公开(公告)号：US20230305510A1

公开(公告)日：2023-09-28

申请号：US18044920

申请日：2021-10-06

申请人： FANUC CORPORATION

发明人： Takashi OKAMOTO ,  Yuuki MORITA

IPC分类号： G05B19/18

CPC分类号： G05B19/182 ,  G05B2219/41177

摘要： The purpose of the present invention is to provide a control device that enables learning control according to the angle-synchronization method to be applied even when oscillation operation is performed in a processing machine that does not have a main shaft. According to a configuration having a phase-data-creating unit and a learning control unit that performs learning control on the basis of the phase data, learning control according to the angle synchronization method can be applied even in processing machines that do not have a main shaft. The phase-data-creating unit creates servo-control-period-specific phase data from the servo control periods of a servo control device, and data relating to periods of non-repeatable normal movement commands and repeatable oscillation commands as communicated from a higher control device.

公开(公告)号：US20210126565A1

公开(公告)日：2021-04-29

申请号：US17038227

申请日：2020-09-30

申请人： FANUC CORPORATION

发明人： Daisuke TAJIMA ,  Yuuki MORITA

IPC分类号： H02P6/24 ,  H02P6/30

摘要： The present disclosure provides a motor controller which can effectively stop a motor at a specific position in a short period of time, and can achieve an orientation operation more quickly. A motor controller for controlling a motor is configured to stop a rotary shaft rotating at a predetermined speed at a specified position in response to a stop command, and includes: a first time period calculator that calculates, based on a current speed, a target stop position and an acceleration at a time of positioning, a first time period that is to be taken by the rotary shaft to stop at the target stop position without change of a rotation direction of the rotary shaft; a second time period calculation unit that calculates, based on the current speed, the target stop position and the acceleration at the time of positioning, a second time period that is to be taken by the rotary shaft to stop at the target stop position after a temporary halt and rotation in an opposite direction subsequent to the temporary halt; a comparison unit that compares the first time period with the second period; and an orientated stop control unit that controls and stops, based on a result of comparison by the comparison unit, the motor such that the rotary shaft stops at the target stop position in a shorter period of time.

公开(公告)号：US20210011498A1

公开(公告)日：2021-01-14

申请号：US16924599

申请日：2020-07-09

申请人： FANUC CORPORATION

发明人： Daisuke TAJIMA ,  Yuuki MORITA ,  Tadashi OKITA

IPC分类号： G05D13/62 ,  G05D3/12

摘要： A servo motor controller capable of eliminating inconvenience that the position of a shaft or the like of a servo motor is detected or set erroneously due to influence of noise or the like is provided. A servo motor controller that detects Z-phase signals of an incremental-type encoder that detects rotation of a servo motor to perform driving control of the servo motor includes: a position detection unit that detects a reference position of a rotating shaft of the servo motor on the basis of the Z-phase signal of the encoder; a signal interval detection unit that measures intervals of a plurality of detected Z-phase signals; and an abnormality determination unit that determines that the Z-phase signal is abnormal when the interval measured by the signal interval detection unit is equal to or larger than a prescribed threshold.

公开(公告)号：US20190317479A1

公开(公告)日：2019-10-17

申请号：US16380645

申请日：2019-04-10

申请人： FANUC CORPORATION

发明人： Kouki OIKAWA ,  Yuuki MORITA ,  Tadashi OKITA

IPC分类号： G05B19/4155

摘要： To provide a parameter determination support device and a program capable of simplifying determination of driving parameters upon driving a motor for which the slip constant is unknown. A parameter determination support device includes: an acquisition unit for acquiring specification information of a drive device of a motor and output specification information of an induction motor; an initial parameter determination unit for determining an initial parameter for test running, based on the specification information and the output specification information; a program creation unit for creating a test-run program to be used in test running for acquiring data that is required for adjustment of a parameter that determines output of the induction motor, based on the output specification information; an automatic measurement unit for automatically measuring a Q-phase voltage command of the induction motor according to the speed, as operating information upon driving by varying the speed of the induction motor according to the test-run program by applying the initial parameters; an estimation unit for estimating a slip constant of the induction motor, based on the operating information; and a calculation unit for performing calculation of an optimum parameter tailored to the output specification of the induction motor, based on the slip constant.

公开(公告)号：US20190258227A1

公开(公告)日：2019-08-22

申请号：US16270251

申请日：2019-02-07

申请人： FANUC CORPORATION

发明人： Kouki OIKAWA ,  Yuuki MORITA ,  Tadashi OKITA

IPC分类号： G05B19/416

摘要： To simplify determination of drive parameters upon driving a motor for which circuit constants are unknown, and shorten the time required in determination. A parameter determination support device includes: an automatic measurement part which applies initial parameters, and automatically measures a revolution speed (rpm) of a synchronous motor, as well as a DC link voltage (V) and Q-phase voltage command (%) of a motor drive device, as operating information upon driving the synchronous motor at substantially constant speed based on a base speed, according to a test-run program; an estimation part which estimates a reverse voltage constant (V/krpm) and torque constant (Nm/Arms) as circuit constants of the synchronous motor based on the operating information; and a calculation part which performs calculation of optimum parameters tailored to the output specification of the synchronous motor based on the circuit constants.

公开(公告)号：US20180034391A1

公开(公告)日：2018-02-01

申请号：US15657516

申请日：2017-07-24

申请人： FANUC CORPORATION

发明人： Tadashi OKITA ,  Yuuki MORITA ,  Daisuke TAJIMA

IPC分类号： H02P6/18 ,  H02P21/18 ,  H02P6/16

CPC分类号： H02P6/18 ,  H02P1/40 ,  H02P6/16 ,  H02P21/18 ,  H02P23/14

摘要： To provide a motor control device capable of causing a motor to rotate in any rotation direction, even when leaving the connection state of the motor of a machine tool as standard. A motor control device (10) includes: a coordinate converter (36) as a voltage command output unit that outputs voltage command data instructing a voltage to be applied to a motor (14) based on an external instruction; a voltage command data interchanging unit (38) that outputs by interchanging or not interchanging the voltage command data, based on a setting for interchanging of a phase rotation of the voltage command data; a PWM output unit (40) as an amplifier that drives the motor (14) based on the voltage command data outputted by the voltage command data interchanging unit (38); a current detection unit (42) that detects the electric current flowing through the motor (14) and outputs current feedback data; and a current feedback data interchanging unit (44) that outputs by interchanging or not interchanging the current feedback data based on a setting for interchanging.

公开(公告)号：US20170277160A1

公开(公告)日：2017-09-28

申请号：US15468279

申请日：2017-03-24

申请人： FANUC CORPORATION

发明人： Yuuki MORITA ,  Daisuke TAJIMA ,  Tadashi OKITA

IPC分类号： G05B19/29

CPC分类号： G05B19/29 ,  G05B19/4163 ,  G05B2219/37618 ,  G05B2219/45215 ,  G05B2219/45216 ,  G05B2219/50118 ,  G05B2219/50225 ,  G05B2219/50226

摘要： A controller for controlling a synchronized operation of spindle and feed axes. A spindle-axis control section includes an initial-motion control section for accelerating a spindle axis from a starting position; a maximum-acceleration detecting section for detecting a maximum acceleration of the spindle axis during acceleration; a residual rotation-amount detecting section for detecting a residual rotation amount of the spindle axis; a current-speed detecting section for detecting a current speed of the spindle axis; a decelerating-motion control section for decelerating the spindle axis to reach an intermediate speed, after the acceleration; a positioning-motion control section for decelerating the spindle axis to reach the target position after reaching the intermediate speed; and a torque-command limiting section for limiting a fluctuation of a torque command of the position control, instructed to the spindle axis, to a predetermined range over a period until a predetermined elapse condition is satisfied after reaching the intermediate speed.

公开(公告)号：US20170237384A1

公开(公告)日：2017-08-17

申请号：US15431406

申请日：2017-02-13

申请人： FANUC CORPORATION

发明人： Yuuki MORITA ,  Tomohisa TSUTSUMI

IPC分类号： H02P29/64 ,  H02P27/08

CPC分类号： H02P29/64 ,  H02P27/08 ,  H02P29/032

摘要： A motor controller, a motor control method, and a motor control program are provided, all of which are capable of appropriately suppressing temperature elevation in a motor, while protecting an amplifier. A motor controller for driving a motor by way of pulse width modulation includes: a temperature acquisition unit that acquires a temperature of a motor; a limiting value determination unit that determines, based on the temperature, a limiting current value for driving the motor; and a frequency determination unit that determines, based on the limiting value, a PWM frequency to be generated with an amplifier.

公开(公告)号：US20240061389A1

公开(公告)日：2024-02-22

申请号：US18259754

申请日：2022-03-22

申请人： FANUC CORPORATION

发明人： Takashi OKAMOTO ,  Yuuki MORITA

IPC分类号： G05B19/04

CPC分类号： G05B19/041

摘要： The objective of the present invention is to make it possible to also handle cases in a control device for a machine tool in which the waveform of a repeatable command superimposed on a normal movement command has a free shape that cannot be expressed only by a feature amount when obtaining a control command in which the repeatable command is superimposed on the normal movement command as a control command of the control device. The abovementioned objective is achieved by providing a servo control device with: a repeatable command creation unit that acquires the period of a repeatable command waveform and one period of command data from a higher-level control device, creates a repeatable command, and outputs the result; and a command superimposing unit that acquires a movement command from the higher-level control device and superimposes the repeatable command output by the repeatable command creation unit on the movement command.

公开(公告)号：US20190302728A1

公开(公告)日：2019-10-03

申请号：US16296935

申请日：2019-03-08

申请人： FANUC CORPORATION

发明人： Yuuki MORITA ,  Tadashi OKITA

IPC分类号： G05B19/404 ,  H02P23/16

摘要： A motor control device is a motor control device which controls a spindle motor in a machine tool, and includes: a moving average filter which moving averages a torque command value or drive current value of the spindle motor for averaging time and generates averaged load information of the spindle motor; and an averaging time calculation unit which calculates, as the averaging time of the moving average filter, a first time of an integral multiple of a period of one rotation of the spindle driven by the spindle motor, or a second time of an integral multiple of a value arrived at by dividing the period of one rotation of the spindle by the number of cutting tooth of the tool.