Threading/tapping control apparatus

• US 20050168178A1
• Filed: 01/27/2005
• Published: 08/04/2005
• Est. Priority Date: 01/30/2004
• Status: Active Grant

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Sonoda, Naoto, Toyozawa, Yukio
• Granted Patent: US 7,215,089 B2
• Time in Patent Office: Days
• US Class Current: 318/68
• CPC Class Codes: G05B 19/186 Generation of screw- or gearlike surfaces
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 2219/41177 Repetitive control, adaptive, previous error during actual positioning
• CPC Class Codes: G05B 2219/41207 Lookup table with position command, deviation and correction value
• CPC Class Codes: G05B 2219/42129 Teach, learn position table, model, for each reference a motor control output
• CPC Class Codes: G05B 2219/45214 Gear cutting
• CPC Class Codes: G05B 2219/45216 Tapping

Abstract

A workpiece is rotated by a master motor and a tool is linearly moved by a slave motor to cut a thread in the workpiece. Position feedback of the master motor is multiplied by a coefficient K and the result used as the position command of the slave motor. Provision is made of an angle synchronization learning control unit for storing one pattern cycle'"'"'s worth of the correction data of the threading and adding the same to the position deviation. This control unit stores one pattern cycle'"'"'s worth of the correction data corresponding to the position feedback of the master motor. The position is converted to the correction data corresponding to the time at that time based on the stored correction data to find the correction data and this is added to the position deviation.

Claims

1. A threading/tapping control apparatus for synchronizing a master motor and a slave motor, one of which is connected to a tool and the other of which is connected to a workpiece, and making them repeatedly perform a threading/tapping operation, comprising:

a correction data processing unit for finding correction data of position deviation of said slave motor at a predetermined position of one pattern of repeated operation of threading/tapping based on the position deviation of the slave motor at a reference position serving as a standard for synchronizing the slave motor;

a correction data memory for storing one pattern'"'"'s worth of the found correction data;

a position correction processing unit for preparing a position correction amount for the position deviation at said reference position from said stored correction data; and

a position control unit for using said position correction amount to correct the position deviation of said slave motor to control the position of the slave motor.

2. A threading/tapping control apparatus as set forth in claim 1, which, in order to find the position deviation of said slave motor, is further provided with:

a position feedback detection unit for detecting the position feedback of each of the master motor and the slave motor,

a command processing unit for computing the position command to the slave motor from the position feedback of said master motor, and

a position deviation processing unit for finding the position deviation of the slave motor from the position command to said slave motor and the position feedback of said slave motor.

3. A threading/tapping control apparatus as set forth in claim 2, wherein said reference position is one of position feedback of said master motor and position feedback of said slave motor.

4. A threading/tapping control apparatus as set forth in claim 3, further provided with a selection unit for selecting said reference position.

5. A threading/tapping control apparatus as set forth in claim 2, further provided with:

a command input portion for inputting a position command to said master motor,

a position deviation processing unit for finding a position deviation of the master motor from the position command to said master motor and the position feedback of said master motor,

a correction data processing unit for finding correction data of the position deviation of said master motor at the predetermined position of one pattern of a repeated operation of threading/tapping based on the position deviation of the master motor at a reference position serving as a standard for synchronizing said master motor,

a correction data memory for storing one pattern'"'"'s worth of the found correction data,

a position correction processing unit for preparing a position correction amount at a reference position of said master motor from said stored correction data, and

a position control unit for using the position correction amount to correct the position deviation of said master motor to control the position of the master motor.

6. A threading/tapping control apparatus as set forth in claim 5, wherein said reference position is one of a position command to said master motor, position feedback of said master motor, and position feedback to said slave motor.

7. A threading/tapping control apparatus as set forth in claim 6, further provided with a selection unit for selecting said reference position.

8. A threading/tapping control apparatus as set forth in claim 1, which, in order to find the position deviation of said slave motor, is further provided with:

a command input portion for inputting a position command to the master motor,

a position feedback detection unit for detecting a position feedback of the slave motor,

a command processing unit for computing a position command to the slave motor from the position command to the master motor, and

a position deviation processing unit for finding the position deviation of the slave motor from the position command to the slave motor and the position feedback of the slave motor.

9. A threading/tapping control apparatus as set forth in claim 8, further provided with:

a position feedback detecting means for detecting position feedback to the master motor,

a position deviation processing unit for finding position deviation of the master motor from the position command of said master motor and the position feedback of said master motor,

a correction data processing unit for finding the correction data of the position deviation of said master motor at a predetermined position of one pattern of a repeated operation of threading/tapping based on the position deviation of the master motor at a reference position serving as a standard for synchronizing said master motor,

a correction data memory for storing one pattern'"'"'s worth of the found correction data,

a position correction processing unit for preparing a position correction amount at said reference position from said stored correction data, and

a position control unit for using said position correction amount to correct the position deviation of said master motor to control the position of the master motor.

10. A threading/tapping control apparatus as set forth in claim 9, wherein said reference position is one of a position command to said master motor, position feedback of said master motor, and position feedback to said slave motor.

11. A threading/tapping control apparatus as set forth in claim 10, further provided with a selection unit for selecting said reference position.