Controlling path of industrial robots and machine tools - using external computer to adjust drive pulse frequency for speed and position

摘要

The method is applied in pulse drive control/feedback systems. For a robot, the Z axis drive is given additional feedback control by a position probe (TS) and an external control unit (ER). The computer (ER) corrects the drive pulse frequency (RL) according to the actual position pulses given by the sensor (TS). Therefore a closer correspondence between actual and desired paths can be reached. ADVANTAGE - Additional sensors and external controller can be added without need to modify (and have access to) manufacturer's control hardware/software.