Servomotor Torque Comparison for Automatic Machine Installation Mode
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Solution Overview
Problem
To accurately control automatic machines like robots or machine tools with movable parts driven by servomotors, it is crucial to determine the correct installation mode, as the load moment affected by gravity varies significantly with the installation configuration, and existing techniques lack a comprehensive method to differentiate between set and actual installation modes.
Innovation Solution
An installation mode determination device and computer program that calculates the difference between estimated and actual torque required to maintain a stationary state in various installation modes, allowing for the identification of the correct installation mode by determining the smallest absolute difference among multiple modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If control information is set based on assumed installation mode, then control can be simplified, but control accuracy deteriorates when the assumed mode does not match the actual installation mode
Solution Approach 1:
The automatic machine performs self-diagnosis by autonomously measuring its own torque characteristics and comparing them against pre-stored torque data for different installation modes. The system automatically identifies its actual installation mode without requiring external intervention or complex setup procedures, thereby maintaining ease of operation while achieving high accuracy.
Solution Approach 2:
The system establishes a feedback loop where the measured torque values are continuously compared with pre-stored torque characteristics for various installation modes. Based on this comparison feedback, the system automatically determines the actual installation mode and adjusts control parameters accordingly, ensuring both simplicity and precision.
2Measurement precision
If torque measurement and comparison methods are implemented to determine installation mode, then installation mode identification accuracy is improved, but device complexity increases
Solution Approach 1:
The control unit utilizes existing internal sensors and processors to perform torque measurement and comparison operations. By leveraging the automatic machine's own built-in capabilities rather than adding external measurement devices, the system achieves high identification accuracy while minimizing increases in device complexity.
Solution Approach 2:
Torque characteristic data for multiple installation modes is pre-calculated and stored in memory before operation. This preliminary preparation eliminates the need for complex real-time calculations during operation, reducing the computational burden and simplifying the control system architecture while maintaining high measurement precision.
3Productivity
If the automatic machine operates without correct installation mode determination, then productivity is maintained, but reliability and safety deteriorate due to unexpected behavior
Solution Approach 1:
The system performs installation mode determination as a preliminary step before initiating normal operations. By completing this identification process in advance, the system ensures that correct control parameters are established beforehand, preventing operational errors and safety issues while maintaining productivity during subsequent operations.
Solution Approach 2:
The system continuously monitors operational parameters and compares them against expected values for the identified installation mode. This feedback mechanism enables real-time detection of deviations that could indicate incorrect mode identification, allowing for corrective action before safety or reliability issues arise, thus maintaining both productivity and reliability.
Data Source
AI summary
Provided is an installation mode determination device capable of determining an installation mode of an automatic machine.The installation mode determination device acquires estimated torque that is required for maintaining a stationary state in which a position of an automatic machine that includes at least one axis that is driven by a servomotor is retained in a set installation mode among a plurality of installation modes applicable to the automatic machine, calculates actual torque that is actually provided by the servomotor for maintaining the stationary state, and determines whether the set installation mode and an actual installation mode of the automatic machine are different or not, based on a difference between the estimated torque corresponding to the set installation mode and the actual torque.