ES2077941T3 - Procedimiento para el frenado optimo en el tiempo, acorde con la trayectoria de los accionamientos axiales de maquinas de control numerico. - Google Patents

Procedimiento para el frenado optimo en el tiempo, acorde con la trayectoria de los accionamientos axiales de maquinas de control numerico.

Info

Publication number
ES2077941T3
ES2077941T3 ES92112461T ES92112461T ES2077941T3 ES 2077941 T3 ES2077941 T3 ES 2077941T3 ES 92112461 T ES92112461 T ES 92112461T ES 92112461 T ES92112461 T ES 92112461T ES 2077941 T3 ES2077941 T3 ES 2077941T3
Authority
ES
Spain
Prior art keywords
procedure
path
time
numerical control
control machines
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
ES92112461T
Other languages
English (en)
Inventor
Jurgen Dr-Ing Olomski
Norbert Settele
Bernd Dipl-Mathem Liepert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
KUKA Systems GmbH
Siemens Corp
Original Assignee
KUKA Schweissanlagen und Roboter GmbH
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Schweissanlagen und Roboter GmbH, Siemens AG, Siemens Corp filed Critical KUKA Schweissanlagen und Roboter GmbH
Application granted granted Critical
Publication of ES2077941T3 publication Critical patent/ES2077941T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—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
    • G05B19/41—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 characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—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
    • G05B19/416—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 characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42285—Stop axis contour controlled
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43064—Brake, decelerate at least one axis at maximum
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50198—Emergency stop

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

DESPUES DE ACCIONAR UN FRENADO DE EMERGENCIA EN UNA MAQUINA DE CONTROL NUMERICO, SE SIGUE RECORRIENDO LA PISTA CALCULADA POR EL INTERPOLADOR, PARA LO CUAL SE FRENA SOBRE ESTA PISTA AL RITMO DE INTERPOLACION. PARA LA DETERMINACION DE LOS PUNTOS DE INTERPOLACION DEL FRENO (PIB) SE DETERMINA UN FACTOR K PARA CADA EJE, EL CUAL CUMPLE LA CONDICION DE QUE POR LO MENOS UN HUSILLO SE RETARDA AL MAXIMO Y LOS RESTANTES EJES MAS LENTOS.
ES92112461T 1992-07-21 1992-07-21 Procedimiento para el frenado optimo en el tiempo, acorde con la trayectoria de los accionamientos axiales de maquinas de control numerico. Expired - Lifetime ES2077941T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP92112461A EP0583487B1 (de) 1992-07-21 1992-07-21 Verfahren zur zeitoptimalen bahntreuen Abbremsung der Achsantriebe von numerisch gesteuerten Maschinen

Publications (1)

Publication Number Publication Date
ES2077941T3 true ES2077941T3 (es) 1995-12-01

Family

ID=8209829

Family Applications (1)

Application Number Title Priority Date Filing Date
ES92112461T Expired - Lifetime ES2077941T3 (es) 1992-07-21 1992-07-21 Procedimiento para el frenado optimo en el tiempo, acorde con la trayectoria de los accionamientos axiales de maquinas de control numerico.

Country Status (4)

Country Link
US (1) US5473542A (es)
EP (1) EP0583487B1 (es)
DE (1) DE59203915D1 (es)
ES (1) ES2077941T3 (es)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0658832B1 (de) * 1993-12-16 2000-04-26 Siemens Aktiengesellschaft Einrichtung zur Steuerung einer Werkzeugmaschine oder eines Roboters
DE19517771A1 (de) * 1995-05-15 1996-11-21 Siemens Ag Verfahren zum Betrieb einer numerisch gesteuerten Werkzeugmaschine oder eines Roboters
JP3396342B2 (ja) * 1995-07-17 2003-04-14 三菱電機株式会社 スプライン補間機能を有する数値制御装置
DE10122906C1 (de) * 2001-05-11 2003-01-09 Siemens Ag Verfahren zur Fehlerbehandlung und Schadensverhütung an Werkzeug- und Produktionsmaschinen, sowie Robotern
JP4226632B2 (ja) * 2007-03-08 2009-02-18 ファナック株式会社 異常時モータ減速停止制御手段を有する数値制御装置
CN102428419B (zh) * 2009-06-03 2013-12-25 三菱电机株式会社 数控装置以及生产系统
DE102014103370B4 (de) 2014-03-12 2017-08-24 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur zeitdiskreten Steuerung eines Manipulators
JP6440984B2 (ja) 2014-07-22 2018-12-19 ファナック株式会社 停止距離による加減速制御を行う数値制御装置
DE102014226789A1 (de) 2014-12-22 2016-07-07 Kuka Roboter Gmbh Verfahren und Manipulatoranordnung zum bedingten Anhalten zumindest eines Manipulators auf einer Bahn
DE102015103452B4 (de) * 2015-03-10 2022-06-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum zeitdiskreten Anhalten antreibbarer Achsen, Computerprogrammprodukt und Vorrichtung zur Durchführung eines derartigen Verfahrens
DE102015103451B4 (de) * 2015-03-10 2021-09-23 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum zeitdiskreten Kontrollieren antreibbarer Achsen und Computerprogrammprodukt
CN117742242B (zh) * 2023-12-26 2024-05-17 巨野县职业中等专业学校 一种数控机床动态调控方法和系统

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5933511A (ja) * 1982-08-19 1984-02-23 Fanuc Ltd 加減速装置
US4663726A (en) * 1985-04-15 1987-05-05 General Electric Co. Robot control utilizing cubic spline interpolation
US4804893A (en) * 1987-05-11 1989-02-14 Caterpillar Industrial Inc. Electric braking control
EP0340538B2 (de) * 1988-05-03 1995-11-22 Siemens Aktiengesellschaft Verfahren zum Steuern der Bewegung eines Maschinenelementes
JP2676793B2 (ja) * 1988-06-30 1997-11-17 トヨタ自動車株式会社 倣い制御ロボット
JP2935713B2 (ja) * 1989-08-22 1999-08-16 ファナック株式会社 数値制御装置
DE58908949D1 (de) * 1989-09-27 1995-03-09 Siemens Ag Verfahren zur numerischen Positions- oder Bahnsteuerung.
US5229698A (en) * 1990-08-06 1993-07-20 Cincinnati Milacron Inc. Method and apparatus for sub-span interpolation

Also Published As

Publication number Publication date
DE59203915D1 (de) 1995-11-09
EP0583487A1 (de) 1994-02-23
US5473542A (en) 1995-12-05
EP0583487B1 (de) 1995-10-04

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