# US 2013/0169208 A1 · Path display apparatus considering correction data

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- Number: US 2013/0169208 A1
- Document ID: US20130169208A1
- Status: Published application
- Kind: A1
- Application number: 13/705,547
- Filed: 2012-12-05
- Published: 2013-07-04
- Earliest claimed: 2011-12-28
- Assignees: Fanuc Corporation
- Inventors: Junichi TEZUKA; Hajime OGAWA
- Web page: https://patentgrep.com/patent/US20130169208A1

## CPC

- G05B 19/19: characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B 2219/41032: Backlash
- G05B 2219/41055: Kind of compensation such as pitch error compensation
- Y10T 409/300896: with sensing of numerical information and regulation without mechanical connection between sensing means and regulated means [i.e., numerical control]
- Y10T 483/17: including machine tool or component
- Y10T 483/1702: Rotating work machine tool [e.g., screw machine, lathe, etc.]
- Y10T 483/1729: Reciprocating tool machine tool [e.g., broaching machine, shaping machine, etc.]
- Y10T 483/1733: Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
- 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)
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## Abstract

A path display apparatus includes a first position command acquiring unit that acquires first position command for motors, a first position feedback acquiring unit that acquires first position feedback of each of the motors, a correction data acquiring unit that acquires correction data generated for each of the motors, a second position command calculating unit that subtracts the correction data from the first position command to calculate a second position command, a second position feedback calculating unit that subtracts the correction data from the first position feedback to calculate second position feedback, a command path display unit that displays a command path of the tip point of the tool, based on the second position command; and a feedback path display unit that displays a feedback path of the tip point of the tool, based on the second position feedback.

## Claims

### Claim 1

A path display apparatus that displays a path of a tip point of a tool of a machine tool that controls the position and posture of the tool by a plurality of drive axes, the path display apparatus comprising:
a first position command acquiring unit that acquires first position command, generated by a numerical control apparatus, for a plurality of motors that drive the plurality of drive axes, respectively;
a first position feedback acquiring unit that acquires first position feedback of each of the plurality of motors, from a plurality of position detectors that detect the respective positions of the plurality of motors every predetermined control cycle;
a correction data acquiring unit that acquires correction data generated for each of the plurality of motors;
a second position command calculating unit that subtracts the correction data from the first position command to calculate a second position command;
a second position feedback calculating unit that subtracts the correction data from the first position feedback to calculate second position feedback;
a command path display unit that displays a command path of the tip point of the tool, based on the second position command calculated by the second position command calculating unit; and
a feedback path display unit that displays a feedback path of the tip point of the tool, based on the second position feedback calculated by the second position feedback calculating unit.

### Claim 2 (depends on 1)

The path display apparatus as defined in claim 1, further comprising a second correction data calculating unit that calculates second correction data including control delay, using correction data acquired by the correction data acquiring unit and a transfer function indicating responses of respective position loops of the plurality of motors,
wherein the second position feedback calculating unit calculates second position feedback by subtracting the second correction data from the first position feedback.

### Claim 3 (depends on 2)

The path display apparatus as defined in claim 2, wherein the second correction data calculating unit uses a first-order lag filter corresponding to a position gain, as the transfer function.

### Claim 4 (depends on 1)

The path display apparatus as defined in claim 1, wherein the first position command is generated by adding the correction data to a position command read from an operation program of the machine tool.