公开(公告)号：US20180364678A1

公开(公告)日：2018-12-20

申请号：US16006221

申请日：2018-06-12

申请人： FANUC CORPORATION

发明人： Satoshi IKAI ,  Kenichi TAKAYAMA

IPC分类号： G05B19/408

摘要： 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：US20150241869A1

公开(公告)日：2015-08-27

申请号：US14627527

申请日：2015-02-20

申请人： FANUC Corporation

发明人： Junichi TEZUKA ,  Kenichi TAKAYAMA ,  Hajime OGAWA

IPC分类号： G05B19/408 ,  G06F5/01

CPC分类号： H04L27/2338 ,  G05B11/12 ,  G05B19/351 ,  G05B19/371 ,  G05B19/408 ,  G05D3/12 ,  G06F1/022 ,  G06F5/01 ,  G06F2101/04

摘要： A numerical control device wherein a sinusoidal signal generated by a sine wave generation part is input by a control loop excitation part to a control loop of the control object, the input signal input to the control loop and the output signal from the control object are sampled by the data acquisition part periodically, and the sampling data is used by the frequency characteristic calculation part to calculate the frequency characteristic of the control loop to control the control object, wherein the frequency characteristic calculation part uses data obtained by inputting a sinusoidal signal obtained by shifting an initial phase of the sinusoidal signal by a phase shift part provided at a sine wave generation part by exactly a certain amount to the control loop a plurality of times to calculate the frequency characteristic of the control loop to thereby improve the measurement precision regardless of the sampling frequency.

摘要翻译： 一种数字控制装置，其中由正弦波产生部分产生的正弦信号由控制环路激励部分输入到控制对象的控制环路，输入到控制环路的输入信号和来自控制对象的输出信号被采样 通过数据采集部分周期性地进行采样，并且频率特性计算部分使用采样数据来计算控制环路的频率特性以控制控制对象，其中频率特性计算部分使用通过输入通过输入由 将正弦信号的初始相位由正弦波产生部分提供的相移部分精确地向控制回路多次移动以计算控制回路的频率特性，从而提高测量精度，而不管 采样频率。

公开(公告)号：US20170288596A1

公开(公告)日：2017-10-05

申请号：US15464465

申请日：2017-03-21

申请人： FANUC CORPORATION

发明人： Satoshi IKAI ,  Kenichi TAKAYAMA

IPC分类号： H02P29/024 ,  H02P6/14 ,  H02P27/06

CPC分类号： H02P29/024 ,  H02P6/14 ,  H02P27/06 ,  H02P29/0241

摘要： A control device for a motor is provided that can determine the states of current controllers controlling the current flowing to windings, as well as reducing the load of arithmetic processing. A control device for a motor having windings includes: a main current controller that is connected with a numerical control and controls current flowing to the winding; and sub-current controllers that are connected with the main current controller and control current flowing to the windings, respectively, in which the main current controller: calculates states of the main current controller and the sub-current controllers, compares between the states of the main current controller and the sub-current controllers thus calculated, and determines whether an abnormality is occurring in the main current controller and the sub-current controllers based on a result of comparing between the states of the main current controller and the sub-current controllers.

公开(公告)号：US20140062378A1

公开(公告)日：2014-03-06

申请号：US14018373

申请日：2013-09-04

申请人： FANUC CORPORATION

发明人： Yasusuke IWASHITA ,  Kenichi TAKAYAMA ,  Satoshi IKAI

IPC分类号： B23Q23/00

CPC分类号： B23Q23/00 ,  G05B19/404 ,  G05B2219/41059 ,  G05B2219/41265

摘要： A motor control system (10) which includes a difference calculating part (31) which calculates a difference between a first position detection value of a moving part and a second position detection value of a driven part, a judging part (32) which judges if a moving part has engaged with the driven part when the moving part is made to move from any initial position in a first and second drive directions, a holding part (33) which holds the difference as initial difference linked with the first or second drive direction, when the moving part has engaged with the driven part, and a correction amount calculating part (34) which calculates a backlash correction amount, the correction amount calculating part using the difference based on the current positions of the moving part and the driven part and the initial difference to calculate the backlash correction amount.

摘要翻译： 一种电动机控制系统（10），包括计算运动部件的第一位置检测值和被驱动部件的第二位置检测值之间的差的差分计算部（31），判断部 当移动部件沿第一和第二驱动方向从任何初始位置移动时，移动部件与被驱动部件接合;保持部件，其将该差异保持为与第一或第二驱动方向相关联的初始差异; 当移动部件与被驱动部件接合时，以及校正量计算部件（34），该校正量计算部件（34）根据移动部件和被驱动部件的当前位置使用该差异来计算间隙修正量，校正量计算部件和 计算间隙修正量的初始差值。

公开(公告)号：US20140156080A1

公开(公告)日：2014-06-05

申请号：US14093372

申请日：2013-11-29

申请人： FANUC CORPORATION

发明人： Yasusuke IWASHITA ,  Kenichi TAKAYAMA ,  Satoshi IKAI

IPC分类号： F16H61/02

CPC分类号： F16H61/0202 ,  G05B19/404 ,  G05B2219/41138 ,  H02P1/00

摘要： A servo control system including a servo motor, a driven member driven, a coupling mechanism coupled with the servo motor and the driven member, and a motor control part controlling the servo motor. The motor control part includes a position command generating part generating a position command value of the driven member, a force estimating part estimating the drive force acting on the driven member, a compensating part compensating the position command value based on the drive force estimated by the force estimating part, and a control signal output part outputting a control signal to the servo motor based on a position command value compensated by the compensating part.

摘要翻译： 一种伺服控制系统，包括伺服电动机，从动构件驱动，与伺服电动机和从动构件联接的联接机构，以及控制伺服电动机的电动机控制部。 电动机控制部包括产生从动部件的位置指令值的位置指令生成部，估计作用在从动部件上的驱动力的力估计部，基于由所述从动部件推定的驱动力来补偿位置指令值的补偿部 力估计部，以及基于由所述补偿部补偿的位置指令值，向所述伺服电动机输出控制信号的控制信号输出部。

公开(公告)号：US20130320908A1

公开(公告)日：2013-12-05

申请号：US13908567

申请日：2013-06-03

申请人： FANUC CORPORATION

发明人： Yasusuke IWASHITA ,  Kenichi TAKAYAMA ,  Satoshi IKAI

IPC分类号： G05B11/01

CPC分类号： G05B11/011 ,  G05B19/404 ,  G05B2219/41127 ,  G05B2219/41164

摘要： A servo controller, capable of controlling the motion of a movable body with high accuracy, without depending on the position of the movable body which is moved on a ball screw. The servo controller has a position command generating part which generates a position command value; a velocity command generating part which generates a velocity command value based on the position command value and a position detection value; a torque command generating part which generates a torque command value based on the velocity command value and a velocity detection value; and a position compensation calculating part which calculates an amount of expansion/contraction of the ball screw based on a distance from the servomotor to a nut threadably engaged with the ball screw and the torque command value, and calculates a position compensation based on the amount of expansion/contraction.

摘要翻译： 一种伺服控制器，其能够高精度地控制可移动体的运动，而不依赖于在滚珠丝杠上移动的可移动体的位置。 伺服控制器具有产生位置指令值的位置指令生成部， 速度指令生成部，其基于所述位置指令值和位置检测值生成速度指令值; 转矩指令生成部，其基于速度指令值和速度检测值生成转矩指令值; 以及位置补偿计算部，其基于从所述伺服马达到与所述滚珠丝杠螺纹接合的螺母的距离和所述转矩指令值，计算所述滚珠丝杠的伸缩量，并且基于所述滚珠丝杠的量 膨胀/收缩

公开(公告)号：US20170205786A1

公开(公告)日：2017-07-20

申请号：US15408306

申请日：2017-01-17

申请人： FANUC CORPORATION

发明人： Satoshi IKAI ,  Kenichi TAKAYAMA

IPC分类号： G05B15/02

CPC分类号： G05B15/02 ,  G05B19/414 ,  G05B2219/34013 ,  G05B2219/34445 ,  G05B2219/41293 ,  G05B2219/41294 ,  H02J3/14 ,  H02M5/458 ,  H02M2001/008 ,  H02P3/18 ,  H02P5/74

摘要： A servomotor controller includes a first and a second converter circuit that perform conversion between AC power of a power supply and DC power, a first inverter circuit that performs conversion between the DC power on the DC side of the first converter circuit and AC power on the side of a first motor, a second inverter circuit that performs conversion between the DC power on the DC side of the second converter circuit and AC power on the side of a second motor, and a power calculation unit that calculates an amount of power of the first motor, wherein control is performed so that the regenerative power of the first motor is supplied to the second motor through the power supply or the regenerative power of the second motor is supplied to the first motor through the power supply, on the basis of the amount of power.

公开(公告)号：US20140121818A1

公开(公告)日：2014-05-01

申请号：US14065925

申请日：2013-10-29

申请人： FANUC CORPORATION

发明人： Yasusuke IWASHITA ,  Kenichi TAKAYAMA ,  Satoshi IKAI

IPC分类号： G05B13/02

CPC分类号： G05B13/024 ,  G05B19/404

摘要： A servo control device in the present invention corrects a position command to a feed axis, so as to compensate for an amount of stretch or contraction of a ball screw during operation, by taking into account an influence of tension applied to the ball screw. The amount of stretch or contraction of the ball screw is calculated, based on the tension acting on the ball screw on the side farther from the servo motor, a distance between two fixed units supporting the ball screw at its opposite ends, a distance from the fixed unit situated closer to the servo motor to a moving body, and a torque command to the servo motor. An amount of position correction of the feed axis is calculated, based on the calculated amount of stretch or contraction of the ball screw.

摘要翻译： 本发明的伺服控制装置通过考虑施加于滚珠丝杠的张力的影响，校正进给轴的位置指令，以补偿运转中的滚珠丝杠的拉伸或收缩量。 基于作用在远离伺服电动机的一侧的滚珠丝杠上的张力来计算滚珠丝杠的拉伸或收缩量，在其相对端处支撑滚珠丝杠的两个固定单元之间的距离，距离 位于更靠近伺服马达的移动体的固定单元和对伺服马达的转矩指令。 基于计算出的滚珠丝杠的拉伸或收缩量来计算进给轴的位置校正量。