WO1988002140A1 - Method of removing follow-up delay using a digital servo system in a full-close feedback nc system - Google Patents
Method of removing follow-up delay using a digital servo system in a full-close feedback nc system Download PDFInfo
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- WO1988002140A1 WO1988002140A1 PCT/JP1987/000680 JP8700680W WO8802140A1 WO 1988002140 A1 WO1988002140 A1 WO 1988002140A1 JP 8700680 W JP8700680 W JP 8700680W WO 8802140 A1 WO8802140 A1 WO 8802140A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41068—Measuring and feedback
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41081—Approach position from same direction
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41085—Compensation pulses on inversion of direction of rotation, movement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41186—Lag
Definitions
- the present invention relates to a method for removing a tracking delay using a digital servo system in a numerical control (NC) machine tool using full-closed feedback.
- NC servo mechanism for machine tools: full-feedback type and semi-closed feedback type.
- the former performs position feedback by attaching a position detector to the table of a machine tool.
- the accuracy is higher than the latter, and errors due to play in the mechanical system are compensated.
- Semi-closed-feedback type machine tools detect the position from the rotating shaft of the motor and have a larger position error than the full-closed feedback type. Can be made smaller.
- Full-closed feed A machine tool that uses a feedback cannot logically be affected by mechanical system play, but when the feed rate of the table increases, there is a delay in following the servo system. , which c resulting shape errors when an arc quadrant switching unit such as the moving direction is changed even motor is reversed past the apex of the shape, the table This is because there is a period during which there is no movement, and even after the vertex, a flat part will cause an error with respect to the command value. Disclosure of the invention
- An object of the present invention is to provide an NC machine tool having a small difference between positions even when a mechanical system has an unstable factor such as friction, and thus has a small shape error of a workpiece.
- FIG. 1 is a block diagram showing each step of performing a method using a non-digital servo system in the prior art
- FIG. 2 is a block diagram showing each step of a control system for performing a method for removing a tracking delay using a digital servo system in a full-closed-dock NC system as one embodiment of the present invention.
- FIG. 2 is a block diagram showing each step of a control system for performing a method of removing a tracking delay using a digital servo system in a full-closed hook NC system as one embodiment of the present invention.
- FIG. 1 shows a similar diagram for performing a method using a prior art non-digital servo system.
- the position command (P0S.CO.fm.NC C0NT.) 1 1 from NC controller D— is obtained by integrating the position gain Ps.
- the speed command to the servo motor (VEL.COM. To SERV M.) 1 2 becomes the torque command to the servo motor (T0 a.COM. To SBRV0M.) 13 and the servo motor (SERV0M .) Drive 14.
- the servomotor 14 drives the table of the machine tool, and operates the table position detector (T.POS.DET.) 16 according to the movement of the table.
- a machine play (MACH.PLAY) 15 exists between the servomotor 14 and the table.
- the output of servo motor 14 is fed back to the speed command as motor speed feedback (M.VEL.FB.).
- M.VEL.FB. motor speed feedback
- the output of the table position detector 16 is fed back to the position command as a table position feedback (T. POS. FB.).
- a loss motion correction pulse is used as a correction command for the position command from the C control ⁇ -controller. Is added.
- ⁇ X, Pg, and K are as described above.
- the end time of the timing of the capturing is defined as follows. In the digital servo system, the motor position feedback signal (M.
- P0S. FB. Is obtained from the output of the servo motor 14 and is compared with the table position signal (C0 P.) (17).
- the servo motor position becomes equal to the table position, Storm — Correction period control (CORR. TERM C0NT.) 1 8 so that LOST MOT. CORR. PULSE 1 9 is not added to position command 11 from the NC controller. Control.
- the process shown by the broken line in FIG. 2 is performed by the correction pulse (CORR. PULSE) 20 shown in FIG. Since it is provided instead, the stop timing of the correction pulse can be controlled, and even if there is an uncertain element such as friction of the table of the machine tool, finer position control becomes possible.
- CORR. PULSE correction pulse
- an appropriate correction command can be given, and the end time of the correction can be controlled by the difference between the position of the servomotor and the table. Even if there are unstable factors such as friction in the mechanical system, an NC machine tool with a small position error and a small shape error of the workpiece can be obtained.
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
Abstract
Description
明 細 書 フ ノレ ク ロ ー ズ フ ィ ー ド ノ ッ ク N C シ ス テ ム に お け る デジタルサーボシステムを用いた追従遅れを除去する方法 Description FUNOLE CLOSE FEED KNOCK A method of eliminating tracking delay using a digital servo system in an NC system.
技術分野 Technical field
本発明は、 フルク ロ ーズフ ィ ー ドバッ クを用いた数値制御 ( N C ) 工作機械におけるデジタルサ—ボシステムを用いた 追従遅れを除去する方法に関する。 背景技術 The present invention relates to a method for removing a tracking delay using a digital servo system in a numerical control (NC) machine tool using full-closed feedback. Background art
工作機械の N C サーボ機構にフルク 口 —ズフ ィ一 ドバ ッ ク 方式とセ ミ ク ロ一ズフ ィ一ドバッ ク方式がある。 前者は工作 機械のテーブルに位置検出器を取付けて位置フ ィ ― ド バ 'ン ク を行う もので、 一般に後者より は精度が高く 、 機械系の遊び による誤差が補償される。 セ ミ ク ローズフ ィ ー ドバッ ク方式 の工作機械はモータ の回転軸から位置検出が行われる もので フルク ローズフ ィ一ドバッ ク方式より位置誤差は大きいが、 適切な遊びに対する補正を行えば位置誤差を小さ く する こ と ができる。 There are two types of NC servo mechanism for machine tools: full-feedback type and semi-closed feedback type. The former performs position feedback by attaching a position detector to the table of a machine tool. Generally, the accuracy is higher than the latter, and errors due to play in the mechanical system are compensated. Semi-closed-feedback type machine tools detect the position from the rotating shaft of the motor and have a larger position error than the full-closed feedback type. Can be made smaller.
フルク ローズフ ィ — ドバッ クを用いた工作機械では論理的 には機械系の遊びの影響はあり得ないが、 テーブルの送り速 度が大き く なる と、 サ―ボ系の追従遅れに起因して、 円弧の 象限切り換え部等移動方向が変化した時に形状誤差を生ずる c これは形状の頂点を過ぎてモータが反転しても、 テーブルが 動かない時間があるため、 頂点を過ぎても平らな部分が繞き 指令値に対して誤差を生ずるためである。 発明の開示 Full-closed feed — A machine tool that uses a feedback cannot logically be affected by mechanical system play, but when the feed rate of the table increases, there is a delay in following the servo system. , which c resulting shape errors when an arc quadrant switching unit such as the moving direction is changed even motor is reversed past the apex of the shape, the table This is because there is a period during which there is no movement, and even after the vertex, a flat part will cause an error with respect to the command value. Disclosure of the invention
本発明の目的は、 機械系に摩擦等の不安定な要因があって も位置舉差の少ない、 従って被加工品の形状誤差の少ない N C工作機械を得ることにある。 An object of the present invention is to provide an NC machine tool having a small difference between positions even when a mechanical system has an unstable factor such as friction, and thus has a small shape error of a workpiece.
本発明においては、 フノレクローズフィ 一 ドノ ック N C シス テムにおけるデジタルサーボシステムを用いた追従遅れを除 去する方法であつて、 以下の工程、 すなわち ； NT C コ ン ト σ —ラからの位置指令を受け、 サ―ボモータへ速度指令を供袷 し ； 該速度指令から該サーボモータへの トルク指令を供給し; 該 トルク指令により該サーボモ一タを駆動し ； 該サーボモー タの出力により工作機搣のテーブルを駆動し ； 該テーブルに 設けた位置検出器の出力をテーブル位置フィ ― ドバックとし て該 N Cコ ン トロ一ラからの位置指令にフィ 一 ドバック し ； 該サーボモータの出力を該速度指令へ速度フ ィ ― ドバ ク し: 該サーボモータから位置検出値を出力し ； 該工作機械のテ— ブルの遊びを Δ X、 該サーボシステムのポジシ ョ ンゲイ ンを P g 、 捕正係数を Kとする時、 捕正量が （ K ♦ Δ X ) 、 捕正 時藺が （ 1 ÷ P g ÷ K ) である補正指令を、 該 N C コ ン ト口 ーラからの位置指令に、 該テ―ブルの移動方向が変化して反 転する該サーボシステムの位置誤差が零になった時加算し ； 該サーボモータの出力の位置検出値と該テーブル位置検出値 を比較し ； 該 2 つの位置検出値が等しく なつた時に該捕正指 令の加算を停止する ； 各工程を具備する方法が提供される。 前述の方法を用いれば、 適切な補正指令が最適なタィ ミ ン グで加算され、 も し、 機械系に摩擦等の不安定要因があって も、 サ―ボモータの軸における回転位置とテ—ブルの位置を 比較して該不安定要因に対処して、 該補正指令の加算時間を 調整でき る。 これにより単に算出された一定の補正量および 補正時間を有する捕正指令を加える場合に比較して、 さ らに きめ細かい制御が可能となる。 図面の簡単な説明 In the present invention, shall apply in full Honoré closed Fi one Dono click NC method of dividing removed by the follow-up delay using a digital servo system in the system, the following steps, namely; N T C Control This setup sigma - La Receiving a position command from the controller, supplying a speed command to the servomotor; supplying a torque command to the servomotor from the speed command; driving the servomotor according to the torque command; output of the servomotor The table of the machine tool に よ り is driven by the controller; the output of the position detector provided on the table is used as a table position feedback to feed back a position command from the NC controller; the output of the servo motor Speed feedback to the speed command: output the position detection value from the servo motor; ΔX the table play of the machine tool, position of the servo system When the gain is P g and the capture coefficient is K, the correction command that the capture amount is (K ♦ ΔX) and the capture time is (1 ÷ Pg ÷ K) is When the position error of the servo system, which reverses due to the change of the moving direction of the table, becomes zero to the position command from the mouther; the position detection value of the output of the servo motor and the table are added. Comparing the position detection values; when the two position detection values become equal, Stop adding instructions; a method is provided that comprises each step. If the above method is used, an appropriate correction command is added at the optimal timing, and even if there are unstable factors such as friction in the mechanical system, the rotational position on the shaft of the servomotor and the tape are not affected. By comparing the positions of the cables, it is possible to adjust the addition time of the correction command in response to the instability factor. As a result, more fine-grained control can be performed as compared with a case where a correction command having a calculated constant correction amount and correction time is simply added. BRIEF DESCRIPTION OF THE FIGURES
第 1 図は先行技術における非デジタルサ—ボシステムを用 いた方法を行う各工程を示すプロ ッ ク図、 および FIG. 1 is a block diagram showing each step of performing a method using a non-digital servo system in the prior art, and
第 2 図は本発明の一実施例と しての-フルク ロ ーズフ ィ 一 ド ッ ク N C システムにおけるデジタ ルサーボシステムを用い た追従遅れを除去する方法を行う制御系統の各工程を示すブ ロ ッ ク図である。 発明を実施するための最良の形態 FIG. 2 is a block diagram showing each step of a control system for performing a method for removing a tracking delay using a digital servo system in a full-closed-dock NC system as one embodiment of the present invention. FIG. BEST MODE FOR CARRYING OUT THE INVENTION
本発明の一実施例と してのフルク ーズフ ッ ク N C システムにおけるデジタルサ一ボシステムを用いた追従 遅れを除去する方法を行う制御系統の各工程を示すブロ ッ ク 図が第 2図に示され、 第 1 図には、 先行技術としての非デジ タ ルサ—ボシステムを用いた方法を行う同様な図が示される。 第 2図において、 N Cコ ン ト D— ラからの位置指令（P0S. CO . fm.NC C0NT.) 1 1 はポジ シ ョ ンゲイ ン P s が積算されて サ一ボモータへの速度指令（VEL.COM. to SERVひ M. ) 1 2 となり 該速度指令がサーボモータへの トルク指令 （T0 a.COM. to SBRV0M.) 1 3 となってサーボモータ（SERV0M. ) 1 4を駆動す る。 サーボモータ 1 4は工作機械のテーブルを駆動し、 該テ -ブルの動きに従ってテーブル位置検出器（T. P0S . DET . ) 1 6 を動作させる。 サ一ボモータ 1 4 とテ一ブルの間には機械の 遊び（MACH.PLAY) 1 5が存在する。 サーボモータ 1 4 の出力 はモータ速度フ ィ ー ドバック（M . VEL .FB.) として速度指令へ フィ一ドノ ッ ク される。 フルク ローズフ ィ ― ドバッ ク方式で は、 テーブルの位置検出器 1 6 の出力がテーブル位置フ ィ — ドバッ ク（T. POS. FB. ) として位置指令にフィ ー ドバックされ る。 FIG. 2 is a block diagram showing each step of a control system for performing a method of removing a tracking delay using a digital servo system in a full-closed hook NC system as one embodiment of the present invention. FIG. 1 shows a similar diagram for performing a method using a prior art non-digital servo system. In Fig. 2, the position command (P0S.CO.fm.NC C0NT.) 1 1 from NC controller D— is obtained by integrating the position gain Ps. The speed command to the servo motor (VEL.COM. To SERV M.) 1 2 becomes the torque command to the servo motor (T0 a.COM. To SBRV0M.) 13 and the servo motor (SERV0M .) Drive 14. The servomotor 14 drives the table of the machine tool, and operates the table position detector (T.POS.DET.) 16 according to the movement of the table. A machine play (MACH.PLAY) 15 exists between the servomotor 14 and the table. The output of servo motor 14 is fed back to the speed command as motor speed feedback (M.VEL.FB.). In the full-closed feedback system, the output of the table position detector 16 is fed back to the position command as a table position feedback (T. POS. FB.).
機械系の遊びによる追従誤差を防止するため、 この実施例 のフルク ローズフィ ー ド ) ッ ク方式では Cコ ン ト σ—ラか らの位置指令に捕正指令としてロス トモ—ショ ン捕正パルス を加算する。 この捕正パルスは捕正量 Xc として Xc = K · Δ X、 捕正時間 Tc として、 Tc= l ÷ P g ÷ Kの値をとり、 捕正のタイ ミ ングとしてはテーブルの移動方向が変化して反 転するサーボ系の位置誤差が零になつた時開始する。 なお、 Δ X、 P g 、 および Kについては前述したとおりである。 この実施例においては、 前記捕正のタイ ミ ングの終了時を 次のように規定する。 デジタルサ一ボ系において、 サ—ボモ —タ 1 4の出力からモータ位置フイー ドバック信号（M. P0S. FB.)を得るようにし、 テーブル位置信号と比較（C0 P.) (17) し、 サーボモータ位置がテーブル位置に等しくなつた時、 口 ス ト モ — シ ョ ン捕正パルス（LOST MOT. CORR. PULSE) 1 9 が N C コ ン ト ローラからの位置指令 1 1 に加箕されないよう補 正期間制御（CORR. TERM C0NT. ) 1 8 を制御する。 In order to prevent a tracking error due to play in the mechanical system, in the full-closed feed) method of this embodiment, a loss motion correction pulse is used as a correction command for the position command from the C control σ-controller. Is added. This capture pulse takes the value of Xc = K · ΔX as the capture amount Xc and the value of Tc = l ÷ Pg ÷ K as the capture time Tc, and the movement direction of the table changes as the timing of the capture. It starts when the position error of the inverting servo system becomes zero. Note that ΔX, Pg, and K are as described above. In this embodiment, the end time of the timing of the capturing is defined as follows. In the digital servo system, the motor position feedback signal (M. P0S. FB.) Is obtained from the output of the servo motor 14 and is compared with the table position signal (C0 P.) (17). When the servo motor position becomes equal to the table position, Storm — Correction period control (CORR. TERM C0NT.) 1 8 so that LOST MOT. CORR. PULSE 1 9 is not added to position command 11 from the NC controller. Control.
前述のよ う な実施例によれば、 第 1 図における先行技術例 に比較して、 第 2図の破線で示したよう な工程が第 1 図の補 正パルス（CORR. PULSE) 2 0 の代わり に設けられているから補 正パルスの停止時期を制御でき、 も し、 工作機械のテーブル の摩擦等の不確実な要素があっても、 より きめ細かな位置制 御が可能となる。 According to the above-described embodiment, as compared with the prior art example in FIG. 1, the process shown by the broken line in FIG. 2 is performed by the correction pulse (CORR. PULSE) 20 shown in FIG. Since it is provided instead, the stop timing of the correction pulse can be controlled, and even if there is an uncertain element such as friction of the table of the machine tool, finer position control becomes possible.
本発明によれば、 フルク ロ ーズフ ィ ー ドバッ クを用いた N C システムにおいて、 適正な捕正指令を加え、 かつ捕正終了 時期をサ―ボモ ータ とテーブルの位置の差によって制御でき るから、 機械系に摩擦等の不安定な要因があっても位置誤差 の少ない、 従つて被加工品の形状誤差の少ない N C工作機械 が得られる。 According to the present invention, in an NC system using full-closed feedback, an appropriate correction command can be given, and the end time of the correction can be controlled by the difference between the position of the servomotor and the table. Even if there are unstable factors such as friction in the mechanical system, an NC machine tool with a small position error and a small shape error of the workpiece can be obtained.
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61/222188 | 1986-09-22 | ||
| JP22218886A JPS6378206A (en) | 1986-09-22 | 1986-09-22 | Following delay removal method using digital servo system in full close feedback nc system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO1988002140A1 true WO1988002140A1 (en) | 1988-03-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/JP1987/000680 Ceased WO1988002140A1 (en) | 1986-09-22 | 1987-09-16 | Method of removing follow-up delay using a digital servo system in a full-close feedback nc system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPS6378206A (en) |
| WO (1) | WO1988002140A1 (en) |
Cited By (3)
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|---|---|---|---|---|
| EP0302943A4 (en) * | 1987-02-04 | 1990-06-05 | Fanuc Ltd | Numerical control method having a function for compensating the delay in the follow-up operation. |
| EP0311127A3 (en) * | 1987-10-09 | 1990-08-29 | Kabushiki Kaisha Toshiba | Control device for servo motor |
| CN113778022A (en) * | 2021-07-22 | 2021-12-10 | 江苏开璇智能科技有限公司 | Harmonic numerical control rotary table master-slave control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3615596B2 (en) * | 1995-08-22 | 2005-02-02 | ファナック株式会社 | Numerical controller |
| JP4595271B2 (en) * | 2001-09-19 | 2010-12-08 | パナソニック株式会社 | Component mounting equipment |
| JP5788560B1 (en) | 2014-04-24 | 2015-09-30 | ファナック株式会社 | Motor control device that performs correction processing when rotating direction is reversed |
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| JPS60116004A (en) * | 1983-11-29 | 1985-06-22 | Fanuc Ltd | Numerical controller of full-closed-loop control system |
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| JPS5866121A (en) * | 1981-10-16 | 1983-04-20 | Hitachi Ltd | Deviation phase modulator for numerical control equipment |
| JPS59106009A (en) * | 1982-12-10 | 1984-06-19 | Hitachi Ltd | Backlash correcting method |
| JPS6048505A (en) * | 1983-08-26 | 1985-03-16 | Hitachi Ltd | Backlash correction device |
| JPS6172312A (en) * | 1984-09-14 | 1986-04-14 | Yaskawa Electric Mfg Co Ltd | Positioning method |
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1986
- 1986-09-22 JP JP22218886A patent/JPS6378206A/en active Pending
-
1987
- 1987-09-16 WO PCT/JP1987/000680 patent/WO1988002140A1/en not_active Ceased
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60116004A (en) * | 1983-11-29 | 1985-06-22 | Fanuc Ltd | Numerical controller of full-closed-loop control system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0302943A4 (en) * | 1987-02-04 | 1990-06-05 | Fanuc Ltd | Numerical control method having a function for compensating the delay in the follow-up operation. |
| EP0311127A3 (en) * | 1987-10-09 | 1990-08-29 | Kabushiki Kaisha Toshiba | Control device for servo motor |
| CN113778022A (en) * | 2021-07-22 | 2021-12-10 | 江苏开璇智能科技有限公司 | Harmonic numerical control rotary table master-slave control system |
| CN113778022B (en) * | 2021-07-22 | 2023-09-15 | 江苏开璇智能科技有限公司 | Harmonic numerical control turntable master-slave control system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6378206A (en) | 1988-04-08 |
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