KR900702425A - 서어보 모터에 의해 구동되는 기계에 있어서의 충돌 검출·구동 정지방법 - Google Patents

서어보 모터에 의해 구동되는 기계에 있어서의 충돌 검출·구동 정지방법

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Publication number
KR900702425A
KR900702425A KR1019900700628A KR900700628A KR900702425A KR 900702425 A KR900702425 A KR 900702425A KR 1019900700628 A KR1019900700628 A KR 1019900700628A KR 900700628 A KR900700628 A KR 900700628A KR 900702425 A KR900702425 A KR 900702425A
Authority
KR
South Korea
Prior art keywords
servo motor
machine driven
stopping driving
detecting collision
collision
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.)
Withdrawn
Application number
KR1019900700628A
Other languages
English (en)
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 filed Critical
Publication of KR900702425A publication Critical patent/KR900702425A/ko
Withdrawn legal-status Critical Current

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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
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • 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
    • G05B19/406—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 monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34047—Dsp digital signal processor
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36399—On excess error or on release joystick stop movement, dead man, shut off motors
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49162—On collision, obstruction reverse drive, accelerate, cancel inertia
    • 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
    • G05B2219/50179—Dynamic tolerance, limit values as function of speed, type of command

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Safety Devices In Control Systems (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)
KR1019900700628A 1988-08-11 1990-03-24 서어보 모터에 의해 구동되는 기계에 있어서의 충돌 검출·구동 정지방법 Withdrawn KR900702425A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP19882388 1988-08-11
JP63328866A JPH02146602A (ja) 1988-08-11 1988-12-28 サーボモータにより駆動される被駆動体の衝突検出・停出方法
PCT/JP1989/000821 WO1990001732A1 (fr) 1988-08-11 1989-08-11 Procede de detection de choc/d'arret d'entrainement dans une machine mue par un servomoteur

Publications (1)

Publication Number Publication Date
KR900702425A true KR900702425A (ko) 1990-12-07

Family

ID=26511195

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019900700628A Withdrawn KR900702425A (ko) 1988-08-11 1990-03-24 서어보 모터에 의해 구동되는 기계에 있어서의 충돌 검출·구동 정지방법

Country Status (5)

Country Link
US (1) US5214362A (ko)
EP (1) EP0380707A4 (ko)
JP (1) JPH02146602A (ko)
KR (1) KR900702425A (ko)
WO (1) WO1990001732A1 (ko)

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IT1244315B (it) * 1990-09-12 1994-07-08 Castel Mac Spa Dispositivo elettronico di controllo della velocita' e senso di rotazione di un motore per macchina per la produzione di ghiaccio in scaglie
JP2732159B2 (ja) * 1991-10-29 1998-03-25 ファナック株式会社 異常負荷検出方法
EP0578062A3 (en) * 1992-06-29 1995-05-10 Sunny Co Ltd Control system for driving an object.
JP2871993B2 (ja) * 1993-03-31 1999-03-17 日本電気株式会社 サーボモータの位置制御装置
DE19514257C2 (de) * 1995-04-15 2003-09-18 Kostal Leopold Gmbh & Co Kg Verfahren zur Überwachung des Bewegungsvorgangs von motorisch verstellbaren Gegenständen
US5796221A (en) * 1994-07-14 1998-08-18 Paper Converting Machine Company Overload detector for servo driven machines
EP0791872A1 (de) * 1996-02-27 1997-08-27 Siemens Aktiengesellschaft Einrichtung und Verfahren zur Überwachung von Kupplungen und/oder Riemengetrieben bei Achsen oder Spindeln an Werkzeugmaschinen, Robotern oder dergleichen
US6289256B1 (en) * 1997-01-16 2001-09-11 Matsushita Electric Industrial Co., Ltd. Method and apparatus for mounting parts
JPH1133960A (ja) * 1997-07-17 1999-02-09 Fanuc Ltd ロボット制御方法
DE19756752A1 (de) * 1997-12-19 1999-06-24 Heidenhain Gmbh Dr Johannes Verfahren und Schaltungsanordnung zur Überprüfung von Motorbremsen
US6246924B1 (en) * 1998-11-30 2001-06-12 Honda Of America Mfg., Inc. Apparatus and method for automatically realigning an end effector of an automated equipment to prevent a crash
US6242879B1 (en) * 2000-03-13 2001-06-05 Berkeley Process Control, Inc. Touch calibration system for wafer transfer robot
JP2000277039A (ja) * 1999-03-26 2000-10-06 Toshiba Corp 画像表示装置およびその製造方法
DE10026991A1 (de) * 2000-05-31 2001-12-13 Bosch Gmbh Robert Verfahren zur Positionierung einer fremdkraftbetätigten Schliessfläche
DE10226853B3 (de) * 2002-06-15 2004-02-19 Kuka Roboter Gmbh Verfahren zum Begrenzen der Krafteinwirkung eines Roboterteils
EP1546012B1 (en) * 2002-08-06 2007-04-04 Assembléon N.V. Method of detecting a malfunction during a displacement of an element by means of a drive system, and device suitable for carrying out such a method
JP2006154998A (ja) * 2004-11-26 2006-06-15 Fanuc Ltd 制御装置
DE102005015317B4 (de) * 2005-04-01 2007-02-01 Siemens Ag Verfahren und Steuereinrichtung zur gezielten Reaktion bei einem Kontakt zwischen einem Maschinenelement einer Maschine mit einem Gegenstand
DE102007059481A1 (de) * 2007-12-11 2009-06-18 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Bereichsüberwachung eines Manipulators
JP5367623B2 (ja) * 2010-03-15 2013-12-11 オムロン株式会社 サーボシステム、サーボモータ駆動装置、セーフティユニットおよびサーボシステムの制御方法
ITMI20111868A1 (it) * 2011-10-13 2013-04-14 Gima Spa Procedimento per il controllo dell'interferenza e/o collisione d'organi meccanici e sistema connesso
CN103371837B (zh) * 2012-04-27 2017-05-24 Ge医疗系统环球技术有限公司 用于往复式运动装置的抗碰撞方法和装置
EP2952300A1 (en) * 2014-06-05 2015-12-09 Aldebaran Robotics Collision detection
TWI710440B (zh) 2014-11-10 2020-11-21 美商布魯克斯自動機械公司 工具自動教導方法及設備
JP6517567B2 (ja) * 2015-03-31 2019-05-22 日本電産サンキョー株式会社 サーボモータ制御装置及び衝突検出方法
EP3579066B1 (en) * 2018-06-06 2026-01-28 Agie Charmilles SA Collision protection method
CN109732599B (zh) * 2018-12-29 2020-11-03 深圳市越疆科技有限公司 一种机器人碰撞检测方法、装置、存储介质及机器人
JP6620380B1 (ja) * 2019-02-12 2019-12-18 株式会社安川電機 モータ制御システム
CN116392259B (zh) * 2023-04-28 2024-06-04 极限人工智能有限公司 同轨道双驱动模块的行程和防撞监测方法、系统和机器人
CN117891208A (zh) * 2024-01-10 2024-04-16 清能德创电气技术（北京）有限公司 一种伺服系统碰撞检测方法及系统
CN120817039B (zh) * 2025-09-18 2026-01-27 凡己科技(苏州）有限公司 一种基于制动踏板的车辆制动方法、装置及车辆

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DE3122621C2 (de) * 1981-06-06 1987-04-09 Dr. Johannes Heidenhain Gmbh, 8225 Traunreut Überwachungseinrichtung
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JPS5969297A (ja) * 1982-10-08 1984-04-19 株式会社日立製作所 工業用ロボツトの安全装置
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JPH063994B2 (ja) * 1984-10-05 1994-01-12 株式会社日立製作所 複数台デイジタルサーボの制御方法
JPS61143803A (ja) * 1984-12-17 1986-07-01 Toshiba Corp ロボツトの制御装置
JP2617441B2 (ja) * 1985-03-05 1997-06-04 東芝機械株式会社 交流電動機の速度制御方法
JPS61204707A (ja) * 1985-03-08 1986-09-10 Amada Metoretsukusu:Kk サ−ボモ−タ駆動装置の制御特性計測装置
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Also Published As

Publication number Publication date
JPH02146602A (ja) 1990-06-05
EP0380707A4 (en) 1992-07-08
WO1990001732A1 (fr) 1990-02-22
US5214362A (en) 1993-05-25
EP0380707A1 (en) 1990-08-08

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Legal Events

Date Code Title Description
PA0109 Patent application

Patent event code: PA01091R01D

Comment text: Patent Application

Patent event date: 19900324

PG1501 Laying open of application
PC1203 Withdrawal of no request for examination
WITN Application deemed withdrawn, e.g. because no request for examination was filed or no examination fee was paid