Back to results
US 5,015,935 AGranted
Servo-control apparatus
AssigneeFanuc Corporation
InventorYasusuke Iwashita
Life of this patent
Estimating the term…
Loading patent…
Loading patent…
AssigneeFanuc Corporation
InventorYasusuke Iwashita
Estimating the term…
A servo-control apparatus generates a velocity command by applying backlash correction data to position error data when direction of rotation of a servomotor is reversed, and performs a backlash correction by adding an amount of backlash acceleration to the velocity command. In order to terminate backlash acceleration at an appropriate time, velocity feedback pulses are accumulated by a counter from the moment acceleration control starts, and the accumulated value of velocity feedback is monitored by an acceleration-stop instructing unit. When the accumulated value attains a predetermined value, an acceleration output unit is caused to halt the output of the amount of backlash acceleration to complete control of backlash acceleration.
A servo-control apparatus for generating a velocity command by applying backlash correction data to position error data when direction of rotation of a servomotor is reversed, and performing a backlash correction by adding an amount of backlash acceleration to said velocity command, comprising:
A servo-control method for generating a velocity command by applying backlash correction data to position error data when direction of rotation of a servomotor is reversed, and performing a backlash correction by adding an amount of backlash acceleration to said velocity command, said method comprising the steps of:
Dependencies are inferred from the claim text.