Servo control device and method of adjusting servo system
AssigneeFanuc Corporation
InventorsYasusuke Iwashita, Takahiro Akiyama, Masakazu Niwa
Life of this patent
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Abstract
A servo control device that displays, by a two-dimensional image, evaluation of control precision of a servo system, includes: an instruction unit that instructs a position instruction having periodicity; a unit that records a track of position data based on a position feedback of a servo system according to the position instruction; and a first drawing unit that draws position data based on the position feedback, data before a quarter cycle or after a quarter cycle of the position data or position data based on the position instruction before a quarter cycle or after a quarter cycle, on a two-dimensional plane including orthogonal two axes, as the axis data of the orthogonal two axes respectively.
Claims18
A control device comprising:
- an instruction unit that instructs a position instruction having periodicity;
- a unit that records a track of position data based on a position feedback of a servo system according to the position instruction;
- and
- a first drawing unit that draws position data based on the position feedback, data before a quarter cycle or after a quarter cycle of the position data or position data based on the position instruction before a quarter cycle or after a quarter cycle, on a two-dimensional plane including orthogonal two axes, as the axis data of the orthogonal two axes respectively.
A method of adjusting a servo system comprising:
- a step of instructing a position instruction having periodicity;
- a step of drawing position data based on a position feedback of a servo system according to the position instruction, data before a quarter cycle or after a quarter cycle of the position data or position data based on the position instruction before a quarter cycle or after a quarter cycle, on a two-dimensional plane including two orthogonal axes, as the axis data of the orthogonal two axes respectively;
- a step of drawing, in superimposition on the two-dimensional plane, the position data based on the position instruction and data before a quarter cycle or after a quarter cycle of the position data, as axis data of the orthogonal two axes respectively;
- and
- a step of adjusting the servo system so that a shape drawn based on the position data based on the position feedback and the data before a quarter cycle or after a quarter cycle of the position data or the position data based on the position instruction before a quarter cycle or after a quarter cycle, becomes closer to a shape of an evaluation reference, using a shape drawn based on the position data based on the position instruction and the data before a quarter cycle or after a quarter cycle of the position data as the evaluation reference.
A control device, comprising:
- an instruction unit for issuing periodic position instruction data to control a one-dimensional movement of a servo system;
- a recording unit for receiving a position feedback from the servo system and, based on the position feedback, recording one-dimensional actual position data of the servo system as driven according to the position instruction data;
- and
- a first drawing unit for drawing, on a two-dimensional plane having two orthogonal axes, a plot including
- (a) the actual position data on one of the two orthogonal axes;
- and
- (b) 90 degree phase shifted data of either (i) the actual position data or (ii) the position instruction data on the other one of the two orthogonal axes, thereby visually presenting the one-dimensional actual position data on the two-dimensional plane to facilitate visual evaluation of control precision or control adjustment of the servo system.
Dependencies are inferred from the claim text.