公开(公告)号：US20240413780A1

公开(公告)日：2024-12-12

申请号：US18699421

申请日：2021-11-09

Applicant: FANUC CORPORATION

Inventor： Ryou MORIHASHI ,  Satoshi IKAI

IPC: H02P29/024

Abstract: Provided is a technique capable of detecting an abnormality of an industrial machine when performing full-closed control on one axis by a plurality of motors in the industrial machine. This motor control device comprises: a first position acquiring unit for acquiring the position change of each motor on the basis of each of the detection signals of a plurality of first position detectors with which the plurality of motors are respectively provided; a second position acquiring unit for acquiring the position change of the one axis on the basis of the detection signal of a second position detector for directly detecting the position change of the one axis; a position calculation unit for calculating a position change of the one axis on the basis of the position change of each motor acquired by the first position acquiring unit; and an abnormality detection unit for detecting an abnormality of the industrial machine on the basis of the position change of the one axis calculated by the position calculation unit and the position change of the one axis acquired by the second position acquiring unit.

公开(公告)号：US20200026248A1

公开(公告)日：2020-01-23

申请号：US16435840

申请日：2019-06-10

Applicant: FANUC CORPORATION

Inventor： Ryoutarou TSUNEKI ,  Satoshi IKAI ,  Naoto SONODA

IPC: G05B13/02

Abstract: The settling time of machine learning is shortened. A machine learning device is configured to perform machine learning related to optimization of coefficients of a transfer function of an IIR filter of a feedforward calculation unit with respect to a servo control device configured to control a servo motor configured to drive an axis of a machine tool, a robot, or an industrial machine using feedforward control by a feedforward calculation unit having the IIR filter. The machine learning device represents a zero-point at which the transfer function of the IIR filter is zero and a pole at which the transfer function diverges infinitely in polar coordinates using a radius r and an angle θ, respectively, and searches for and learns, within a predetermined search range, the radius r and the angle θ to thereby perform the optimization of the coefficients of the transfer function of the IIR filter.

公开(公告)号：US20190296662A1

公开(公告)日：2019-09-26

申请号：US16357829

申请日：2019-03-19

Applicant: FANUC CORPORATION

Inventor： Ryoutarou TSUNEKI ,  Satoshi IKAI

IPC: H02P3/06 ,  H02P3/04

Abstract: A motor control device for controlling a servomotor to axially move a movement target object includes: a speed detector for detecting the movement speed of the movement target object; an abnormality detector for detecting an abnormality of the speed detector; a motor controller for performing deceleration control on the servomotor to decelerate the movement target object, upon detection of the abnormality; a reference speed generator for generating a reference speed that decreases with passage of time, based on the movement speed when the movement target object decelerates and a predetermined deceleration; a speed monitor for monitoring the movement speed and determining whether or not the movement speed is equal to or greater than the reference speed; and a brake controller for actuating a brake for braking axial movement of the movement target object when the movement speed is determined to be equal to or greater than the reference speed.

公开(公告)号：US20180364678A1

公开(公告)日：2018-12-20

申请号：US16006221

申请日：2018-06-12

Applicant: FANUC CORPORATION

Inventor： Satoshi IKAI ,  Kenichi TAKAYAMA

IPC: G05B19/408

Abstract: A non-transitory computer readable information recording medium stores an evaluation program for operating first and second motor control units, for evaluating operation characteristics related to a control device including a first motor control unit configured to control a first motor driving a first axis, and a second motor control unit configured to control a second motor driving a second axis. The evaluation program operates the first and second motor control units so that a shape of a movement path of a control target moved by the first and second axes includes at least a cornered shape in which both rotation directions of the first and second motors do not invert, and an arc shape in which one of the first and second motors rotates in one direction, and a rotation direction of the other of the first and second motors inverts.

公开(公告)号：US20180356791A1

公开(公告)日：2018-12-13

申请号：US15995161

申请日：2018-06-01

Applicant: FANUC CORPORATION

Inventor： Shougo SHINODA ,  Satoshi IKAI

IPC: G05B19/406 ,  H02P29/028

CPC classification number: G05B19/406 ,  G05B2219/34465 ,  G05B2219/41002 ,  H02K7/025 ,  H02P29/02 ,  H02P29/028 ,  H02P29/032

Abstract: A motor drive system includes a power supply unit configured to supply DC power to a DC link, a servo amplifier for drive configured to convert the DC power in the DC link to AC power and supplies the AC power to the servomotor for drive as a driving power, a power storage device configured to store DC power from the DC link or supplies DC power to the DC link, an abnormality detection unit configured to detect the abnormality of the power storage device, and a control unit configured to, when the abnormality detection unit detects the abnormality of the power storage device, control the operation of the servo amplifier for drive such that the output of the servomotor for drive is limited to a value smaller than the output before the abnormality detection by the abnormality detection unit.

公开(公告)号：US20180284702A1

公开(公告)日：2018-10-04

申请号：US15926057

申请日：2018-03-20

Applicant: FANUC CORPORATION

Inventor： Naoto SONODA ,  Satoshi IKAI ,  Ryoutarou TSUNEKI

IPC: G05B13/02

Abstract: A machine learning device includes a label acquisition unit for acquiring, as a label, a current command that drives a control target of a servo control device in a state in which disturbance is suppressed; an input data acquisition unit for acquiring, as input data, a velocity of the control target driven based on the current command in the state in which disturbance is suppressed; and a learning unit for constructing a learning model for estimating a current to drive the control target from the velocity of the control target, by way of performing supervised leaning with a group of the label and the input data as training data.

公开(公告)号：US20180267502A1

公开(公告)日：2018-09-20

申请号：US15919853

申请日：2018-03-13

Applicant: FANUC CORPORATION

Inventor： Satoshi IKAI ,  Tomoyuki AIZAWA

IPC: G05B19/404

CPC classification number: G05B19/404 ,  G05B2219/35373 ,  G05B2219/41138

Abstract: A servo motor control apparatus for controlling a servo motor includes a storage unit configured to store a torque constant predefined for the servo motor, a torque constant correction unit configured to correct the torque constant stored in the storage unit when magnetic saturation occurs in a winding of the servo motor, and an output calculation unit configured to calculate an output of the servo motor on the basis of the torque constant stored in the storage unit or the torque constant after correction calculated by the torque constant correction unit, a value associated with a current of the servo motor, and a value associated with a speed of the servo motor.

公开(公告)号：US20180267499A1

公开(公告)日：2018-09-20

申请号：US15919456

申请日：2018-03-13

Applicant: FANUC CORPORATION

Inventor： Ryoutarou TSUNEKI ,  Satoshi IKAI ,  Naoto SONODA

IPC: G05B19/31 ,  G06F15/18 ,  G05B19/418

Abstract: A machine learning device performs machine learning with respect to a servo control device including a velocity feedforward calculation unit. The machine learning device comprises: a state information acquisition unit configured to acquire from the servo control device, state information including at least position error, and combination of coefficients of a transfer function of the velocity feedforward calculation unit; an action information output unit configured to output action information including adjustment information of the combination of coefficients included in the state information, to the servo control device; a reward output unit configured to output a reward value in reinforcement learning based on the position error included in the state information; and a value function updating unit configured to update an action value function on the basis of the reward value output by the reward output unit, the state information, and the action information.

公开(公告)号：US20180246491A1

公开(公告)日：2018-08-30

申请号：US15899572

申请日：2018-02-20

Applicant: FANUC CORPORATION

Inventor： Shougo SHINODA ,  Satoshi IKAI

IPC: G05B19/19 ,  G05B13/02 ,  G05B11/01 ,  G05B19/404

CPC classification number: G05B19/195 ,  G05B11/011 ,  G05B13/024 ,  G05B19/404 ,  G05B2219/41092 ,  G05B2219/41138 ,  G05B2219/41164

Abstract: A servomotor control device includes: a driven body configured to be driven by a servomotor; a connection mechanism configured to connect the servomotor and the driven body; a position command generation unit configured to generate a position command value; a motor control unit configured to control the servomotor using the position command value; a force estimation part configured to estimate a force estimated value which is a drive force acting on the driven body at a connecting part with the connection mechanism; a force estimated value output part configured to decide on reflection of updating and interruption of updating of a force estimated value based on the position command value, and output either of a force estimated value reflecting updating, or a force estimated value of when interrupting updating; and a compensation amount generation part configured to generate a compensation amount for compensating the position command value.

公开(公告)号：US20180131297A1

公开(公告)日：2018-05-10

申请号：US15801563

申请日：2017-11-02

Applicant: FANUC CORPORATION

Inventor： Ryoutarou TSUNEKI ,  Satoshi IKAI

IPC: H02P3/02 ,  H02P6/08 ,  H02P3/18

CPC classification number: H02P3/02 ,  H02P3/18 ,  H02P6/08 ,  H02P23/0004 ,  H02P23/20

Abstract: A servomotor control device that performs static friction correction for a servomotor, including: a position control loop for feedback controlling a position of a servomotor; a speed control loop for feedback controlling speed of the servomotor; a position command creation part that creates a position command value for the servomotor; a stop determination part that determines whether or not the servomotor is stopped; a static-friction correction amount calculation part that calculates a static-friction correction amount of the servomotor; and a static-friction correction amount modification part that performs a predetermined modification on the calculated static-friction correction amount, in a case of the servomotor stopping, and then starting to operate in the same direction as prior to stopping. The static-friction correction amount modification part performs a predetermined modification based on the command acceleration of the servomotor obtained from the position command value created by the position command creation part.