CN109004885B - Servo motion control method, device and system - Google Patents
Servo motion control method, device and system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
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- 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—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/20—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for controlling one motor used for different sequential operations
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Abstract
The invention discloses a servo motion control method, a servo motion control device and a servo motion control system. Wherein, the method comprises the following steps: acquiring first position information of a sensing device passing through a preset reference position, wherein the sensing device is arranged on a servo device; under the condition that the servo device stops periodically, second position information of the sensing device is obtained; comparing the first position information with the second position information to obtain a distance deviation; and adjusting the beat running distance of the servo device according to the distance deviation, wherein the beat running distance is the distance from a first preset position to a second preset position. The invention solves the technical problem that the production efficiency of the equipment is influenced because the equipment is required to stop normal production when accumulated deviation is corrected manually.
Description
Technical Field
The invention relates to the field of servo control, in particular to a servo motion control method, device and system.
Background
When the servo motor is used for positioning control, particularly after a plurality of unidirectional motion cycles, accumulative errors can be generated, and if the accumulative errors are not corrected in time, subsequent positioning precision can be influenced, the production quality of products is influenced, and even equipment faults are generated.
The conventional solution is to stop the apparatus after the apparatus has been operated for a certain time, and to correct the accumulated deviation manually, for example, by returning to zero manually and mechanically. However, the conventional method has the following disadvantages: firstly, equipment is required to stop normal production, so that the production efficiency of the equipment is influenced; secondly, the running positioning accuracy of the equipment is influenced, and the equipment returns to zero after the equipment deviation is accumulated to a certain degree, so that the equipment generates larger accumulated errors before the zero-returning correction, and the production quality of products is influenced.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a servo motion control method, a servo motion control device and a servo motion control system, which are used for at least solving the technical problem that the production efficiency of equipment is influenced because the equipment stops normal production when accumulated deviation is corrected manually.
According to an aspect of an embodiment of the present invention, there is provided a servo motion control method including: acquiring first position information of a sensing device passing through a preset reference position, wherein the sensing device is arranged on a servo device; under the condition that the servo device stops periodically, second position information of the sensing device is obtained; comparing the first position information with the second position information to obtain a distance deviation; and adjusting the beat running distance of the servo device according to the distance deviation, wherein the beat running distance is the distance from a first preset position to a second preset position.
Optionally, the sensing device is disposed on a first carrier of the servo device.
Optionally, the acquiring first position information of the sensing device passing through the preset reference position includes: receiving a trigger signal sent by a photoelectric switch, wherein the photoelectric switch is arranged at the preset reference position, and the photoelectric switch generates the trigger information when the induction device passes through the photoelectric switch; and obtaining the first position information of the first carrier according to the trigger signal.
Optionally, the comparing the first location information with the second location information to obtain a distance deviation includes: and calculating the difference between the second position information and the first position information to obtain the distance deviation.
Optionally, the adjusting the beat running distance of the servo device according to the distance deviation includes: calculating a difference value between the original beat running distance of the servo device and the distance deviation to obtain an adjusted beat running distance; setting the next beat running distance of the servo device as the adjusted beat running distance; or calculating the difference between the original beat running distance of the servo device and the distance deviation to obtain a first difference value; dividing the first difference value by at least two running beat values of one running period of the servo device to obtain an adjusted beat running distance; and setting at least two beat running distances of the servo device as the adjusted beat running distance.
Optionally, the first position information and the second position information are coordinates of the sensing device.
According to another aspect of the embodiments of the present invention, there is also provided a servo motion control apparatus including: the acquisition module is used for acquiring first position information when the sensing device passes through a preset reference position, and the sensing device is arranged on the servo device; under the condition that the servo device stops periodically, second position information of the sensing device is obtained; the processing module is used for comparing the first position information with the second position information to obtain a distance deviation; and the control module is used for adjusting the beat running distance of the servo device according to the distance deviation, wherein the beat running distance is the distance from a first preset position to a second preset position.
Optionally, the sensing device is disposed on a first carrier of the servo device.
Optionally, the obtaining module is configured to perform the following steps to obtain the first position information when the sensing device passes through the preset reference position, including: receiving a trigger signal sent by a photoelectric switch, wherein the photoelectric switch is arranged at the preset reference position, and the photoelectric switch generates the trigger information when the induction device passes through the photoelectric switch; and obtaining the first position information of the first carrier according to the trigger signal.
Optionally, the processing module is configured to perform the following steps to compare the first location information with the second location information, and obtaining the distance deviation includes: and calculating the difference between the second position information and the first position information to obtain the distance deviation.
Optionally, the controlling module is configured to perform the following steps, and according to the distance deviation, adjusting the beat running distance of the servo device includes: calculating a difference value between the original beat running distance of the servo device and the distance deviation to obtain an adjusted beat running distance; setting the next beat running distance of the servo device as the adjusted beat running distance; or calculating the difference between the original beat running distance of the servo device and the distance deviation to obtain a first difference value; dividing the first difference value by at least two running beat values of one running period of the servo device to obtain an adjusted beat running distance; and setting at least two beat running distances of the servo device as the adjusted beat running distance.
According to another aspect of the embodiments of the present invention, there is also provided a servo motion control system, including: the device comprises a servo device, a carrier, a sensing device and a photoelectric switch, wherein the carrier is arranged on the servo device, the sensing device is arranged on the carrier, and the photoelectric switch is arranged at a preset reference position; and the servo motion control device is connected with the servo device and the photoelectric switch and is used for executing the servo motion control method.
In the embodiment of the invention, the first position information of the sensing device passing through the preset reference position is acquired, and the sensing device is arranged on the servo device; under the condition that the servo device is stopped periodically, second position information of the sensing device is obtained; comparing the first position information with the second position information to obtain a distance deviation; according to the distance deviation, the beat running distance of the servo device is adjusted, the beat running distance is a distance from a first preset position to a second preset position, the sensing device is arranged on the servo device, first position information of the sensing device passing through a preset reference position is compared with second position information of the sensing device when the sensing device stops periodically, accumulated errors of the vegetarian clothing device are compensated by the obtained distance deviation, and the purpose of automatically eliminating the accumulated errors without manual intervention under the condition that normal production of the equipment does not need to be stopped is achieved, so that the technical effects of ensuring the running precision of the equipment and improving the production efficiency of products are achieved, and the technical problem that the production efficiency of the equipment is influenced because the equipment stops normal production due to the fact that the accumulated deviations are corrected manually is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic flow diagram of an alternative servo motion control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative servo motion control system according to an embodiment of the present invention;
FIG. 3(a) is a schematic diagram of an alternative servo motion control system according to an embodiment of the present invention;
FIG. 3(b) is a schematic structural diagram of an alternative servo motion control system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an alternative servo motion control device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of a servo motion control method, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a servo motion control method according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, first position information of the sensing device passing through a preset reference position is obtained.
Wherein, the sensing device is arranged on the servo device.
Specifically, the sensing device is arranged on a first carrier of the servo device, the sensing device is a sensing piece, and the servo device is a servo conveying chain driven by a servo motor.
Wherein, obtaining the first position information when induction system passes through preset reference position includes: receiving a trigger signal sent by a photoelectric switch, wherein the photoelectric switch is arranged at a preset reference position, and the photoelectric switch generates trigger information when the induction device passes through the photoelectric switch; and obtaining first position information of the first carrier according to the trigger signal.
Specifically, the photoelectric switch is a groove-type photoelectric switch.
As shown in fig. 2, the servo transport chain (also called servo transport chain) is driven by a servo motor, the carriers are uniformly fixed on the connecting blocks of the servo transport chain through 10A link pins, a plurality of carriers are distributed on the servo transport chain, one carrier (i.e. the first carrier) is provided with a sensing piece of a groove-shaped photoelectric switch, and the groove-shaped photoelectric switch is arranged at a fixed position (i.e. the preset reference position). In the process that the induction sheet on the carrier runs for one cycle period every time the servo conveying chain runs, the induction sheet passes through the groove-shaped photoelectric switch (original point) once.
And step S104, acquiring second position information of the sensing device under the condition that the servo device is periodically stopped.
The operation period of the servo device refers to a cycle period starting from the position of the first carrier and then returning to the position of the first carrier, the servo device stops once after each operation period, namely the period stops, and at the moment, the second position information of the sensing device is obtained.
And step S106, comparing the first position information with the second position information to obtain the distance deviation.
The first position information and the second position information are coordinates of the sensing device.
Optionally, comparing the first position information with the second position information, and obtaining the distance deviation includes: and calculating the difference between the second position information and the first position information to obtain the distance deviation.
And step S108, adjusting the beat running distance of the servo device according to the distance deviation.
The running distance of the beat is the distance from the first preset position to the second preset position, and can also be the central distance of the two carriers.
As an alternative implementation, adjusting the beat running distance of the servo device according to the distance deviation includes: calculating the difference value between the original beat running distance of the servo device and the distance deviation to obtain the adjusted beat running distance; and setting the next beat running distance of the servo device as the adjusted beat running distance.
As another alternative implementation, adjusting the beat running distance of the servo device according to the distance deviation includes: calculating the difference between the original beat running distance of the servo device and the distance deviation to obtain a first difference value; dividing the first difference value by at least two running beat values of one running period of the servo device to obtain an adjusted beat running distance; and setting at least two beat running distances of the servo device as the adjusted beat running distances.
As shown in fig. 2 and fig. 3(a), when the servo transport chain is driven by the servo motor, the servo transport chain runs for a period of time, which is the center distance D between two carriers, and ideally, after the servo transport chain runs for a circle (N periods of time), the sensor pads on the carriers just pass through the photoelectric switches and stop at the rising edge position a, and the running deviation of the servo transport chain is zero. Although the deviation value d1 is small, after a sufficient number of circulation cycles, the accumulated deviation of the transportation chain becomes larger, and when the accumulated deviation is not timely and effectively eliminated, the accumulated deviation can generate negative influences, such as poor positioning accuracy and product production quality influence.
In order to solve the above problems, this embodiment provides a servo motion control method, in a normal condition, a PLC (Programmable Logic Controller) sends a command to a servo driver, a single-beat running distance of a servo transport chain is set to D, after the servo transport chain runs through a cycle period (N running beats), in a last-beat running process, a sensing plate on the servo transport chain passes through a slot-type photoelectric switch, when the sensing plate of the servo transport chain passes through a rising edge of the slot-type photoelectric switch (origin) (i.e., the photoelectric switch generates a sensing signal that changes from 0 to 1), a value E of a lower encoder (a one-dimensional coordinate of the sensing plate, i.e., the first position information) is memorized and stored on the servo driver, when the servo transport chain cycle stops, a value F of the encoder is saved (i.e., the PLC reads the two different encoder values on the servo driver, and the deviation after one cycle of servo transport chain operation is calculated as the distance d1 between AB being F-E. The PLC sets the next running beat distance of the servo transport chain to be D-D1, and eliminates deviation, so that the deviation of each running period of the servo transport chain does not accumulate.
It should be added that the present embodiment exemplarily describes a process of eliminating the deviation of the operation of the servo-transport chain once per cycle, but may also adjust several times within a cycle or adjust once for several cycles, which should be within the protection scope of the present embodiment.
Meanwhile, the present embodiment exemplarily illustrates that the deviation is eliminated by setting the distance of the next moving beat of the servo transport chain to D-D1 after obtaining the distance deviation, but the deviation may also be eliminated by setting the distances within a plurality of moving beats of the servo transport chain to (D-D1)/n, where n is the value of the moving beat, which should be within the protection scope of the present embodiment.
Through the steps, the sensing device is arranged on the servo device, the first position information of the sensing device passing through the preset reference position is compared with the second position information of the sensing device when the period stops, the accumulated error of the vegetarian clothing device is compensated by using the obtained distance deviation, and the purpose of automatically eliminating the accumulated error without manual intervention under the condition that the equipment does not need to stop normal production is achieved, so that the technical effects of ensuring the running precision of the equipment and improving the production efficiency of products are achieved, and the technical problem that the production efficiency of the equipment is influenced because the equipment needs to stop normal production when the accumulated error is corrected manually is solved.
Example 2
According to an embodiment of the present invention, there is provided an embodiment of a servo motion control apparatus, and fig. 4 is a servo motion control apparatus according to an embodiment of the present invention, as shown in fig. 4, the apparatus including:
the acquisition module 40 is used for acquiring first position information when the sensing device passes through a preset reference position, and the sensing device is arranged on the servo device; under the condition that the servo device stops periodically, second position information of the sensing device is obtained;
a processing module 42, configured to compare the first location information with the second location information to obtain a distance deviation;
and the control module 44 is configured to adjust a beat running distance of the servo device according to the distance deviation, where the beat running distance is a distance from a first preset position to a second preset position.
Optionally, the sensing device is disposed on a first carrier of the servo device.
Optionally, the obtaining module is configured to perform the following steps to obtain the first position information when the sensing device passes through the preset reference position, including: receiving a trigger signal sent by a photoelectric switch, wherein the photoelectric switch is arranged at the preset reference position, and the photoelectric switch generates the trigger information when the induction device passes through the photoelectric switch; and obtaining the first position information of the first carrier according to the trigger signal.
Optionally, the processing module is configured to perform the following steps to compare the first location information with the second location information, and obtaining the distance deviation includes: and calculating the difference between the second position information and the first position information to obtain the distance deviation.
Optionally, the controlling module is configured to perform the following steps, and according to the distance deviation, adjusting the beat running distance of the servo device includes: calculating a difference value between the original beat running distance of the servo device and the distance deviation to obtain an adjusted beat running distance; setting the next beat running distance of the servo device as the adjusted beat running distance; or calculating the difference between the original beat running distance of the servo device and the distance deviation to obtain a first difference value; dividing the first difference value by at least two running beat values of one running period of the servo device to obtain an adjusted beat running distance; and setting at least two beat running distances of the servo device as the adjusted beat running distance.
According to an embodiment of the present invention, there is also provided a servo motion control system, including a servo device, a carrier, a sensing device, and a photoelectric switch, wherein the carrier is disposed on the servo device, the sensing device is disposed on the carrier, and the photoelectric switch is disposed at a preset reference position; and the servo motion control device is connected with the servo device and the photoelectric switch and is used for executing the servo motion control method.
As also shown in fig. 2, the servo motion control system of the present embodiment includes a servo transport chain (i.e., the above-mentioned servo main pipe or even), a carrier, a sensing piece (i.e., the above-mentioned sensing device, which is used for sensing the rising edge of the origin), a slot type power-off switch (i.e., the above-mentioned photoelectric switch, which is used as the origin), and a PLC (i.e., the above-mentioned servo motion control device).
In this embodiment, the servo drive position data is read by passing the servo transport chain again through the rising edge of the origin (reference point) by using the probe function of the servo driver, and the deviation calculation is performed with the original data, so that the operation error of the previous cycle is automatically eliminated in the positioning operation of the next cycle.
In the embodiment, the sensing device is arranged on the servo device, the first position information of the sensing device passing through the preset reference position is compared with the second position information of the sensing device when the period stops, the accumulated error of the vegetarian clothing device is compensated by using the obtained distance deviation, and the purpose of automatically eliminating the accumulated error without manual intervention under the condition that the equipment does not need to stop normal production is achieved, so that the technical effects of ensuring the running precision of the equipment and improving the production efficiency of products are achieved, and the technical problem that the production efficiency of the equipment is influenced because the equipment needs to stop normal production when the accumulated error is corrected manually is solved.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A servo motion control method, comprising:
acquiring first position information of a sensing device passing through a preset reference position, wherein the sensing device is arranged on a servo device;
under the condition that the servo device stops periodically, second position information of the sensing device is obtained;
comparing the first position information with the second position information to obtain a distance deviation;
adjusting the beat running distance of the servo device according to the distance deviation, wherein the beat running distance is the distance from a first preset position to a second preset position;
wherein, according to the distance deviation, adjusting the beat running distance of the servo device comprises: calculating a difference value between the original beat running distance of the servo device and the distance deviation to obtain an adjusted beat running distance; setting the next beat running distance of the servo device as the adjusted beat running distance; or calculating the difference between the original beat running distance of the servo device and the distance deviation to obtain a first difference value; dividing the first difference value by at least two running beat values of one running period of the servo device to obtain an adjusted beat running distance; and setting at least two beat running distances of the servo device as the adjusted beat running distance.
2. The method of claim 1, wherein the sensing device is disposed on a first carrier of the servo device.
3. The method of claim 2, wherein the obtaining first position information of the sensing device passing through the preset reference position comprises:
receiving a trigger signal sent by a photoelectric switch, wherein the photoelectric switch is arranged at the preset reference position, and the photoelectric switch generates the trigger information when the induction device passes through the photoelectric switch;
and obtaining the first position information of the first carrier according to the trigger signal.
4. The method of claim 1, wherein comparing the first location information with the second location information to obtain a distance bias comprises:
and calculating the difference between the second position information and the first position information to obtain the distance deviation.
5. The method according to any one of claims 1 to 4, wherein the first position information and the second position information are coordinates of the sensing device.
6. A servo motion control apparatus, comprising:
the acquisition module is used for acquiring first position information when the sensing device passes through a preset reference position, and the sensing device is arranged on the servo device; under the condition that the servo device stops periodically, second position information of the sensing device is obtained;
the processing module is used for comparing the first position information with the second position information to obtain a distance deviation;
the control module is used for adjusting the beat running distance of the servo device according to the distance deviation, wherein the beat running distance is the distance from a first preset position to a second preset position;
wherein, the control module is used for executing the following steps and adjusting the beat running distance of the servo device according to the distance deviation, and the steps comprise: calculating a difference value between the original beat running distance of the servo device and the distance deviation to obtain an adjusted beat running distance; setting the next beat running distance of the servo device as the adjusted beat running distance; or calculating the difference between the original beat running distance of the servo device and the distance deviation to obtain a first difference value; dividing the first difference value by at least two running beat values of one running period of the servo device to obtain an adjusted beat running distance; and setting at least two beat running distances of the servo device as the adjusted beat running distance.
7. The apparatus of claim 6, wherein the sensing device is disposed on the first carrier of the servo device.
8. The device of claim 7, wherein the obtaining module is configured to perform the following steps to obtain the first position information when the sensing device passes through the preset reference position, including:
receiving a trigger signal sent by a photoelectric switch, wherein the photoelectric switch is arranged at the preset reference position, and the photoelectric switch generates the trigger information when the induction device passes through the photoelectric switch;
and obtaining the first position information of the first carrier according to the trigger signal.
9. The apparatus of claim 6, wherein the processing module is configured to compare the first location information with the second location information, and wherein obtaining the distance offset comprises:
and calculating the difference between the second position information and the first position information to obtain the distance deviation.
10. A servo motion control system is characterized by comprising a servo device, a carrier, a sensing device and a photoelectric switch, wherein the carrier is arranged on the servo device, the sensing device is arranged on the carrier, and the photoelectric switch is arranged at a preset reference position; and
a servo motion control device connected to the servo device and the electro-optical switch for performing the servo motion control method according to any one of claims 1 to 5.
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| JPH0750117B2 (en) * | 1990-01-18 | 1995-05-31 | 株式会社椿本チエイン | Vehicle speed control method and speed control device |
| JP2008225533A (en) * | 2007-03-08 | 2008-09-25 | Fanuc Ltd | Servo controller |
| CN102763318A (en) * | 2010-02-19 | 2012-10-31 | 三菱电机株式会社 | Command generation device |
| CN103350768A (en) * | 2013-06-13 | 2013-10-16 | 周怡 | Ultrafine powder packing machine |
| CN108319300A (en) * | 2018-03-07 | 2018-07-24 | 深圳市雷赛软件技术有限公司 | The progress control method and device of executing agency |
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2018
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