Method for detecting contact position
AssigneeMitsubishi Denki Kabushiki Kaisha
InventorsToshiki Tanaka, Mitsuyasu Kachi
Life of this patent
Estimating the term…
Abstract
A movable body is moved towards an object for contact, it is determined whether a representative load for driving load such as a current instruction value for a servo amplifier providing controls for movement of the movable body has exceeded a reference value or not, and when the current instruction value exceeds the reference value, positional data for the body at this point of time is written in a memory, difference between the current instruction value and the reference value at this point of time and on is accumulated, and when the accumulated difference value reaches a specified value, a position indicated by the positional data in the memory is regarded as a contact position.
Claims28
A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising:
- moving said body in a direction said object;
- determining whether a representative value for driving a load, said representative value comprising at least one of:
- a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement has exceeded a preset reference value or not;
- writing positional data for said body in a memory when the representative value for driving the load exceeds the reference value;
- accumulating a difference between the representative value for driving the load and the reference value after the representative value for driving the load has exceeded the reference value;
- and
- regarding a position indicated by the positional data stored in said memory as a contact position when the accumulated difference reaches a preset specified value.
A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising:
- moving said body in a direction of said object;
- calculating a time differentiation of a representative value for driving a load, said representative value comprising at least one of:
- a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement;
- determining whether the time-differentiated value has exceeded a preset reference value or not;
- and
- regarding a position indicated by positional data for said body as a contact position when the time-differentiated value has exceeded the reference value.
A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising:
- moving said body in a direction of said object;
- calculating a time differentiation of a representative value for driving a load, said representative value comprising at least one of:
- a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement;
- determining whether the time-differentiated value has exceeded a preset reference value or not;
- writing positional data for said body in a memory when the time-differentiated value has exceeded the reference value;
- accumulating a difference between the time-differentiated value and the reference value after the time-differentiated value has exceeded the reference value;
- and
- regarding a position indicated by the positional data stored in said memory as a contact position when the accumulated value has reached a preset specified value.
A contact position determining method for detecting a contact position at which a movable body contacts an object for contact comprising:
- moving said body in a direction of said object;
- writing positional data for said body during this movement in time series in a memory;
- calculating a time-differentiation of a representative value for driving a load, said representative value comprising at least one of:
- a speed integration instruction value, a current instruction value, and a current feedback value in PI controls, by a servo section providing controls for movement;
- determining whether the time-differentiated value has exceeded a preset reference value or not;
- accumulating a difference between the time-differentiated value and the reference value at the point in time and on, when the time-differentiated value has exceeded the reference value;
- calculating an average of the time-differentiated values between the point in time when the time-differentiated value has exceeded the reference value and the accumulated difference value has reached the specified value when the time-differentiated value exceeds the reference value, and estimating a point in time when the representative value for driving the load has exceeded the preset reference value;
- reading out positional data at the estimated point in time from said memory;
- and
- regarding a position indicated by the positional data as a contact position.
Dependencies are inferred from the claim text.