Control apparatus for servo system

A control apparatus for a servo system which uses a servo motor to perform operations equivalent to those of a cam mechanism, comprising:

• a motion command section, having a first data table for a position command, for outputting a position command equivalent to a cam stroke of the cam mechanism and cam shaft data equivalent to a cam shaft position of the cam mechanism in accordance with said first data table;
• and
• a servo drive section having a second data table and a third data table for deriving a velocity compensation command and a current compensation command from the cam shaft data from the motion command section;
• said servo drive section effecting at least one of velocity compensation based on the velocity compensation command and current compensation based on the current compensation command in servo control processing.

A control apparatus for a servo system which uses a servo motor to perform operations equivalent to those of a cam mechanism, comprising:

• a motion command section having a first data table, a second data table and a third data table for a position command, a velocity compensation command and a current compensation command, respectively, for calculating and outputting a position command equivalent to a cam stroke of the cam mechanism, a velocity compensation command and a current compensation command in accordance with the data tables and cam shaft data equivalent to a cam shaft position of the cam mechanism;
• and
• a servo control section for controlling the servo motor on the basis of the position command from said motion command section, said servo control section effecting at least one of velocity compensation based on the velocity compensation command and current compensation based on the current compensation command,
• wherein a synthesis of torque fluctuation data of a mechanical load connected to the servo motor and data for operation of the electronic cam is used as data of said third data table for the current compensation command.

A control apparatus for a servo system which uses a servo motor to perform operations equivalent to those of a cam mechanism, comprising:

• a motion command section having a first data table, a second data table and a third data table for a position command, a velocity compensation command and a current compensation command, respectively, for calculating and outputting a position command equivalent to a cam stroke of the cam mechanism, a velocity compensation command and first and second current compensation command reference values in accordance with the data tables and cam shaft data equivalent to a cam shaft position of the cam mechanism;
• said motion command section also having a cam shaft velocity detector for detecting and outputting cam shaft rotary velocity information, at least one of a first multiplying means and a second multiplying means for multiplying the velocity compensation command and the first current compensation command reference value, respectively, by the cam shaft rotary velocity information, and a summing means for calculating the current compensation command by adding the second current compensation command reference value to the result obtained by the second multiplying means;
• and
• a servo control section for controlling the servo motor on the basis of the position command from said motion command section, said servo control section effecting at least one of velocity compensation based on the velocity compensation command and current compensation based on the current compensation command.

A control apparatus for a servo system which uses a servo motor to perform operations equivalent to those of a cam mechanism, comprising:

• a motion command section, having a first data table for a position command, for outputting a position command equivalent to a cam stroke of the cam mechanism and cam shaft data equivalent to a cam shaft position of the cam mechanism in accordance with said data table;
• and
• a servo drive section having a second data table and a third data table for deriving a velocity compensation command and a current compensation command from the cam shaft data from the motion command section;
• said servo drive section effecting at least one of velocity compensation based on the velocity compensation command and current compensation based on the current compensation command;
• wherein a synthesis of torque fluctuation data of a mechanical load connected to the servo motor and data for operation of the electronic cam is used as data of said third data table for the current compensation command.