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GXY XY Version 2.0 2006.08

XY XY XY 1-1 III

XY XY XY XY IV

... II... II...III...III...IV 1...1 1.1...1 1.1.1...1 1.1.2...1 1.1.3...2 1.1.4...2 1.2 XY...3 2...4 2.1...4 2.2...4 2.3...5 2.4...6 2.5...7 3...7 3.1...7 3.2...7 3.2.1...7 3.2.2...8 3.3...10 3.4...10 3.5...11 4 PID...13 4.1...13 4.2...13 4.3...13 4.4...13 4.5...17 5...17 5.1...17 5.2...17 5.2.1...17 5.2.2...19 5.3...19 5.4...19 5.4.1 TS...19 5.4.2...21 5.4.3...22 5.5...23 I

6 7...23 6.1...23 6.2...24 6.2.1...24 6.2.2...25 6.2.3...27 6.2.4...27 6.3...33 6.4...33 6.4.1...33 6.4.2 /...34 6.4.3 /...35 6.4.4...36 6.4.5...36 6.4.6...37 6.4.7...38 6.4.8...40 6.5...40...42 7.1...42 7.2...42 7.3...44 7.4...44 7.4.1...44 7.4.2 G00/G01/G02/G03...46 7.4.3 G17/G18/G19...47 7.4.4 G90/G91/G92...49 7.5...51 II

1 1.1 / 1-1 1-1 1-2 PID 1-2 1

/ PC (ASIC) PC DSP FPGA DSP DSP FPGA PC + 1-4 1-3 1 1-4 2 2

1-5 3 S PCB SMTIC PCB 3

1.2 XY GXY 4 IO PC GT-400-SV GT-400-SG PC 1-6 1-6 GT 4

2 2.1 2.2 2-1 5

PM, VR,(HB) PM VR - HB 2.3 GXY-1010 GXY-1010 GT-400-SGSV PC GXY GXY1010 SH-20503 57BYG250E-0302 2 0.9/1.8 1.5Nm 2-1, 2-2 2-1 2-2 GXY MINAS A4, 6

GXY-2020 MSMD022P1U 11 2500P/r 200W3000r/min0.64Nm 1.91Nm MADDT1207 Technical reference AC Servo Motor & Driver MINAS A4-series 2.4 GXY 1. 2. 3. 4. SG T 1. 2. 2-3 3. JOG 4. CN I/F GT-400 ( 2-4) 5. SETPA 020 6. PA 423 EEPROM 7. Panasonic MINAS A P58 8. PC 7

9. GT-400-SG D PA 421P 1. GT-400-SV 2. CN I/F GT-400 2-5 3. SETPA 021 4. EEPROM 5. PC 0 0 6. Panasonic MINAS A P58 7. GT-400-SV 0 PA 52 0 GT_SetMtrBias() 1 2 3 2.5 1 2 3 4 8

3 3.1 3.2 PWMPFM SCR 3-1 + - + - + - PWM H 3-1 3-2 9

ia La Ra ua Ea M TL 3-2 L a R a T L i a E a E a k ( ) 1 ua iara ω = K 1 φ di u a ia( t) L () a t + a + Ea( t) dt E () t = K ω a e Tt () = Ki() t t a dω() t Tt () = J + Bω() t+ Td () t dt JBK e K t T d (t) / Ua() s = RaIa() s + LasIa() s + Ea() s Ea() s = KeΩ() s T() s = KtIa() s T() s = JsΩ () s + BΩ () s + Td () s 10

Ω() s K = U s L Js L B R J s R B K K t 2 a() a + ( a + a ) + a + e t / L a a τ = << R L / R La a a a B T m Ω() s 1/ Ke = U () s T s+ 1 a T m e m Ra J = KK t K Gs () = TS +1 yt () K(1 e T = ) t K = y( t ) K t=t 11

t 1 ( ) (1 T ) (1 t= T= t= T= ) = 0.6321 yt K e k e K 0.6321K T 3.3 XY GT-400-SV PC 3.4 XY 1. 2. MotorControlBench.exe 12

3. -32767~32767 5000 Y 4. 5. 6. record.mat 7. record.mat MATLAB 8. MATLAB iden1order.m MATLAB K T 9. 3.5 1) 2) K T 3) 13

4 PID 4.1 PID PID 4.2 PID PID PID 1 de( t) ut () = Kp[() et + e( τ) dτ TD ] T + dt I t 0 ut,e(t)k P T IT D PID T T uk ( ) = K{ ek ( ) + ei ( ) + [ ek ( ) ek ( 1)]} = Kek ( ) + K ei ( ) + K [ ek ( ) ek ( 1)] k k D P P I D TI i= 0 T i= 0 K I K D uk ( ) = uk ( 1) + uk ( ) uk ( ) = K[ ek ( ) ek ( 1)] + Kek ( ) + K [ ek ( ) 2 ek ( 1) + ek ( 2)] P I D PID PID PID PID 14

4.3 XY GT-400-SV PC 4.4 1. 2. MotorControlBench.exe 3. 1 0~50000 40000 4. PID PID 5. 6. 15

7. 8. 9. PID 4~8 10. 4.2.2 PID PID 1. VC MotorControlBench.dsw 2. class view CDCMotorCtrlWnd int PID_Control(void) 3. PID 4. 5. VC PID VC GT400.lib GT400.dll GT400SV.h or GT400SG.h \GT-400-SV-PCI\T4VP-CD-020626\Windows\DLL-1.5 GT 4.5 1 PID 2 PID PID 3 16

5 PID 5.1 5.2 5-1 PID 5-5-1 PID u(t) e(t) U(s)/E(s)=Ki/s e(t) u(t)u(t) (PI)PDPID 5.3 17

XY GT-400-SV PC 5.4 SV XY DEMO 1. P P P P I P I D 2. P PI PD PID 1. P P P P I PI D 2. P PI PD PID 1. XY, XY ; 2. 3. MotorControlBench.exe 18

4. 1 X 5. 6. PID PID Kp 7. S GT-400-SV T S T 8. S 9. PID 19

10. 11. PID SG SV 12. 13. () 14. Kp 11 15. P 16. Kp 17. Ki Kd 18. Ki Kd PID Kp=5, Kd=0, Ki=0, 20

19. PID Kp=25, Kd=0, Ki=0, PID 5.5 4 PID 5 GT400-SV 6 21

6 6.1 T S 6.2 T S S 1T 6-1 V i+1v i V i+1 =V i +at atv i+1 V i 6-1 V i+1=v i -at 22

6-1 AC BD 2S S S S 6-2 6-2 S S T i J S 23

, XY 6.3 XY GT-400-SV GT-400-SG PC 6.4 1. 2. 3. MotorControlBench.exe 4. 1 5. S S : 6. 24

7. 8. 9. S 10. 11. S 12. T T T T 13. T 14. T 15. T 16. 17. S T S T S T 25

1. XY, XY 2. 26

3. 4. 5. 6. 7. 1. 2. 1 3. 4. 2 5. T 2 T 27

6. 7. 8. 9. 2 2~8 4 2 10. 11. 1 a) b) 2~9 24 1 3 12. 13. 6-1 PID 28

6-1 1 2 1-1 2 2 1 2 3 1 2-1 4 1 2 2 6.5 1., T S 2., 3. 5-1 4. 29

7 7.1 7.2 m X m Xe = Ym Ye Fm = YmXe XmYe F m =0mOA F m >0mOAm F m <0mOAm F m 0 XF m <0Y X e,y e F m 0 XX m+1 =X m 1, Y m+1 =Y m F m+1 =Y m+1 X e - X m+1 Y e =Y m X e -(X m 1)Y e F m+1 =F m -Y e F m <0 YX m+1 =X m, Y m+1 =Y m 1 F m+1 =Y m+1 X e - X m+1 Y e =(Y m 1)X e -X m Y e F m+1 =F m X e X e,y e 7-1 30

Xe,Ye,F0=0 Y F>=0? N +X +Y F+Ye F+Xe =0? N Y L1 AB RmR m R m R F m = R 2 m R 2 = X 2 m + Y F m =0m F m >0m 2 m R 2 31

F m <0m F m 0 Xm+1 X m+1 =X m 1, Y m+1 =Y m F 2 m+ = m+ m+ m m 2 2 1 X 1 Y 1 R = F 2X + 1 F m <0 Ym+1 X m+1 =X m, Y m+1 =Y m 1 F 2 m+ = m+ m+ m m 2 2 1 X 1 Y 1 R = F + 2Y + 1 F m =0 6-2 32

Xs,Ys,F0=0 N F>=0? Y +Y -X F+2Y+1 F-2X+1 =0? N Y NR1 DDA t n 2 n X JVX YJVY XJRX YJRY 33

DDA DDA X JVX Y JVY XJRX YJRY DDA 1) 2) 3) n 2 n 34

,, 0 Y N N? Y (-X) Y N N? Y (+) Y Y N N X? Y N? Y NR1 35

X i Y i X i Y i 2 2 L 2 Si = ( Xi Xe) + ( Yi Ye) ( ) 2 T S T C (NR1) L= X + Y 2 2 e e L= FT, K = L/ L S L X = X = KX L i e e L Y = Y = KY L i e e L= FT X S S 0 = Y Y R L X R L S 0 = I II L 1 Xi = ( Yi 1+ Yi 1) R 2 Y = Y + R ( X + X ) 2 2 i i 1 i 1 i L 1 Yi = ( Xi 1+ Xi 1) R 2 X = X + R ( Y + Y) 2 2 i i 1 i 1 i X = X + X i+ 1 i i Y = Y + Y i+ 1 i i L= FT S L K = R X = KY i i Y = KX i 1 i 1 36

L= FT S L K = R 2 K = K 1 1 X = KY K X 2 1 Yi = KXi 1 KY 1 i 1 2 i i 1 1 i 1 Xe,Ye,Xs=0,Ys=0 L=FTS,L K=L/ L Xi=KXe, Yi=KYe Xi=Xi-1+ Xi Yi=Yi-1+ Yi N Y DDA DDA 37

Y N S2=1 S2=-1 YS XS L = FTS, X = 0 S2 L, Y0 S2 L R = R N X > Y Y Y Y>0 N Y X>0 N S1=1 S1=1 S1=1 S1=1 L 1 S 2 (Y+ Y) X R 2 L 1 ( S2) ( X + X) Y R 2 + 1 ( + ) 2 2 Y S R X X Y + 1 ( + ) 2 2 X S R Y Y X X+ X X,Y+ Y Y N Y VXYZAX YZAV X V Y V Z V A 2 x 2 y 2 z V = V + V + V + V / mm/st 2 A 38

AccXYZA XYZAAcc x Acc y Acc z Acc A Acc = Acc x 2 2 y 2 z + Acc + Acc + Acc 2 A mm/st 2 7.3 XY GT-400-SV PC VC 7.4 XY X Y XY X Y 39

VC CInterpolation VC GT400.lib GT400.dll GT400SV.h or GT400SG.h \GT-400-SV-PCI\T4VP-CD-020626\Windows\DLL-1.5 GT GT GT 7.5 1 XY 2 3 49

4 5 6 DDA 7 50

8 8.1 8.2 1/4 π /2 m + (1/4) τ ( τ m ) π /2,,,, A,B A 10mm B 51

10mm B = A-B 8.3 XY GT-400-SV PC 8.4 1. 2. MotorControlBench.exe 3. 4. 5. 50000pusle 100000pulse 6. 7. 8. 9. 10. VC VC GT400.lib GT400.dll GT400SV.h or GT400SG.h \GT-400-SV-PCI\T4VP-CD-020626\Windows\DLL-1.5 GT GT GT 52

8.5 1. 2. 3. 4. 5. 53

9 9.1 PC 9.2 ISO841 the Right-handed Rectangular Cartesian Coordinate System XYZ XYZ ABC G91G90 % 1000 N01 G91 G00 X50 Y60 N02 G01 X1000 Y5000 F150 S300 T12 M03 G G G 9-1 G G G00 G01 G02 G03 01 () () CW() CCW() 54

G17* X(U)Y(V) G18 02 ZWXU G19 YVZW G28 00 G29 G90* 03 G91 G92 00 00 G G G *CNC 00 G CNC G 1G00 G00 X(U)_ Y(V)_ G00 XU YV 2G01 G01 X(U)_ Y(V)_ F_ G01 F XU YV F F mm/min 3G02/G03 G02/G03 X(U)_ Y(V)_ I_ J_ F_ XUYV IJ X,Y () F G02/G03 X(U)_ Y(V)_ R_ F_ XUYV R F G02: G03: 55

9.3 XY GT-400-SV PC 9.4 XY X Y M03 M05 G M 56

4. example GAO.txt 5. G G G 6. GAO.txt 9. XY XY G 10. 11. 12. 57

M30 M02 1. G Test1.txt N10 M03 G01 X10 N20 G01 Y10 N30 G01 X0 Y0 N40 M05 M30 Test2.txt N01 M03 G90 G01 X20 N02 G03 X-20 Y0 I-20 J0 N03 M05 M30 Test3.txt N10 G00 X10 Y10 N20 M03 G01 X20 Y20 N30 G02 X80 Y20 R30 N40 G03 X70 Y57.32 R20 N50 G01 X20 Y55 N60 G04 X10 N70 G00 X0 Y0 N80 M05 M30 Test4.txt N01 M03 G01 X10 Y10 N02 G01 X0 N03 G01 X30 F100 N04 G03 X40 Y20 I0 J0 N05 G02 X30 Y30 I0 J0 N06 G01 X10 Y20 N07 Y10 N08 M05 G00 X-10 Y-10 N09 M30 58

2. 1~2 3. G G 4. G test1.txt N10 M03 G01 X10 N20 G01 Y10 N30 G01 X0 Y0 N40 M05 M30 5. 6. example test1.txt 7. test1.txt G 8. G, 1 9. 11. X Y 12. G 13. 14. 3~11 test2.txt~test4.txtg 1 15. XY G 59

1. G17/G18/G19 G17.txt N01 G90 G17 G00 X10 Y10 N02 G01 X30 N03 G03 X40 Y20 I0 J10 N04 G02 X30 Y30 I0 J10 N05 G01 X10 Y20 N06 Y10 N07 G00 X-10 Y-10 N08 M30 G18.txt N01 G90 G18 G00 X10 Z10 N02 G01 Z30 N03 G03 X20 Z40 I10 K0 N04 G02 X30 Z30 I10 K0 N05 G01 X20 Z10 N06 X10 N07 G00 X-10 Z-10 N08 M30 G19.txt: 60

N01 G90 G19 G00 Y10 Z10 N02 G01 Y30 N03 G03 Y40 Z20 J0 K10 N04 G02 Y30 Z30 J0 K10 N05 G01 Y10 Z20 N06 Z10 N07 G00 Y-10 Z-10 N08 M30 2. 1~3 3. G 4. G 1 G17.txt 5. 6. example G17.txt 7. XY 8. X 1 Y 2 9. 61

10. G17.txt G 1 11. X Y 12. XY G 13. 3~6 G18.txt GG18.txt 14. ZX 15. X 2 Z 1 16. 17. G18.txt G 1 G17.txt G 18. 19. XY G XY 20. 3~6 G19.txt G G19.txt 21. YZ 22. Y 1 Z 2 62

23. 24. G19.txt G 1 G17.txtG18.txt 25. 26. XY XY, 27. 28. G17/G18/G19 G 1. G92/G90/G91 G90_test.txt N01 G92 X-30 Y-10 N02 G90 G17 G00 X10 Y10 N03 M03 G01 X30 N04 G03 X40 Y20 I0 J10 N05 G02 X30 Y30 I0 J10 N06 G01 X10 Y20 N07 Y10 N08 G00 X-10 Y-10 N09 M05 M30 G91_test.txt N01 G92 X-10 Y-10 N02 G91 G17 X20 Y20 N03 M03 G01 X20 63

N04 G03 X10 Y10 I0 J10 N05 G02 X-10 Y10 I0 J10 N06 G01 X-20 Y-10 N07 Y-10 N08 G00 X-20 Y-20 N09 M05 M30 2. 1~3 3. G 4. G 1 G90_test.txt 5. 6. example G90_test.txt 7. XY 8. X 1 Y 2 29. 9. G90_test.txt G 1 10. G92 X=-10mm,Y=-10mm X- Y-(-10,-10) 11. XY XY, 12. G92 G90_test.txt G92 N01 G92 X-30 Y-10 64

G90_test.txt 13. G90_test.txt G G92 14. X=-30mm,Y=-10mm 15. XY XY, 16. G91 2~8 G91_test.txt 17. G91_test.txt G 1 G90_test.txt G 18. G92 X=-10mm,Y=-10mm 19. XY XY, 9.5 1. 2. G00G01G02G03G04G17G18G19G90G91G92 G 65