| US 7,603,188 B2 | ||
| Servo motor control system | ||
| Hiroyuki Maeda, Suntou-gun (Japan) | ||
| Assigned to OMRON Corporation, Kyoto (Japan) | ||
| Filed on Nov. 15, 2005, as Appl. No. 11/280,935. | ||
| Claims priority of application No. 2004-332566 (JP), filed on Nov. 17, 2004; and application No. 2005-329369 (JP), filed on Nov. 14, 2005. | ||
| Prior Publication US 2006/0144187 A1, Jul. 06, 2006 | ||
| Int. Cl. G05B 19/18 (2006.01); G05B 13/00 (2006.01) | ||
| U.S. Cl. 700—63 [318/560; 318/561; 318/578] | 8 Claims |
| 1. A servo motor control system provided with a synchronized control section where control is carried out for moving a follower
shaft serving as a controlled object in synchronism with a main shaft position and a non-synchronized control section where
control is carried out for moving said follower shaft from the ending position of said synchronized control section to the
starting position of the next synchronized control section; said servo control system comprising:
a condition setting part for setting main shaft position, cam position, cam speed and cam acceleration corresponding to starting
and ending positions of said non-synchronized control section;
a judging part for judging whether an obtained cam position is in said synchronized control section or in said non-synchronized
control section;
a control curve generating part for generating a non-synchronization curve of a fifth order function of cam position corresponding
to said main shaft position, a non-synchronization curve of a fourth order function of cam speed corresponding to said main
shaft position and a non-synchronization curve of a third order function of cam acceleration corresponding to said main shaft
position based on the cam position, the cam speed and the cam acceleration at the starting and ending positions of said non-synchronized
control section if said judging part judges said obtained cam position to be in said non-synchronized control section; and
a command setting part that generates and outputs output data for operating said servo motor based on each of the non-synchronization
curves obtained by said control curve generating part and said obtained cam position;
wherein said control curve generating part serves, in said non-synchronized control section, to allow values of the main shaft
position, the cam position, the cam speed and the cam acceleration at the ending position of said non-synchronized control
section to be changed and to sequentially generate the non-synchronization curves based on said inputted values.
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