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公开(公告)号：EP0209604B1
公开(公告)日：1994-12-21
申请号：EP86900634.6
申请日：1986-01-11
申请人： FANUC LTD.
IPC分类号： G05B19/18
CPC分类号： G05B19/4142 , G05B19/4144 , G05B2219/33119 , G05B2219/34244
摘要： In an interface system for a servo controller, a speed controller (7), a current controller (9) and the like, which had hitherto been provided on the side of the servo motor, are all included in a control circuit (15) on the side of the NC apparatus, the present position and the speed data that are fed back are stored in a common RAM, control signals are supplied from the NC apparatus side to the servo motor side, i.e., control signals are supplied to a drive circuit such as an inverter (12), and a system bus on the NC apparatus side is directly coupled to a local bus on the servo motor side.
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公开(公告)号：EP0396749B1
公开(公告)日：1994-10-26
申请号：EP89901317.1
申请日：1989-01-12
申请人： FANUC LTD.
IPC分类号： H02P5/00
摘要： A system for controlling a servo motor at high speeds and stably. The gain coefficient of proportional arithmetic unit (1) is changed, and the control loop is continuously switched from the PI control to the I-p control. Thus, there is realized a control which possesses the merits of the two.
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公开(公告)号：EP0292575B1
公开(公告)日：1994-03-02
申请号：EP88900098.0
申请日：1987-12-11
申请人： FANUC LTD.
发明人： KURAKAKE, Mitsuo , SAKAMOTO, Keiji
IPC分类号： G05B19/18
CPC分类号： G05D17/02 , G05B19/404 , G05B2219/41036 , G05B2219/41084 , G05B2219/41426
摘要： A servo motor controller wherein positioning response lag caused by backlash or friction is improved. The NC apparatus and the robot controller send a position command (MC(i)), a backlash correction command (BL(i)) and a backlash correction flag (BLF(i)) to the servo mechanism. The correction circuit (A) discriminates the inversion of quadrant of the moving part on the basis of the correction flag (BLF(i)), and produces a torque correction command (FR) that corresponds to the friction torque. The correction command (FR) is added to a torque command which is calculated from the position command (MC(i)) and the position signal (POS(i)), and is sent to the servo motor.
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公开(公告)号：EP0314800B1
公开(公告)日：1993-10-06
申请号：EP88903399.9
申请日：1988-04-25
申请人： FANUC LTD.
发明人： SAKAMOTO, Keiji , KUWANO, Hironobu
IPC分类号： H02P5/00
CPC分类号： H02P23/16
摘要： This invention provides a device for controlling the speed of a servo motor, which constitutes a digital servo system that includes compensation means (2) having variable gain. Control means (5) controls the integral gain of the compensation means (2) so that it varies in reverse proportion to an estimated speed of the servo motor calculated based on speed signals that are discretely fed back. In particular, a high-speed positioning is realized based upon real speed signals during the low-speed operation.
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公开(公告)号：EP0271590B1
公开(公告)日：1992-11-11
申请号：EP87904141.6
申请日：1987-06-30
申请人： FANUC LTD.
CPC分类号： G05B19/237 , B25J9/1607 , G05B2219/33074 , G05B2219/39178
摘要： A robot control apparatus stores the result of operation on the inertia term of an equation of motion depending upon the position of the robot arm, so that the operation period on the inertia term is set longer than the operation period on the drive torque. In controlling the robot with the same precision, therefore, the drive torque can be calculated in a short period of operation time.
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公开(公告)号：EP0396749A1
公开(公告)日：1990-11-14
申请号：EP89901317.1
申请日：1989-01-12
申请人： FANUC LTD
IPC分类号： H02P5/00
摘要： A system for controlling a servo motor at high speeds and stably. The gain coefficient of proportional arithmetic unit (1) is changed, and the control loop is continuously switched from the PI control to the I-p control. Thus, there is realized a control which possesses the merits of the two.
摘要翻译： 高速稳定地控制伺服电机的系统。 比例运算单元（1）的增益系数发生变化，控制回路从PI控制继续切换到I-p控制。 因此，实现了具有两者优点的控制。
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公开(公告)号：EP0247208B1
公开(公告)日：1990-10-24
申请号：EP86906957.5
申请日：1986-11-29
申请人： FANUC LTD.
CPC分类号： G05B19/231 , B29C45/5008 , B29C45/76 , B29C2045/1792 , G05B2219/41258 , G05B2219/45244
摘要： An inexpensive injection driving device which generates a large output torque and which exhibits good acceleration and deceleration characteristics in an injection molding machine in which a screw is driven by a servo motor to perform the injection. One or more ball screws (7) for driving the screw (2) in the axial direction are driven by a plurality of servo motors (M1, M2) and a position detector (P1) for detecting the screw position is provided for one servo motor (M1) only while power amplifiers are provided for each of the servo motors (M1, M2) and the power amplifiers are controlled by one control circuit, in order to control the servo motors (M1, M2) in synchronism with each other.
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公开(公告)号：EP0380697A1
公开(公告)日：1990-08-08
申请号：EP89908853.8
申请日：1989-07-26
申请人： FANUC LTD
发明人： SAKAMOTO, Keiji , USHIYAMA, Shigeyuki F. Manshon Harimomi 7-201 , TANIGUCHI, Mitsuyuki F. Manshon Harimomi 8-205 , KIKUCHI, Hirofumi Fanuc Dai-3 Vira-karamatsu
IPC分类号： G05B19/18
CPC分类号： G05B19/231 , G05B19/416 , G05B2219/50042
摘要： A method of returning a mechanical moving part to origin using a linear scale only but without using a limit switch. The linear scale (1) is provided with a second scale portion (2) for specifying a deceleration starting position and an original position in addition to first scale portions (3,4) that generate two-phase signals for detecting the position. Signals (S 1 , S 2 ) that represent a deceleration starting position (D) and an original position (0) are generated from the second scale portion (2), the quick-feed speed (Va) for return to origin is decelerated to a speed (Vb) for return to origin using the deceleration start signal (S 1 ), and movement is stopped in response to the original position signal (S 2 ) to return to the original.
摘要翻译： 使用线性标尺仅将机械运动部件返回到原点但不使用限位开关的方法。 除了产生用于检测位置的两相信号的第一标尺部分（3,4）之外，线性标尺（1）还设置有用于指定减速开始位置和原始位置的第二标尺部分（2）。 从第二刻度部分（2）产生代表减速开始位置（D）和原始位置（0）的信号（S1，S2），用于返回原点的快进速度（Va）减速到速度 （Vb）用于利用减速开始信号（S1）返回到原点，并且响应于原始位置信号（S2）停止移动以返回到原始位置。
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公开(公告)号：EP0271590A1
公开(公告)日：1988-06-22
申请号：EP87904141.6
申请日：1987-06-30
申请人： FANUC LTD
CPC分类号： G05B19/237 , B25J9/1607 , G05B2219/33074 , G05B2219/39178
摘要： A robot control apparatus stores the result of operation on the inertia term of an equation of motion depending upon the position of the robot arm, so that the operation on the inertia term is set longer than the operation period on the drive torque. In controlling the robot with the same precision, therefore, the drive torque can be calculated in a short period of operation time.
摘要翻译： 系统由输入装置（a），CPU（b），检测机器人手是否正在保持工件的传感器（c），伺服控制电路（d），伺服电动机（e） 驱动机器人臂，检测伺服马达（e）的旋转角度的脉冲编码器（f）和检测伺服马达的转数的发电机（g）。 使用运动方程计算伺服电动机的驱动转矩，惯性项取决于机器人手臂的位置。 由于机器人手臂位置的变化相对较慢，惯性项的操作周期被设定为比扭矩减小运算的时间长。
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公开(公告)号：EP0111567B1
公开(公告)日：1987-04-01
申请号：EP83901627.6
申请日：1983-05-26
申请人： FANUC LTD.
发明人： SAKAMOTO, Keiji , TOYOZAWA, Yukio
IPC分类号： H02P3/18
摘要： An apparatus for processing the regenerative energy of an AC motor comprises a regeneration-detecting logic circuit (7) outputting a regeneration detection signal when it detects that a semiconductor switch for an AC motor drive is not conductive and the direction of a current flowing through the AC motor is opposite to that when the AC motor is driven, and a regeneration drive circuit (9) driving a regenerative energy processing semiconductor switch in response to the regeneration detection signal. The regenerative energy processing semiconductor switch is conductive only when the AC motor is regenerating to return the regenerative energy to an AC power source, so that the power consumption of a resistor protecting the regenerative energy processing semiconductor switch can be reduced to enable a reduction in the size thereof.
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