公开(公告)号：US20200319616A1

公开(公告)日：2020-10-08

申请号：US16836796

申请日：2020-03-31

Applicant: FANUC CORPORATION

Inventor： Yusaku OHO ,  Naoto SONODA ,  Kenta YAMAMOTO

IPC: G05B19/25 ,  G05B19/4155

Abstract: A control device calculates a position deviation between a position of a movable member designated by a position command and a measured position of the movable member by a position detector at each sampling period, adds a disturbance signal generated from a phase signal having a predetermined period to a drive signal generated from the position deviation to which an amount of correction is added, causes a motor for driving the movable member to operate based on the drive signal to which the disturbance signal is added, calculates the amount of correction by using a dynamic characteristic compensation filter in such a way as to reduce the position deviation, and changes a configuration of the dynamic characteristic compensation filter in such a way that an evaluation value related to magnitude of the position deviation satisfies a predetermined condition.

公开(公告)号：US20190310603A1

公开(公告)日：2019-10-10

申请号：US16372857

申请日：2019-04-02

Applicant: FANUC CORPORATION

Inventor： Naoto SONODA ,  Kenta YAMAMOTO

IPC: G05B19/19

Abstract: To provide a controller for a machine tool capable of shredding chips without use of oscillation during machining by cutting. A controller is for a machine tool used for machining by cutting of a work as a cutting target by means of coordinated motion of multiple axes including at least a spindle axis. The controller comprises: a movement command generation unit that outputs a movement command for cutting the work by moving a cutting tool and the work relative to each other in a machining direction; and a stop determination unit that outputs a stop instruction for intermittently stopping the relative move in the machining direction to the movement command generation unit. The movement command generation unit outputs a movement command for stopping the relative move between the cutting tool and the work in the machining direction based on the stop instruction. The stop determination unit outputs the stop instruction for a period when the spindle axis rotates 360 degrees or more.

公开(公告)号：US20170293287A1

公开(公告)日：2017-10-12

申请号：US15468655

申请日：2017-03-24

Applicant: FANUC CORPORATION

Inventor： Naoto SONODA

IPC: G05B19/416

CPC classification number: G05B19/416 ,  G05B2219/34013 ,  G05B2219/34027 ,  G05B2219/41264 ,  G05B2219/42186 ,  G05B2219/49252

Abstract: A servo control apparatus which includes: a difference calculation unit that calculates difference between an integral value of speed deviation of a master axis and an integral value of speed deviation of a slave axis; a filter unit that performs filtering of the difference by way of a low-pass filter; and an addition unit that adds a result of the filtering to the integral value of the speed deviation of the slave axis, in which a current command for driving the master-axis motor is calculated for the master axis by using the integral value of the speed deviation of the master axis; and a current command for driving the slave-axis motor is calculated for the slave axis by using an integral value after addition by way of the addition unit.

公开(公告)号：US20150286197A1

公开(公告)日：2015-10-08

申请号：US14680658

申请日：2015-04-07

Applicant: FANUC Corporation

Inventor： Naoto SONODA

IPC: G05B15/02 ,  G05B11/01 ,  G05B1/01

CPC classification number: G05B15/02 ,  G05B1/01 ,  G05B11/011

Abstract: A servo controller includes: a first position feedback acquisition unit; a second position feedback acquisition unit; a converter converting the acquired position feedback of the first shaft to a value corresponding to the position feedback of the second shaft based on a synchronous ratio; a synchronous error calculator calculating synchronous error which is difference between the converted position feedback of the first shaft and the position feedback of the second shaft; a positional deviation calculator calculating a positional deviation of the second shaft which is difference between the position command for the second shaft and the position feedback of the second shaft; a filtering processor extracting components in a predetermined frequency range from the difference between the synchronous error and the positional deviation of the second shaft; and, a positional deviation corrector correcting the positional deviation of the second shaft by use of the output from the filtering processor.

Abstract translation: 伺服控制器包括：第一位置反馈获取单元; 第二位置反馈获取单元; 转换器，其基于同步比将所述第一轴的所获取的位置反馈转换成对应于所述第二轴的位置反馈的值; 同步误差计算器计算同步误差，其是第一轴的转换位置反馈和第二轴的位置反馈之间的差; 计算所述第二轴的位置偏差的位置偏差计算器，所述位置偏差是所述第二轴的位置指令与所述第二轴的位置反馈之间的差; 滤波处理器从所述同步误差和所述第二轴的位置偏差之间的差提取预定频率范围内的分量; 以及位置偏差校正器，通过使用来自滤波处理器的输出校正第二轴的位置偏差。

公开(公告)号：US20200290168A1

公开(公告)日：2020-09-17

申请号：US16817194

申请日：2020-03-12

Applicant: FANUC CORPORATION

Inventor： Ryou MORIHASHI ,  Kenta YAMAMOTO ,  Naoto SONODA

IPC: B23Q15/007 ,  B23Q15/12

Abstract: A servo controller 20 includes: an oscillation command generating unit 23 that generates an oscillation command for causing the workpiece W and the tool 14 to relatively oscillate; at least one of a position control unit 22 that generates a position command for causing the workpiece W and the tool 14 to relatively move, a speed control unit 24 that generates a speed command for causing the workpiece W and the tool 14 to relatively move, and a current control unit 25 that generates a torque command for driving the plurality of axes; and a gain changing unit 21 that changes a control gain, in which the oscillation command generating unit 23 transmits a signal outputted when oscillating operation is started to the gain changing unit 21, and the gain changing unit 21 changes the control gain.

公开(公告)号：US20200174440A1

公开(公告)日：2020-06-04

申请号：US16698934

申请日：2019-11-27

Applicant: FANUC CORPORATION

Inventor： Ryou MORIHASHI ,  Naoto SONODA ,  Kenta YAMAMOTO

IPC: G05B19/18 ,  G05B19/416 ,  G05B19/4155

Abstract: A numerical control device according to the present invention includes: an upper limit value acquisition unit which acquires an upper limit value for a cutting speed that is a relative speed of the cutting tool to the workpiece; a reference speed calculation unit which calculates a revolution number of the spindle, and a feedrate; an oscillation speed calculation unit which calculates an oscillation speed that is superimposed on the feedrate; a cutting speed calculation unit which calculates the cutting speed based on the revolution number of the spindle, the feedrate and the oscillation speed; and a speed adjustment unit which adjusts at least either one of the revolution number of the spindle and the feedrate, so that a maximum value of the cutting speed calculated by the cutting speed calculation unit does not exceed the upper limit value acquired by the upper limit value acquisition unit.

公开(公告)号：US20180043488A1

公开(公告)日：2018-02-15

申请号：US15671576

申请日：2017-08-08

Applicant: FANUC CORPORATION

Inventor： Naoto SONODA ,  Yuusaku OHO

IPC: B23Q5/58 ,  G05B19/4065 ,  B23Q17/00

CPC classification number: B23Q5/58 ,  B23Q17/007 ,  B23Q17/09 ,  G05B19/4065 ,  G05B2219/37245

Abstract: To provide an arrangement capable of detecting spindle failure in a machine tool using an existing servo control device, without providing separate external sensors, a failure analysis device or the like. A servo control device (22), which detects failure of a spindle of a machine tool including the spindle, a feed shaft, and a positioning servomotor that is installed to the feed shaft and is for deciding the position of the spindle, includes: a feedback acquisition unit (222) that acquires a feedback signal of the positioning servomotor; and an analysis/detection unit 226 that analyzes the feedback signal acquired to detect failure of the spindle.

公开(公告)号：US20150008861A1

公开(公告)日：2015-01-08

申请号：US14323405

申请日：2014-07-03

Applicant: FANUC CORPORATION

Inventor： Naoto SONODA

IPC: H02P23/00

CPC classification number: H02P23/0045 ,  G05B13/04 ,  G05B2219/41426 ,  H02P21/20 ,  H02P23/14

Abstract: A motor control device for controlling a motor which drives a control target, includes: a speed feedback control unit which generates a pre-correction torque command for controlling such that an actual speed of the control target follows a speed command which is input; an inverse model calculation unit which calculates a coefficient of an inverse model with a transfer function inversed from a transfer function of the control target by using the speed command and the pre-correction torque command; a torque correction value generating unit which generates a torque correction value by using the speed command and the coefficient of the inverse model; and a torque command generating unit which generates a torque command for the motor which drives the control target by using the pre-correction torque command and torque correction value.

Abstract translation: 一种用于控制驱动控制目标的电动机的电动机控制装置，包括：速度反馈控制单元，其生成用于控制使得控制目标的实际速度遵循输入的速度指令的预校正转矩指令; 逆模型计算单元，通过使用速度指令和预校正扭矩指令，从控制目标的传递函数反转的传递函数计算逆模型的系数; 扭矩校正值生成单元，其通过使用所述速度指令和所述逆模型的系数来生成转矩校正值; 以及转矩指令生成单元，其通过使用预校正转矩指令和转矩校正值来生成用于驱动控制对象的电动机的转矩指令。

公开(公告)号：US20140333249A1

公开(公告)日：2014-11-13

申请号：US14272641

申请日：2014-05-08

Applicant: FANUC CORPORATION

Inventor： Naoto SONODA

IPC: G05B13/02

CPC classification number: G05B13/024 ,  G05B19/404 ,  G05B2219/41117

Abstract: A frequency component extracting unit (15) extracts a frequency component included in a control signal at a first frequency step size. A frequency detection unit (16) detects, from the extracted frequency component, a frequency corresponding to a natural frequency of a target object constituted of a motor (3) and a driven member (4). A frequency step size setting unit (17) sets a second frequency step size smaller than the first frequency step size. A center frequency changing unit (18) increases or decreases a center frequency of a variable bandstop filter (13) at the second frequency step size in order to output a control signal after the variable bandstop filter (13) removes a frequency component corresponding to the natural frequency after the change from the control signal.

Abstract translation: 频率分量提取单元（15）以第一频率步长提取包含在控制信号中的频率分量。 频率检测单元（16）从所提取的频率分量检测与由电动机（3）和从动构件（4）构成的目标对象的固有频率相对应的频率。 频率步长设定单元（17）设定小于第一频率步长的第二频率步长。 中心频率改变单元（18）以第二频率步长增加或减少可变带阻滤波器（13）的中心频率，以便在可变带阻滤波器（13）去除与 固有频率变化后的控制信号。

公开(公告)号：US20230043796A1

公开(公告)日：2023-02-09

申请号：US17758827

申请日：2021-01-25

Applicant: FANUC CORPORATION

Inventor： Yusaku OHO ,  Naoto SONODA ,  Kenta YAMAMOTO

IPC: B23Q5/027 ,  B23Q15/013 ,  B23Q15/12 ,  B23Q17/09

Abstract: The objective of the present invention is to provide a machine tool control device with which chips can be reliably divided and discharged, and with which damage to a tool can be suppressed by reducing shock when the tool cuts into a workpiece. A machine tool control device 100 which controls a main axis that causes a tool T to rotate relative to a workpiece W, and which executes a cutting process by controlling a feed axis to move the tool T and the workpiece W while causing the same to oscillate relative to one another in a feed direction, is provided with an oscillation command generating unit 16 which generates an oscillation command on the basis of a predetermined oscillation condition, and a position and speed control unit 15 which controls a motor 30 that drives the feed axis, on the basis of a superimposed command generated by superimposing the oscillation command generated by the oscillation command generating unit 16 onto a position command or a position deviation, wherein the oscillation command generating unit 16 changes at least one of an oscillation command phase progression method and an oscillation command amplitude, on the basis of either an oscillation phase calculated on the basis of the predetermined oscillation condition, or time.