive axis, and calculates a positional error of the second drive axis; a gain value calculation unit that calculates a gain value of the first drive axis after switching an operating speed, based on the drive speed of the first drive axis before switching the operating speed, the calculated positional error of the first drive axis, and the calculated positional error of the second drive axis; a parameter setting unit that sets the calculated gain value as a parameter of the first drive axis; and an operation control unit that uses the set parameter, the combined drive signal after switching takes place, and the one of the drive signals to be combined with each other to control operation of the first drive axis and the second drive axis.