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1. (WO2012124145) COMPUTATION UNIT, ASSISTANCE UNIT, ASSISTANCE PROGRAM, RECORDING MEDIUM STORING ASSISTANCE PROGRAM, AND OPERATION METHOD IN ASSISTANCE DEVICE
Latest bibliographic data on file with the International Bureau   

Pub. No.: WO/2012/124145 International Application No.: PCT/JP2011/056781
Publication Date: 20.09.2012 International Filing Date: 22.03.2011
IPC:
G05B 19/18 (2006.01) ,B25J 9/10 (2006.01) ,G05B 19/042 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
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 programme data in numerical form
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
10
characterised by positioning means for manipulator elements
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
04
Programme control other than numerical control, i.e. in sequence controllers or logic controllers
042
using digital processors
Applicants: SHIMAMURA, Junji; null (UsOnly)
SHIRAKI, Shinji; null (UsOnly)
OMRON CORPORATION[JP/JP]; 801, Minamifudodo-cho, Horikawahigashiiru, Shiokoji-dori, Shimogyo-ku, Kyoto-shi, Kyoto 6008530, JP (AllExceptUS)
Inventors: SHIMAMURA, Junji; null
SHIRAKI, Shinji; null
Agent: Fukami Patent Office, p.c.; Nakanoshima Central Tower, 2-7, Nakanoshima 2-chome, Kita-ku, Osaka-shi, Osaka 5300005, JP
Priority Data:
2011-05677015.03.2011JP
Title (EN) COMPUTATION UNIT, ASSISTANCE UNIT, ASSISTANCE PROGRAM, RECORDING MEDIUM STORING ASSISTANCE PROGRAM, AND OPERATION METHOD IN ASSISTANCE DEVICE
(FR) UNITÉ DE CALCUL, UNITÉ D'ASSISTANCE, PROGRAMME D'ASSISTANCE, SUPPORT D'ENREGISTREMENT CONTENANT UN PROGRAMME D'ASSISTANCE, ET PROCÉDÉ DE FONCTIONNEMENT DANS UN DISPOSITIF D'ASSISTANCE
(JA) 演算ユニット、支援装置、支援プログラム、支援プログラムを格納した記憶媒体、および、支援装置における動作方法
Abstract:
(EN) This computation unit contains: a target position calculation means that sequentially calculates first target positions in a first coordinate system with regard to the same motion operation; and a command value calculation means that calculates motion command values for a designated drive device during each control cycle of motion control by sequentially calculating second target positions in a second coordinate system corresponding to the first target position in accordance with a predetermined correspondence. Here, the second coordinate system is defined by a plurality of axes respectively associated with a plurality of motors that are involved in the same motion operation. The computation unit further contains an output means that batch outputs the respective motion command values for the plurality of motors during each control cycle of motion control.
(FR) L'unité de calcul faisant l'objet de la présente invention comporte : un moyen de calcul de position visée qui calcule de manière séquentielle des premières positions visées dans un premier système de coordonnées en ce qui concerne la même opération de mouvement ; et un moyen de calcul de valeurs de commande qui calcule des valeurs de commande de mouvement pour un dispositif d'entraînement désigné lors de chaque cycle de commande de la commande de mouvement grâce au calcul séquentiel de secondes positions visées dans un second système de coordonnées correspondant à la première position visée en fonction d'une concordance prédéfinie. Selon la présente invention, le second système de coordonnées est délimité par une pluralité d'axes associés respectivement à une pluralité de moteurs qui sont impliqués dans la même opération de mouvement. Ladite unité de calcul comporte en outre un moyen de sortie qui transmet par lots les valeurs de commande de mouvement respectives pour la pluralité de moteurs lors de chaque cycle de commande de la commande de mouvement.
(JA)  演算ユニットは、同一のモーション動作に係る、第1の座標系における第1の目標位置を順次算出する目標位置算出手段と、予め定められた対応関係に従って、第1の目標位置に対応する第2の座標系における第2の目標位置を順次算出することで、指定された駆動装置に対するそれぞれのモーション指令値を、モーション制御の制御周期毎に算出する指令値算出手段とを含む。ここで、第2の座標系は、同一のモーション動作に関与する複数のモータにそれぞれ関連付けられた複数の軸で定義される。演算ユニットは、さらに、モーション制御の制御周期毎に、複数のモータに対するそれぞれのモーション指令値を一斉に出力する出力手段を含む。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS, KE, KG, KM, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PE, PG, PH, PL, PT, RO, RS, RU, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)