公开(公告)号：US20180157236A1

公开(公告)日：2018-06-07

申请号：US15825650

申请日：2017-11-29

Applicant: FANUC CORPORATION

Inventor： Shougo SHINODA ,  Satoshi IKAI

IPC: G05B19/404 ,  G05B11/01 ,  F16H61/02

CPC classification number: G05B19/404 ,  F16H61/0202 ,  G05B11/011 ,  G05B2219/41129 ,  G05B2219/41138 ,  G05B2219/41164

Abstract: A servomotor controller includes a connection mechanism configured to transfer power of a servomotor to a driven body; a motor control unit configured to control the servomotor using a position command value; a first force estimation unit configured to estimate a first force estimated value which is a drive force acting on the driven body at a connecting unit with the connection mechanism; a second force estimation unit configured to estimate a second force estimated value serving as a fixed value; a selection unit configured to compare an absolute value of the first force estimated value and an absolute value of the second force estimated value to output the first or second force estimated value having the larger absolute value; and a compensation amount generation unit configured to generate a compensation amount for compensating the position command value on the basis of the first or second force estimated value.

公开(公告)号：US20180095444A1

公开(公告)日：2018-04-05

申请号：US15719718

申请日：2017-09-29

Applicant: FANUC CORPORATION

Inventor： Shougo SHINODA ,  Satoshi IKAI

IPC: G05B19/19

Abstract: A servomotor control device includes a connection mechanism configured to connect a servomotor and a driven body, and transmit power of the servomotor to the driven body, a position command generation unit configured to generate a position command value for the driven body, a motor control unit configured to control the servomotor using the position command value, a force estimation part configured to estimate drive force acting on the driven body at a connecting part with the connection mechanism, a switching part configured to switch between a first force estimated value estimated by the force estimation part and a second force estimated value that is a fixed value, and a compensation amount generation part configured to generate a compensation amount for compensating the position command value generated by the position command generation part, based on the first or second force estimated value that was switched to by the switching part.

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：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：US20240036546A1

公开(公告)日：2024-02-01

申请号：US18552359

申请日：2021-04-07

Applicant: FANUC CORPORATION

Inventor： Reo OSADA ,  Keisuke TSUJIKAWA ,  Shougo SHINODA

IPC: G05B19/4062

CPC classification number: G05B19/4062 ,  G05B2219/41362

Abstract: Provided is a wiring error detection device capable of detecting errors in the wiring to a motor controlled by a plurality of amplifiers. A wiring error detection device for detecting errors in the wiring to a motor controlled by a plurality of amplifiers, said wiring error detection device being provided with: a control amplifier selection unit that, in order to control the motor using some of the plurality of amplifiers, determines two or more selection patterns by selecting and combining amplifiers for the control; a command generation unit that generates, for each selection pattern determined by the control amplifier selection unit, a command for causing the motor to perform a predetermined operation; a servo control unit that calculates torque command values for controlling the motor, on the basis of the selection patterns and a command from the command generation unit; and a wiring error checking unit that compares the torque command values or the current feedback values of the motor that correspond to the two or more selection patterns with each other to determine the presence or absence of a wiring error in the system formed by the amplifiers and the motor.

公开(公告)号：US20210088998A1

公开(公告)日：2021-03-25

申请号：US17000696

申请日：2020-08-24

Applicant: FANUC CORPORATION

Inventor： Shougo SHINODA ,  Satoshi IKAI

IPC: G05B19/404 ,  G05B19/416

Abstract: The invention provides a servomotor controller that makes it possible to reduce compensation delay even when a dead band is provided. The servomotor controller includes a motion acquiring unit that acquires a motion of the servomotor, an acceleration amount acquiring unit that acquires an acceleration amount of the servomotor, a compensating unit that compensates a motion of the servomotor, and a compensation start determining unit that determines a start of the compensation by the compensating unit responsive to the motion of the servomotor, wherein the compensation start determining unit has a dead band unit that sets a dead band range which is a range of a predetermined value relative to the motion of the servomotor, and the dead band unit changes the dead band range based on the acceleration amount acquired by the acceleration amount acquiring unit.

公开(公告)号：US20200052489A1

公开(公告)日：2020-02-13

申请号：US16513708

申请日：2019-07-17

Applicant: FANUC CORPORATION

Inventor： Shougo SHINODA ,  Satoshi IKAI

IPC: H02J3/30 ,  H02M7/48 ,  H02J3/32 ,  H02J1/16 ,  H02P3/18

Abstract: A motor drive system includes a power source 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 into AC power and supply the AC power as drive power to a servomotor for drive, a power storage device configured to store the DC power from the DC link or supply the DC power to the DC link, a power consumption calculation unit configured to calculate total power consumption as the sum of power consumed by the servomotor for drive, the servo-amplifier for drive and the power source unit, and a power storage device control unit configured to control power storage and power supply of the power storage device according to the total power consumption, wherein the power storage device control unit determines start and end of power storage or power supply, based on different thresholds.

公开(公告)号：US20190317457A1

公开(公告)日：2019-10-17

申请号：US16374088

申请日：2019-04-03

Applicant: FANUC CORPORATION

Inventor： Shougo SHINODA ,  Ryoutarou TSUNEKI

IPC: G05B13/02 ,  G05B19/4063

Abstract: Provided is a machine learning device configured to perform machine learning related to optimization of a compensation value of a compensation generation 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, and that includes at least one feedback loop, a compensation generation unit configured to generate a compensation value to be applied to the feedback loop, and an abnormality detection unit configured to detect an abnormal operation of the servo motor, wherein, during a machine learning operation, when the abnormality detection unit detects an abnormality, the compensation from the compensation generation unit is stopped and the machine learning device continues optimization of the compensation value generated by the compensation generation unit.

公开(公告)号：US20180348727A1

公开(公告)日：2018-12-06

申请号：US15996749

申请日：2018-06-04

Applicant: FANUC CORPORATION

Inventor： Shougo SHINODA ,  Satoshi IKAI

IPC: G05B19/042

CPC classification number: G05B19/0428 ,  G05B19/416 ,  G05B2219/23416 ,  G05B2219/23431 ,  G05B2219/37582 ,  G05B2219/50049

Abstract: A servomotor control device includes: a servomotor; a driven body that is driven by the servomotor; a connection mechanism that connects the servomotor and the driven body; a first position detection section that detects a position of the servomotor; a second position detection section that detects a position of the driven body; and a motor control unit, in which the motor control unit includes: a force estimation section that estimates a drive force acting on the driven body at a connection part between the connection mechanism and the driven body; a rigidity estimation section that estimates a magnitude of rigidity of the connection mechanism based on a detected position of the servomotor, a detected position of the driven body, and an estimated drive force; and a rigidity variation detection section that detects a change in rigidity of the connection mechanism, based on the estimated magnitude of rigidity.

公开(公告)号：US20180335758A1

公开(公告)日：2018-11-22

申请号：US15976427

申请日：2018-05-10

Applicant: FANUC CORPORATION

Inventor： Shougo SHINODA ,  Satoshi IKAI

IPC: G05B13/02

Abstract: A machine learning device that performs reinforcement learning with respect to a servo control apparatus that controls target device having a motor, including: outputting action information including adjustment information of coefficients of a transfer function of a controller gain to a controller included in the servo control apparatus; acquiring, from the servo control apparatus, state information including a deviation between an actual operation of the target device and a command input to the controller, a phase of the motor, and the coefficients of the transfer function of the controller gain when the controller operates the target device based on the action information; outputting a value of a reward in the reinforcement learning based on the deviation included in the state information; and updating an action-value function based on the value of the reward, the state information, and the action information.