公开(公告)号：US20170111000A1

公开(公告)日：2017-04-20

申请号：US15290253

申请日：2016-10-11

Applicant: FANUC CORPORATION

Inventor： Sou SAITO ,  Taku SASAKI ,  Tsutomu SHIKAGAWA

IPC: H02P23/14 ,  H02P29/60 ,  G05B13/02 ,  H02P27/06

CPC classification number: H02P23/14 ,  G05B13/0265 ,  H02P23/0018 ,  H02P27/06 ,  H02P29/60

Abstract: A machine learning apparatus includes: a state observation unit that observes a state variable including an error between a position command and an actual position of a rotor, temperature of a motor driving apparatus and the motor, and voltage of each part of the motor driving apparatus; and a learning unit that learns a current feedback offset correction value for correcting an offset in the current feedback value, an inter-current-feedback-phase unbalance correction value for correcting an unbalance between phases in the current feedback value, and a current command correction value for a dead zone for correcting a current command in order to compensate a decreased amount of current due to a dead zone by which switching elements of upper and lower arms in the same phase of an inverter for motor power supply are not simultaneously turned on, in accordance with a training data set defined by the state variable.

公开(公告)号：US20170091675A1

公开(公告)日：2017-03-30

申请号：US15281032

申请日：2016-09-29

Applicant: FANUC CORPORATION

Inventor： Taku SASAKI

IPC: G06N99/00 ,  G06F17/16 ,  G06N5/04

CPC classification number: G06N99/005 ,  G06F17/16 ,  G06N3/0427 ,  G06N5/045

Abstract: Production equipment according to an embodiment of the present invention includes a machine learning system and an assembly and test unit. The assembly and test unit chooses components from component groups having different characteristic values, assembles the chosen components into a product, and tests the assembled product. The machine learning system includes a state observer for observing a test result of the product and the inventory amounts of the components grouped based on the characteristic values of the components; a reward calculator for calculating a reward based on the test result and the inventory amounts; an artificial intelligence for determining an action value based on an observation result by the state observer and the reward calculated by the reward calculator; and a decision maker for choosing components to be used in the next product assembly from the component groups based on a determination result by the artificial intelligence.

公开(公告)号：US20180262145A1

公开(公告)日：2018-09-13

申请号：US15976568

申请日：2018-05-10

Applicant: FANUC CORPORATION

Inventor： Sou SAITO ,  Taku SASAKI ,  Tsutomu SHIKAGAWA

IPC: H02P23/14 ,  H02P23/00 ,  H02P29/60 ,  H02P27/06 ,  G05B13/02

CPC classification number: H02P23/14 ,  G05B13/0265 ,  H02P23/0018 ,  H02P27/06 ,  H02P29/60

Abstract: A machine learning apparatus includes: a state observation unit that observes a state variable including an error between a position command and an actual position of a rotor, temperature of a motor driving apparatus and the motor, and voltage of each part of the motor driving apparatus; and a learning unit that learns a current feedback offset correction value for correcting an offset in the current feedback value, an inter-current-feedback-phase unbalance correction value for correcting an unbalance between phases in the current feedback value, and a current command correction value for a dead zone for correcting a current command in order to compensate a decreased amount of current due to a dead zone by which switching elements of upper and lower arms in the same phase of an inverter for motor power supply are not simultaneously turned on, in accordance with a training data set defined by the state variable.

公开(公告)号：US20180335763A1

公开(公告)日：2018-11-22

申请号：US15952502

申请日：2018-04-13

Applicant: FANUC CORPORATION

Inventor： Kunio TSUCHIDA ,  Taku SASAKI ,  Nobuo HIRAYAMA

IPC: G05B19/33 ,  H03M1/20 ,  H03M1/12

Abstract: A motor driving apparatus includes an amplifier receiving, from a detector, a sine wave shaped signal detected in response to rotation of a motor, and amplifying the signal with a set amplification factor, an A/D converter for performing digital conversion by sampling the signal amplified by the amplifier at a sampling timing in a predetermined cycle, an amplification factor setting part for changing setting of the amplification factor of the amplifier, and an amplification factor set timing command part for issuing a command with respect to a timing for changing the setting of the amplification factor by the amplification factor setting part. The amplification factor set timing command part issues the command with respect to the timing so that a waveform stabilizing period until distortion in a waveform of the signal occurring when the amplification factor setting part changes the setting is stabilized does not overlap with the sampling timing.

公开(公告)号：US20180180085A1

公开(公告)日：2018-06-28

申请号：US15835651

申请日：2017-12-08

Applicant: FANUC CORPORATION

Inventor： Masato WATANABE ,  Taku SASAKI ,  Kiichi INABA

IPC: F16B33/06 ,  G05B19/418

CPC classification number: F16B33/06 ,  F16B5/02 ,  G05B19/41805 ,  G05B2219/36442 ,  G05B2219/40111 ,  G05B2219/45203 ,  Y02P90/02

Abstract: A machine learning device includes a state observation unit for observing state variables that include at least one of the state of an assembly constituted of first and second components, an assembly time and information on a force, the result of a continuity test on the assembly, and at least one of position and posture command values for at least one of the first and second components and direction, speed and force command values for an assembly operation; and a learning unit for learning, in a related manner, at least one of the state of the assembly, the assembly time and the information on the force, the result of the continuity test on the assembly, and at least one of the position and posture command values for at least one of the first and second components and the direction, speed and force command values for the assembly operation.

公开(公告)号：US20130346659A1

公开(公告)日：2013-12-26

申请号：US13916684

申请日：2013-06-13

Applicant: FANUC CORPORATION

Inventor： Taku SASAKI

IPC: G06F13/40

CPC classification number: G06F13/4068

Abstract: A first communication speed setting unit sets a data communication speed of data transmitted and received between the master device and the slave device during the period from the time when the master device is activated to the time when the preparation to drive the motors is completed, to a first communication speed. A second communication speed setting unit sets a data communication speed of data transmitted and received between the master device and the slave device when the preparation to drive the motor is completed, to a second communication speed lower than the first communication speed. A change notification unit notifies the change of the data communication speed from the first communication speed to the second communication speed to the slave device.

Abstract translation: 第一通信速度设定单元在从主设备启动时到完成驱动马达的准备时间的期间，设定主设备与从设备之间发送和接收的数据的数据通信速度，到 第一通讯速度。 第二通信速度设定单元，在驱动电动机的准备完成时，将主装置和从装置之间发送接收的数据的数据通信速度设定为低于第一通信速度的第二通信速度。 改变通知单元将从第一通信速度到第二通信速度的数据通信速度的改变通知给从设备。

公开(公告)号：US20240348183A1

公开(公告)日：2024-10-17

申请号：US18291288

申请日：2021-07-30

Applicant: FANUC CORPORATION

Inventor： Taku SASAKI

IPC: H02P3/18 ,  H02H7/08 ,  H02H7/09 ,  H02P23/14 ,  H02P27/06

CPC classification number: H02P3/18 ,  H02H7/0805 ,  H02H7/09 ,  H02P23/14 ,  H02P27/06

Abstract: This motor drive device comprises: a motor drive circuit that drives a synchronous motor by supplying AC power to the synchronous motor via power lines; an overvoltage protection circuit that short-circuits between the phases of the power lines by turning on a semiconductor switch when driving of the synchronous motor by the motor drive circuit is stopped and prevents the occurrence of overvoltage due to a back electromotive force between the terminals of the synchronous motor; and a temperature estimation unit that calculates a temperature estimation value of the semiconductor switch by using a motor constant and a semiconductor switch constant, said motor constant including at least one of the inertia and back electromotive force constants of the synchronous motor, said semiconductor switch constant including the on-resistance, thermal resistance, and thermal time constant of the semiconductor switch.

公开(公告)号：US20190258945A1

公开(公告)日：2019-08-22

申请号：US16280292

申请日：2019-02-20

Applicant: FANUC CORPORATION

Inventor： Hideyuki FUKUDA ,  Taku SASAKI

IPC: G06N5/04 ,  G06N20/00 ,  G06N3/04 ,  G05B23/02

Abstract: A fault diagnosis apparatus is provided with a machine learning device, and the machine learning device observes at least one of fault time point data including information at the occurrence of a fault of a motor drive apparatus to be repaired, and operating environment data indicating an operating environment, operating history data indicating an operating history, as a state variable representing the present state of the environment; acquires repaired and/or replaced part data indicating a part that has been repaired and/or replaced in the motor drive apparatus as label data; and performs learning by associating the observed state variable with the acquired label data.

公开(公告)号：US20190079495A1

公开(公告)日：2019-03-14

申请号：US16115010

申请日：2018-08-28

Applicant: FANUC CORPORATION

Inventor： Nobuo HIRAYAMA ,  Taku SASAKI

IPC: G05B19/414 ,  G05B19/408 ,  G05B19/418 ,  B25J9/16

Abstract: An object is to provide a numerical controller and a device included in an industrial machine which manage a control program in the device included in the industrial machine and can reduce the operational burden during the updating of the control programs related to the device. A numerical controller which is connected to a motor drive device so as to be able to communicate therewith and which controls the motor drive device, includes: a program management storage unit which stores a control program that is written into the motor drive device and is executable; a program writing unit which writes the control program stored in the program management storage unit; a data acquisition portion which acquires from the motor drive device a control program that is already stored in the motor drive device; and a storage control unit which stores the acquired control program in the program management storage unit.

公开(公告)号：US20130271049A1

公开(公告)日：2013-10-17

申请号：US13793346

申请日：2013-03-11

Applicant: FANUC CORPORATION

Inventor： Yasusuke IWASHITA ,  Taku SASAKI

IPC: H02P6/14

CPC classification number: H02P6/14 ,  H03M3/324 ,  H03M3/458

Abstract: A motor control apparatus includes a power conversion unit which supplies drive power to a motor, a current detection unit which detects the value of a current flowing from the power conversion unit to the motor, a delta-sigma modulation AD converter which converts the current value into digital data by using a modulation clock as a system clock, and which starts to count the number of clock pulses of the modulation clock upon reception of a reference signal and, when the number of clock pulses counted reaches a predetermined count value, outputs the digital data obtained during a prescribed time interval which contains the reception time of the reference signal, and a command generating unit which generates, using the digital data supplied from the delta-sigma modulation AD converter, a drive command for commanding the power conversion unit to output commanded drive power.

Abstract translation: 电动机控制装置包括向电动机供给驱动电力的电力转换单元，检测从电力转换单元流向电动机的电流的值的电流检测单元，将该电流值转换为电流值的Δ-Σ调制AD转换器 通过使用调制时钟作为系统时钟转换为数字数据，并且在接收到参考信号时开始对调制时钟的时钟脉冲数进行计数，当计数的时钟脉冲数达到预定计数值时，输出 在包含参考信号的接收时间的规定时间间隔内获得的数字数据，以及命令产生单元，其使用从Δ-Σ调制AD转换器提供的数字数据产生用于将功率转换单元命令的驱动命令 输出指令驱动电源。