# US 9,753,450 B2 · Time series data display device converting point sequence data to time series data regarding drive axes to be displayed

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- Number: US 9,753,450 B2
- Document ID: US9753450B2
- Status: Granted
- Kind: B2
- Application number: 14/876,863
- Filed: 2015-10-07
- Published: 2016-04-21
- Granted: 2017-09-05
- Earliest claimed: 2014-10-16
- Assignees: Fanuc Corporation
- Applicants: FANUC Corporation
- Inventors: Hajime Ogawa; Junichi Tezuka
- Web page: https://patentgrep.com/patent/US9753450B2

## CPC

- G05B 19/402: characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence)
- G05B 19/18: Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form (G05B19/418 takes precedence)
- G05B 19/401: characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes (G05B19/19 takes precedence)
- G05B 19/4062: Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
- G05B 2219/39219: Trajectory tracking
- 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

A time series data display device calculates position data in time-series of a movement point on drive axes based on the position feedback data, generates a command movement trajectory of the machine end based on the position command data, generates an actual movement trajectory of the machine end based on the actual position data, calculates position data of the machine end which are intersection points between straight lines, which are perpendicular to the command movement trajectory and pass through the movement point, and the actual movement trajectory, converts the position data of the machine end to position data with respect to drive axes, and displays the position feedback data in time-series and the position data in time-series.

## Claims

### Claim 1

A time series data display device, comprising:
a position feedback data acquisition unit which acquires position feedback data, which are position feedback data of drive axes driven by servo motors and obtained by first measuring instruments, with a predetermined sampling period;
a command data acquisition unit which acquires position command data to a machine end, which moves driven by the drive axes, from a numerical control device;
a position data acquisition unit which acquires actual position data of the machine end, which are obtained by a second measuring instrument, with a predetermined sampling period;
a drive axis position calculation unit which, based on the position feedback data acquired by the position feedback data acquisition unit, calculates position data in time-series of a movement point on the drive axes;
a command trajectory generation unit which, based on the position command data in time-series to the machine end acquired by the command data acquisition unit, generates a command movement trajectory of the machine end;
an actual trajectory generation unit which, based on the actual position data in time-series of the machine end acquired by the position data acquisition unit, generates an actual movement trajectory of the machine end;
a machine end position calculation unit which calculates position data of the machine end which are intersection points between straight lines, which are perpendicular to the command movement trajectory generated by the command trajectory generation unit and pass through the movement point expressed by the position data calculated by the drive axis position calculation unit, and the actual movement trajectory generated by the actual trajectory generation unit;
a position data conversion unit which converts the position data of the machine end calculated by the machine end position calculation unit to position data with respect to the drive axes; and
a display unit which displays the position feedback data in time-series acquired by the position feedback data acquisition unit and the position data in time-series converted by the position data conversion unit in the same display style as each other.

### Claim 2 (depends on 1)

The time series data display device according to claim 1,
wherein the display unit, in addition to the position feedback data and the position data, displays the position command data in time-series acquired by the command data acquisition unit at the same time.

### Claim 3 (depends on 1)

The time series data display device according to claim 1,
wherein the command data acquisition unit acquires position command data to the drive axes from the numerical control device and, based on the position command data to the drive axes and machine configuration information, acquires the position command data to the machine end.

### Claim 4 (depends on 1)

The time series data display device according to claim 1,
wherein the actual trajectory generation unit generates the actual movement trajectory by interpolating values between actual position data in time-series of the machine end with straight lines.

### Claim 5 (depends on 1)

The time series data display device according to claim 1,
wherein the actual trajectory generation unit generates the actual movement trajectory by interpolating values between actual position data in time-series of the machine end with polynomials.