公开(公告)号：US08190287B2

公开(公告)日：2012-05-29

申请号：US12793337

申请日：2010-06-03

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka ,  Kazuyuki Sugiyama

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka ,  Kazuyuki Sugiyama

IPC分类号： G06F19/00 ,  G05B11/01 ,  G05B23/02 ,  G05B19/25

CPC分类号： G05B19/4097

摘要： Time information t and positional information about each axis are obtained, and the three-dimensional coordinates of tool center point Pe at time t are calculated to display the path of the tool center point Pe at time t. Then, whether a fixed time has elapsed or not is decided. If the fixed time has elapsed, the coordinates of the tool vector start point Ps at time t are calculated to display a line segment connecting between tool vector start point Ps and tool center point Pe, which is the end point of the tool vector. This display enables the orientation of the tool at each tool center point to be grasped at a glance.

摘要翻译： 时间信息t和关于每个轴的位置信息被获得，并且计算在时间t的工具中心点Pe的三维坐标，以在时间t显示工具中心点Pe的路径。 然后，确定是否经过固定时间。 如果经过固定时间，则计算时刻t的刀具矢量开始点Ps的坐标，以显示连接刀具矢量开始点Ps和作为刀具矢量的终点的刀具中心点Pe之间的线段。 该显示使得能够一目了然地掌握各工具中心点处的工具的取向。

公开(公告)号：US08058827B2

公开(公告)日：2011-11-15

申请号：US12880108

申请日：2010-09-12

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka ,  Kazuyuki Sugiyama

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka ,  Kazuyuki Sugiyama

IPC分类号： B23Q5/04

CPC分类号： H02P6/10 ,  G05B19/404 ,  G05B2219/41138 ,  H02P23/14

摘要： A motor control apparatus that can calculate a proper amount of cogging torque compensation even in cases where components due to other factors than cogging torque (for example, components due to gravitational torque, etc.) are superimposed on a torque command being output during constant slow-speed feed operation. The motor control apparatus includes: a torque command monitoring unit which monitors a torque command when the motor is caused to operate at a constant speed; an approximation calculation unit which calculates a torque command approximation component by approximation from the torque command monitored over an interval equal to an integral multiple of the cogging torque period of the motor; a second torque command calculation unit which calculates a second torque command by subtracting the torque command approximation component from the torque command; a second torque command frequency analyzing unit which extracts frequency components, each at an integral multiple of the fundamental frequency of the cogging torque, by performing frequency analysis on the thus calculated second torque command; and a cogging compensation amount calculation unit which calculates the amount of cogging compensation from the amplitude and phase of the extracted frequency components.

摘要翻译： 即使在由于比齿槽转矩（例如由于重力转矩等构成的其他因素）的分量叠加在恒定速度下输出的转矩指令的情况下，也能够计算恰当量的齿槽转矩补偿量的电动机控制装置 速度进料操作。 电动机控制装置包括：转矩指令监视单元，其在电动机以恒定速度运行时监视转矩指令; 近似计算单元，其通过在等于电机的齿槽转矩周期的整数倍的间隔上监视的转矩指令近似计算转矩指令近似分量; 第二转矩指令计算单元，通过从所述转矩指令中减去所述转矩指令近似分量来计算第二转矩指令; 第二转矩指令频率分析单元，通过对所计算出的第二转矩指令进行频率分析，提取频率分量，每个频率成分以齿槽转矩的基频的整数倍; 以及齿槽补偿量计算单元，根据所提取的频率分量的振幅和相位来计算齿槽补偿量。

公开(公告)号：US08018192B2

公开(公告)日：2011-09-13

申请号：US12822249

申请日：2010-06-24

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka ,  Kazuyuki Sugiyama

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka ,  Kazuyuki Sugiyama

IPC分类号： G05B19/18

CPC分类号： G05B19/4068 ,  G05B2219/35349

摘要： A trajectory display device capable of correctly quantifying an error of a three-dimensional trajectory of a machine tool, and displaying or outputting the error. The trajectory display device has a command line segment defining part adapted to define a command line segment which connects two temporally adjacent points, in relation to each commanded position; an error calculating part adapted to define a normal line extending from the actual position to each command line segment and calculate an error of the actual position relative to a commanded trajectory, the error being determined as a shorter one between a length of a shortest normal line among the defined normal lines and a length of a line segment extending from the actual position to a commanded position which is the nearest from the actual position.

摘要翻译： 一种轨迹显示装置，其能够正确地量化机床的三维轨迹的误差，并显示或输出该误差。 轨迹显示装置具有命令线段限定部分，其适于定义相对于每个指令位置连接两个时间上相邻的点的命令线段; 误差计算部分，其适于定义从实际位置延伸到每个命令线段的法线，并计算相对于命令轨迹的实际位置的误差，所述误差被确定为最短法线的长度之间的较短的误差 在定义的法线和从实际位置延伸到距离实际位置最近的命令位置的线段的长度。

公开(公告)号：US20110057599A1

公开(公告)日：2011-03-10

申请号：US12822249

申请日：2010-06-24

申请人： Yasusuke IWASHITA ,  Tadashi Okita ,  Junichi Tezuka ,  Kazuyuki Sugiyama

发明人： Yasusuke IWASHITA ,  Tadashi Okita ,  Junichi Tezuka ,  Kazuyuki Sugiyama

IPC分类号： G05B19/406

CPC分类号： G05B19/4068 ,  G05B2219/35349

摘要： A trajectory display device capable of correctly quantifying an error of a three-dimensional trajectory of a machine tool, and displaying or outputting the error. The trajectory display device has a command line segment defining part adapted to define a command line segment which connects two temporally adjacent points, in relation to each commanded position; an error calculating part adapted to define a normal line extending from the actual position to each command line segment and calculate an error of the actual position relative to a commanded trajectory, the error being determined as a shorter one between a length of a shortest normal line among the defined normal lines and a length of a line segment extending from the actual position to a commanded position which is the nearest from the actual position.

摘要翻译： 一种轨迹显示装置，其能够正确地量化机床的三维轨迹的误差，并显示或输出该误差。 轨迹显示装置具有命令线段限定部分，其适于定义相对于每个指令位置连接两个时间上相邻的点的命令线段; 误差计算部分，其适于定义从实际位置延伸到每个命令线段的法线，并计算相对于命令轨迹的实际位置的误差，所述误差被确定为最短法线的长度之间的较短的误差 在定义的法线和从实际位置延伸到距离实际位置最近的命令位置的线段的长度。

公开(公告)号：US08432120B2

公开(公告)日：2013-04-30

申请号：US13117731

申请日：2011-05-27

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka

IPC分类号： G05B19/25

CPC分类号： G05B19/4069

摘要： A numerical controller calculates a first position command from a machining program, converts the first position command into a second position command for restricting a tangential speed of a tool, and delivers the second position command and a status signal indicative of the achievement of the conversion of the first position command into the second position command to a tool path display apparatus. The tool path display apparatus displays the path of the tool in a color corresponding to the status signal and can thereby determine the point on the tool path at which the speed restriction is performed.

摘要翻译： 数值控制器从加工程序计算第一位置指令，将第一位置指令转换成用于限制工具的切向速度的第二位置指令，并且传送第二位置指令和表示实现转换的状态信号 第一位置指令进入到刀具路径显示装置的第二位置命令。 刀具路径显示装置以对应于状态信号的颜色显示刀具的路径，从而可以确定执行速度限制的刀具路径上的点。

公开(公告)号：US08278849B2

公开(公告)日：2012-10-02

申请号：US12610122

申请日：2009-10-30

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Hiroyuki Kawamura ,  Junichi Tezuka ,  Kenta Yamamoto

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Hiroyuki Kawamura ,  Junichi Tezuka ,  Kenta Yamamoto

IPC分类号： H02P21/00

CPC分类号： H02P21/14 ,  G01R31/343 ,  H02P2205/03

摘要： A controller of an industrial machine provided with an electric motor, a peripheral apparatus and an amplifier includes a motor power-consumption calculation section, a power loss calculation section, a fixed power-consumption calculation section, and a total power-consumption calculation section. The motor power-consumption calculation section calculates motor power consumption by decomposing a motor current into a Q-phase current value and a D-phase current value, and multiplying the Q-phase current value with a motor rotation speed and a motor torque constant. The power loss calculation section calculates sum power loss of the motor and amplifier. The fixed power-consumption calculation section calculates fixed power consumption of the peripheral apparatus. The total power-consumption calculation section determines total power consumption of the industrial machine in a predetermined time period by integrating, for the time period, the calculated motor power consumption, sum power loss and fixed power consumption.

摘要翻译： 设置有电动机，外围设备和放大器的工业机器的控制器包括电动机功耗计算部，功率损耗计算部，固定功耗计算部和总功耗计算部。 电动机功率消耗计算部通过将电动机电流分解为Q相电流值和D相电流值来计算电动机功率消耗，并将Q相电流值与电动机转速和电动机转矩恒定相乘。 功率损耗计算部分计算电机和放大器的总功率损耗。 固定功耗计算部分计算外围设备的固定功耗。 总功耗计算部通过将计算出的电动机功率消耗，和功率损耗和固定功率消耗在时间段内进行积分，来确定工业机器在预定时间段内的总功耗。

公开(公告)号：US20100264867A1

公开(公告)日：2010-10-21

申请号：US12761191

申请日：2010-04-15

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka

IPC分类号： G05B11/01

CPC分类号： G05B19/416 ,  G05B2219/34314

摘要： A control device for a machine tool including a feed axis driving motor; a first power consumption calculating portion calculating power consumption of the feed axis driving motor; a second power consumption calculating portion calculating power consumption of equipment adapted to be operated by constant power; and a motor control portion determining a target time constant correlated with at least one of acceleration time and deceleration time of the feed axis driving motor, based on a summation of the power consumption calculated by the first power consumption calculating portion and the power consumption calculated by the second power consumption calculating portion, and controlling the feed axis driving motor based on the target time constant.

摘要翻译： 一种用于机床的控制装置，包括进给轴驱动电机; 计算进给轴驱动电机的功耗的第一功耗计算部; 第二功率消耗计算部分，用于计算适于由恒定功率运行的设备的功耗; 以及电动机控制部，其基于由所述第一功耗计算部计算出的功率消耗和由所述第一功耗计算部计算出的功率消耗的总和与由所述第一功耗计算部计算出的功耗的乘积和由 第二功率消耗计算部分，并且基于目标时间常数来控制进给轴驱动电动机。

公开(公告)号：US08483865B2

公开(公告)日：2013-07-09

申请号：US13020165

申请日：2011-02-03

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka

IPC分类号： G06F19/00

CPC分类号： G05B19/404 ,  G05B2219/49203

摘要： Coordinate values of a tool center point is calculated by obtaining coordinate values at each time of respective drive axes driven by a numerical controller. A tool radius compensation vector connecting the calculated tool center point at each time and an actual machining point is obtained. Then, coordinate values of the actual machining point are calculated based on the calculated coordinate values of the tool center point and the obtained tool radius compensation vector, and the trajectory of the actual machining point is displayed on a display.

摘要翻译： 通过在数值控制器驱动的各个驱动轴的每次获得坐标值来计算刀具中心点的坐标值。 获得每次将计算出的刀具中心点与实际加工点连接的刀具半径补偿矢量。 然后，基于计算出的刀具中心点的坐标值和获得的刀具半径补偿矢量来计算实际加工点的坐标值，并且将实际加工点的轨迹显示在显示器上。

公开(公告)号：US08026689B2

公开(公告)日：2011-09-27

申请号：US12761191

申请日：2010-04-15

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka

IPC分类号： G05B11/01

CPC分类号： G05B19/416 ,  G05B2219/34314

摘要： A control device for a machine tool including a feed axis driving motor; a first power consumption calculating portion calculating power consumption of the feed axis driving motor; a second power consumption calculating portion calculating power consumption of equipment adapted to be operated by constant power; and a motor control portion determining a target time constant correlated with at least one of acceleration time and deceleration time of the feed axis driving motor, based on a summation of the power consumption calculated by the first power consumption calculating portion and the power consumption calculated by the second power consumption calculating portion, and controlling the feed axis driving motor based on the target time constant.

摘要翻译： 一种用于机床的控制装置，包括进给轴驱动电机; 计算进给轴驱动电机的功耗的第一功耗计算部; 第二功率消耗计算部分，用于计算适于由恒定功率运行的设备的功耗; 以及电动机控制部，其基于由所述第一功耗计算部计算出的功率消耗和由所述第一功耗计算部计算出的功率消耗的总和与由所述第一功耗计算部计算出的功耗的乘积和由 第二功率消耗计算部分，并且基于目标时间常数来控制进给轴驱动电动机。

公开(公告)号：US20110202167A1

公开(公告)日：2011-08-18

申请号：US13020165

申请日：2011-02-03

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Junichi Tezuka

IPC分类号： G05B19/19

CPC分类号： G05B19/404 ,  G05B2219/49203

摘要： Coordinate values of a tool center point is calculated by obtaining coordinate values at each time of respective drive axes driven by a numerical controller. A tool radius compensation vector connecting the calculated tool center point at each time and an actual machining point is obtained. Then, coordinate values of the actual machining point are calculated based on the calculated coordinate values of the tool center point and the obtained tool radius compensation vector, and the trajectory of the actual machining point is displayed on a display.

摘要翻译： 通过在数值控制器驱动的各个驱动轴的每次获得坐标值来计算刀具中心点的坐标值。 获得每次将计算出的刀具中心点与实际加工点连接的刀具半径补偿矢量。 然后，基于计算出的刀具中心点的坐标值和获得的刀具半径补偿矢量来计算实际加工点的坐标值，并且将实际加工点的轨迹显示在显示器上。