# US 5,059,881 A · Numerical control apparatus having a backlash compensation function and method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 5,059,881 A - Document ID: US5059881A - Status: Granted - Kind: A - Application number: 07/635,227 - Filed: 1990-12-28 - Granted: 1991-10-22 - Earliest claimed: 1989-12-28 - Assignees: Toshiba Kikai Kabushiki Kaisha - Inventors: Jun Fujita; Michio Matumoto - Web page: https://patentgrep.com/patent/US5059881A ## CPC - G05B 19/404: characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) - G05B 2219/41085: Compensation pulses on inversion of direction of rotation, movement - 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 Backlash compensation for a numerical control apparatus. Backlash compensation is intelligently applied based on a judgment as to a change in direction or velocity commanded for a cutting tool, table, or the like. Backlash compensation data is stored into a memory of a numerical control apparatus. A judgement is made as to the necessity of backlash compensation, based on velocity data of the feed mechanism, and deciding whether the feed mechanism is being stopped or reversed. Compensation data is output to a servo drive unit. ## Claims ### Claim 1 A numerical control apparatus having a backlash compensation function, comprising: main control means for inputting a machining program and backlash compensation data, and outputting a motion command; servo drive means for driving a feed mechanism inputting the motion command from the main control means; command direction input means for inputting a command direction in the motion command output from the control means; velocity input means for inputting velocity data output from the servo drive means; judgement means for judging stop or direction reverse of the velocity of the feed mechanism, and outputting a compensation command so as to decide a backlash compensation timing; output means for storing the backlash compensation data input by the main control means, and outputting the backlash compensation data to the servo drive means receiving the compensation command output from the judgement means; and previous direction storing means for storing command direction previously output from the main control means. ### Claim 2 (depends on 1) The numerical control apparatus of claim 1, wherein said servo drive means includes: a position control unit for controlling position of the feed mechanism, and outputting a velocity command for controlling the velocity of the feed mechanism; a velocity control unit for inputting the velocity command from the position control unit, and outputting a torque command data; an amplifier unit for inputting the torque command and translate the torque command into a command electric current; a servo motor for driving the feed mechanism, by the command electric current; a velocity detector attached to the servo motor for detecting velocity of the servo motor; and a position detector also attached to the servo motor for detecting rotation thereof. ### Claim 3 (depends on 2) The numerical control apparatus of claim 2, wherein said velocity detector includes a tachometer generator. ### Claim 4 (depends on 2) The numerical control apparatus of claim 2, wherein said velocity detector includes an optical pulse generator for detecting the rotation speed of the servo motor. ### Claim 5 (depends on 2) The numerical control apparatus of claim 2, wherein said position detector includes a resolver. ### Claim 6 (depends on 2) The numerical control apparatus of claim 2, wherein said position detector includes an optical pulse generator for detecting the rotation of the servo motor. ### Claim 7 (depends on 1) The numerical control apparatus of claim 1, wherein said velocity input means includes a semiconductor memory for storing the velocity signal. ### Claim 8 (depends on 1) The numerical control apparatus of claim 1, wherein said command input means includes a semiconductor memory for storing the command direction. ### Claim 9 (depends on 1) The numerical control apparatus of claim 1, wherein said previous direction storing means is a semiconductor memory. ### Claim 10 (depends on 1) The numerical control apparatus of claim 1 further comprising: machining program input means for inputting the machining program; and compensation data input means for inputting the backlash compensation data input to the main control means by a operator. ### Claim 11 (depends on 10) The numerical control apparatus of claim 10, wherein said machine program input means includes a paper tape reader. ### Claim 12 (depends on 10) The numerical control apparatus of claim 10, wherein said compensation data input means includes a keyboard input operated by the operator. ### Claim 13 A method for backlash compensation of a numerical control apparatus having a servo drive means for driving a feed mechanism using a machining program, comprising the steps of: storing backlash compensation data into a memory of the numerical control apparatus; judging the necessity of backlash compensation from command data in the machining program; if necessary, detecting velocity data of the feed mechanism; deciding stop or reverse of feed mechanism motion controlled by the servo drive means using the velocity data detected in the detecting step; outputting the compensation data into the servo drive means after direction of the stop or the reverse of the feed mechanism. ### Claim 14 (depends on 13) The method of claim 13, wherein said judging step includes the steps of: inputting a command direction assigned in the command data; storing the command direction into a memory; and updating the command direction when the command direction is judged to change. ### Claim 15 (depends on 13) The method of claim 13, wherein said detecting step includes the step of detecting velocity of a servo motor controlled by the servo drive means.