# US 2019/0143470 A1 · Servo tuning device and servo tuning method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0143470 A1 - Document ID: US20190143470A1 - Status: Published application - Kind: A1 - Application number: 15/851,271 - Filed: 2017-12-21 - Published: 2019-05-16 - Earliest claimed: 2017-11-10 - Assignees: Industrial Technology Research Institute - Applicants: Industrial Technology Research Institute - Inventors: Wei-Sheng CHEN; Shih-Chang LIANG; Po-Hsun WU; Yu-Sheng ZENG; Tsung-Yu YANG - Web page: https://patentgrep.com/patent/US20190143470A1 ## CPC - B23Q 17/2414: {for indicating desired positions guiding the positioning of tools or workpieces (B25H1/0092 takes precedence)} - B23B 25/06: Measuring, gauging, or adjusting equipment on turning-machines for setting-on, feeding, controlling, or monitoring the cutting tools or work (measuring devices or gauges G01B) - B23Q 15/22: Control or regulation of position of tool or workpiece - B23Q 17/2428: {for measuring existing positions of tools or workpieces} - G01B 11/272: {using photoelectric detection means} - G05B 19/401: characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes (G05B19/19 takes precedence) - B23Q 17/2452: {for measuring features or for detecting a condition of machine parts, tools or workpieces (B23Q17/2428, B23Q17/2433 take precedence)} - G05B 2219/37283: Photoelectric sensor - G05B 2219/41095: References, calibration positions to adapt gain of servo - 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 - B23B: TURNING; BORING (arrangements for copying or controlling B23Q) - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - 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) ## Abstract A servo tuning device adapted to a multi-axis machine tool at least having two linear axes and a rotation axis used for a moving base and a working platform to move relatively along the two linear axes and the rotation axis. The servo tuning device includes a reflection component, a photoelectric sensor and a processor. The reflection component is configured to be disposed on one of the moving base and the working platform and has a reflection surface. The photoelectric sensor has a light-emitting element and a light-receiving element facing the reflection surface. The photoelectric sensor is configured to be disposed on the other one of the moving base and the working platform. The processor records information of relative movement between the photoelectric sensor and the reflection surface for calculating a loop gain value used for tuning a servo setting of the two linear axes or the rotation axis. ## Claims ### Claim 1 A servo tuning device adapted to a multi-axis machine tool at least having two linear axes and a rotation axis, with the two linear axes and the rotation axis configured to allow a moving base and a working platform of the multi-axis machine tool to move relatively to each other, and the servo tuning device comprising: a reflection component having a reflection surface, with the reflection component configured to be disposed on one of the moving base and the working platform; a photoelectric sensor having a light-emitting element and a light-receiving element, with both of the light-emitting element and the light-receiving element facing the reflection surface of the reflection component, the photoelectric sensor configured to be disposed on the other one of the moving base and the working platform; and a processor electrically connected to the photoelectric sensor, with the processor recording information of relative movement between the photoelectric sensor and the reflection surface so as to calculate a loop gain value for tuning a servo setting of the two linear axes or the rotation axis. ### Claim 2 (depends on 1) The servo tuning device according to claim 1, wherein the information of relative movement between the photoelectric sensor and the reflection surface comprises a set of tracking error values generated by a movement of a light image along a path, the light image is emitted onto the reflection surface by the photoelectric sensor, the set of tracking error values is related to a difference between a forward total relative movement and a backward total relative movement between the photoelectric sensor and the reflection surface, with said forward total relative movement formed during a period wherein the light image moves forward along the path, and with said backward total relative movement formed during another period wherein the light image moves backward along the path. ### Claim 3 (depends on 2) The servo tuning device according to claim 2, wherein the rotation axis is parallel to a supporting surface of the working platform, one of the two linear axes is parallel with the supporting surface, the other one of the two linear axes is perpendicular to the supporting surface, and both of the working platform and the moving base move along a first path serving as the path, with the first path is formed by a rotation around the rotation axis and a sum of movement vectors of the two linear axes. ### Claim 4 (depends on 3) The servo tuning device according to claim 3, wherein the reflection surface of the reflection component comprises an arc surface. ### Claim 5 (depends on 2) The servo tuning device according to claim 2, wherein the rotation axis is perpendicular to a supporting surface of the working platform, the two linear axes are parallel with the supporting surface, and both of the working platform and the moving base move along a second path serving as the path, with the second path is formed by a rotation around the rotation axis and a sum of movement vectors of the two linear axes. ### Claim 6 (depends on 5) The servo tuning device according to claim 5, wherein the reflection surface of the reflection component comprises a flat surface. ### Claim 7 A servo tuning method adapted to a multi-axis machine tool at least having two linear axes and a rotation axis configured to allow a moving base and a working platform of the multi-axis machine tool to move relatively to each other, and the servo tuning method comprising: disposing a reflection component on one of the moving base and the working platform and disposing a photoelectric sensor on the other one of the moving base and the working platform; actuating the moving base and the working platform so that a light image, emitted by the photoelectric sensor, moves along a path on a reflection surface of the reflection component; and calculating a loop gain value according to information of relative movement between the photoelectric sensor and the reflection surface for tuning a servo setting of the two linear axes or the rotation axis. ### Claim 8 (depends on 7) The servo tuning method according to claim 7, wherein calculating the loop gain value according to the information of relative movement between the photoelectric sensor and the reflection surface comprising: calculating a first tracking error value related to the path corresponding to a first loop gain and a second tracking error value related to the path corresponding to a second loop gain; and processing the first tracking error value and the second tracking error value based on a regression analysis for obtaining the loop gain value, wherein the first tracking error value and the second tracking error value are related to a difference between a forward total relative movement and a backward total relative movement between the photoelectric sensor and the reflection surface, with said forward total relative movement formed during a period wherein the light image moves forward along the path, and with said backward total relative movement formed during another period wherein the light image moves backward along the path. ### Claim 9 (depends on 7) The servo tuning method according to claim 7, wherein actuating the moving base and the working platform comprises: actuating the working platform to rotate around the rotation axis parallel with a supporting surface of the working platform and actuating the moving base to move in a direction of a sum of movement vectors of the two linear axes, wherein one of the two linear axes is parallel with the supporting surface and the other one of the two linear axes is perpendicular to the supporting surface. ### Claim 10 (depends on 7) The servo tuning method according to claim 7, wherein actuating the moving base and the working platform comprises: actuating the working platform to rotate around the rotation axis perpendicular to a supporting surface of the working platform and actuating the moving base to move in a direction of a sum of movement vectors of the two linear axes parallel the supporting surface, wherein the two linear axes are perpendicular to each other.