Patent ID: 6034498
Filing Date: 2000-03-07
Classification: G05B

Abstract:
An adjustment method for a servo mechanism of servomotors for driving a first feed shaft and a second feed shaft of a moving body, the method comprising:controlling the servomotor of one of the feed shafts while detecting a position of the moving body so that the moving body follows an instructed position to allow the moving body to move in a circular interpolation feed motion under a condition of a designated circular arc radius and a feed rate;detecting a reversal of the servomotor in which a direction of motion of the moving body changes;detecting a torque signal sent to the servomotor at the reversal;calculating a response error deviated from an instructed position based on the position of the moving body and the instructed position;setting a compensation torque to a predetermined value for serving as a first reference value for correcting an instructed torque;setting a threshold value for serving as a second reference value for updating the compensation torque;comparing the response error produced in the reversal of the servomotor with the threshold value;updating a value of the determined compensation torque into a value that enables the response error to be decreased in a case where the response error is greater than the threshold value, and allows the moving body to carry out the circular interpolation feed motion in the case where the response error is greater than the threshold value;compensating, based on the updated compensation torque, the instructed torque which is sent to the servomotor in detecting the reversal of the servomotor to update the compensation torque when the response error is greater than the threshold value; and repeatedly carrying out compensation of the torque and updating the compensation torque until the response error is within the threshold value.