Patent ID: 6252368
Filing Date: 2001-06-26
Classification: G05B

Abstract:
A backlash compensation device for use with a numerically controlled system, for compensating for a position command signal used to drive and control an object to be controlled, said device comprising:reversal detecting means for detecting a reversal of a direction of driving the object to be controlled based on a reversal of an upward or downward trend in the level of the position command signal applied thereto, and for furnishing reversal detection information when detecting a reversal of a direction of driving the object to be controlled;maximum backlash signal generating means for generating a maximum backlash signal corresponding to a maximum value of backlash error associated with a direction in which the object to be controlled will be moved after the detected reversal of the driving direction, every time said maximum backlash signal generating means receives the reversal detection information from said reversal detecting means;filter means for reducing the level of the maximum backlash signal from said maximum backlash signal generating means according to how much time has elapsed since the detected reversal of the driving direction, and for furnishing the reduced maximum backlash signal; andaddition means for adding the reduced maximum backlash signal from said filter means to the position command signal, and for furnishing the addition result as a compensated position command signal.