# US 6,865,499 B2 · Method and apparatus for tuning compensation parameters in a motion control system associated with a mechanical member > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 6,865,499 B2 - Document ID: US6865499B2 - Status: Granted - Kind: B2 - Application number: 10/124,639 - Filed: 2002-04-17 - Published: 2003-02-20 - Granted: 2005-03-08 - Earliest claimed: 2001-04-26 - Assignees: Siemens Energy & Automation, Inc. - Inventors: Stephen J. Yutkowitz - Web page: https://patentgrep.com/patent/US6865499B2 ## 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 2219/49181: Calculation, estimation, creation of error model using measured error values - 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 In one embodiment, a method and machine are provided for tuning compensation parameters in a motion control system associated with a mechanical member. The method includes the steps of receiving an indication of a compensation parameter to be tested, based on the compensation parameter to be tested causing a signal associated with a desired motion of the mechanical member to be commanded, acquiring control data associated with the signal, acquiring measurement data associated with actual motion of the mechanical member in response to the signal, analyzing the control and measurement data; and based on the step of analyzing the control and measurement data, implementing a value of the compensation parameter. ## Claims ### Claim 1 A method for tuning compensation parameters in a motion control system associated with a mechanical member, the method comprising: a) receiving an indication of a compensation parameter to be tested; b) based on the compensation parameter to be tested, causing a signal associated with a desired motion of the mechanical member to be commanded; c) acquiring control data associated with the signal; d) acquiring measurement data associated with actual motion of the mechanical member in response to the signal; e) analyzing the control and measurement data; f) based on the step of analyzing the control and measurement data, implementing a value of the compensation parameter; wherein the step of analyzing the data comprises the steps of: determining error from the data; associating the error with a parametric model; and extracting the value for the compensation parameter from the parametric model. ### Claim 2 (depends on 1) The method of claim 1, wherein the step of associating the error with a parametric model comprises the step of fitting the error to a curve. ### Claim 3 (depends on 1) The method of claim 1, further comprising the step of determining an ability of the parametric model to account for the error. ### Claim 4 A computer readable medium comprising instructions capable of implementing a method for tuning compensation parameters in a motion control system associated with a mechanical member, the method comprising: a) receiving an indication of a compensation parameter to be tested; b) based on the compensation parameter to be tested, causing a signal associated with a desired motion of the mechanical member to be commanded; c) acquiring control data associated with the signal; d) acquiring measurement data associated with actual motion of the mechanical member in response to the signal; e) analyzing the control and measurement data; f) based on the step of analyzing the control and measurement data, implementing a value of the compensation parameter; wherein the step of analyzing the data comprises the steps of: determining error from the data; associating the error with a parametric model; and extracting the value for the compensation parameter from the parametric model. ### Claim 5 A machine tool, comprising: a) an actuator having an attached mechanical member; b) a motion command generator adapted to produce motion commands capable of controlling the actuator; c) a compensator adapted to compensate the motion commands based upon at least one compensation parameter; d) a controller in communication with the actuator, the motion command generator, and the compensator, and adapted to: i) receive an indication of a compensation parameter to be tested; ii) based on the compensation parameter to be tested, cause a signal associated with a desired motion of the mechanical member to be commanded; iii) acquire control data associated with the signal; iv) acquire measurement data associated with actual motion of the mechanical member in response to the signal; v) analyze the control and measurement data; vi) based on the step of analyzing the control and measurement data, implement a value of the compensation parameter; wherein the step of analyzing the data comprises the steps of: determining error from the data; associating the error with a parametric model; and extracting the value for the compensation parameter from the parametric model. ### Claim 6 (depends on 1) The method of claim 1, further comprising the step of providing a setup interface that enables a user of the motion control system to design a test capable of causing the signal to be commanded. ### Claim 7 (depends on 1) The method of claim 1, further comprising the step of prompting a user of the motion control system to setup a device capable of outputting the measurement data associated with the actual motion. ### Claim 8 (depends on 7) The method of claim 7, wherein the step of prompting a user of the motion control system to setup a device comprises the step of providing a test interface capable of aiding a user of the motion control system in setting up the device. ### Claim 9 (depends on 1) The method of claim 1, further comprising the steps of: causing the signal to be commanded again; acquiring additional control data associated with the signal; acquiring additional measurement data associated with new actual motion of the mechanical member; and analyzing the additional data. ### Claim 10 (depends on 1) The method of claim 1, wherein the step of receiving an indication of a compensation parameter to be tested comprises the step of providing a setup interface that allows a test condition parameter to be entered, wherein the desired motion corresponds to the test condition parameter that is entered. ### Claim 11 (depends on 10) The method of claim 10, further comprising the step of validating the test condition parameter, wherein it is determined if the desired motion is appropriate based upon the test condition parameter. ### Claim 12 (depends on 11) The method of claim 11, wherein the step of validating the test condition parameter comprises the step of describing a problem associated with the desired motion if the test condition parameter is not validated. ### Claim 13 (depends on 1) The method of claim 1, wherein the step of causing a signal to be commanded comprises the steps of: automatically generating a set of instructions designed to cause the desired motion when executed; and executing the set of instructions. ### Claim 14 (depends on 1) The method of claim 1, wherein the step of analyzing the data further comprises the step of providing an analysis interface capable of displaying an analysis of the data. ### Claim 15 (depends on 1) The method of claim 1, wherein the step of implementing the value comprises the steps of: suggesting the value for the compensation parameter; receiving an indication with respect to acceptance of the value suggested for the compensation parameter; and if an indication with respect to acceptance of the value suggested for the compensation parameter is received, implementing the value of the compensation parameter. ### Claim 16 (depends on 15) The method of claim 15, wherein the step of suggesting a value for the compensation parameter further comprises the step of providing a diagnostics interface capable of allowing the value of the compensation parameter to be adjusted. ### Claim 17 (depends on 16) The method of claim 16, wherein the step of providing a diagnostics interface further comprises providing a diagnostics interface capable of displaying an error source and the value of the compensation parameter as suggested, and capable of receiving an indication of whether the value as suggested should be accepted. ### Claim 18 (depends on 15) The method of claim 15, wherein the step of providing a diagnostics interface further comprises displaying predicted affects if the value is adjusted. ### Claim 19 (depends on 1) The method of claim 1, wherein the step of implementing the value comprises the steps of: providing an adjustment interface capable of receiving changes to the value of the compensation parameter; and if received, implementing the changes to the value of the compensation parameter in the motion control system. ### Claim 20 (depends on 1) The method of claim 1, wherein the compensation parameter compensates for at least one of a scale error, a squareness error, a straightness error, backlash, windup and friction. ### Claim 21 (depends on 4) The computer readable medium of claim 4, wherein the compensation parameter compensates for at least one of a scale error, a squareness error, a straightness error, backlash, windup and friction. ### Claim 22 (depends on 5) The computer readable medium of claim 5, wherein the compensation parameter compensates for at least one of a scale error, a squareness error, a straightness error, backlash, windup and friction.