Method of controlling electronic cam and servo motor control system
AssigneeOMRON Corporation
InventorHiroyuki Maeda
Life of this patent
Estimating the term…
Abstract
An electronic cam using a servo motor is controlled such that its motion including its acceleration will be connected between synchronized and non-synchronized control sections. A controlled object is moved at a fixed speed during the synchronized control section. A fifth-order function for position control of the electronic cam, a fourth-order function for speed control of the electronic cam and a third-order function for acceleration control of the electronic cam are used in the non-synchronized control section such that operation of the electronic cam at transition points between the synchronized control section and the non-synchronized control section is smoothly controlled.
Claims20
A control method for an electronic cam using a servo motor, said method comprising the steps of:
- providing a synchronized control section where control is carried out for moving a follower shaft serving as a controlled object in synchronism with a main shaft position and a non-synchronized control section where control is carried out for moving said follower shaft from the ending position of said synchronized control section to the starting position of the next synchronized control section;
- using a fifth-order function for position control of said electronic cam, a fourth-order function for speed control of said electronic cam and a third-order function for acceleration control of said electronic cam in said non-synchronized control section such that operation of said electronic cam at transition points between said synchronized control section and said non-synchronized control section is smoothly controlled.
A servo motor control system provided with a synchronized control section where control is carried out for moving a follower shaft serving as a controlled object in synchronism with a main shaft position and a non-synchronized control section where control is carried out for moving said follower shaft from the ending position of said synchronized control section to the starting position of the next synchronized control section;
- said servo control system comprising:
- a condition setting part for setting main shaft position, cam position, cam speed and cam acceleration corresponding to starting and ending positions of said non-synchronized control section;
- a judging part for judging whether an obtained cam position is in said synchronized control section or in said non-synchronized control section;
- a control curve generating part for generating a non-synchronization curve of a fifth order function of cam position corresponding to said main shaft position, a non-synchronization curve of a fourth order function of cam speed corresponding to said main shaft position and a non-synchronization curve of a third order function of cam acceleration corresponding to said main shaft position based on the cam position, the cam speed and the cam acceleration at the starting and ending positions of said non-synchronized control section if said judging part judges said obtained cam position to be in said non-synchronized control section;
- and
- a command setting part that generates and outputs output data for operating said servo motor based on each of the non-synchronization curves obtained by said control curve generating part and said obtained cam position.
Dependencies are inferred from the claim text.