公开(公告)号：WO1989006455A1

公开(公告)日：1989-07-13

申请号：PCT/JP1988001233

申请日：1988-12-07

Applicant: FANUC LTD ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: H02P05/00

CPC classification number: G05B19/4069

Abstract: A servomotor controller having an internal data display function in which the internal data necessary for controlling a main spindle motor (6) are given to an operator through a display unit (7) that is usually used for displaying the content of alarm. At the time of maintenance and adjustment, a parameter is selected by a switch (2) and the required internal data are taken out of the CPU (1) using a software. The maintenance operation is carried out highly efficiently based on the data displayed on a display unit (7).

Abstract translation: 一种具有内部数据显示功能的伺服电动机控制器，其中通过用于显示报警内容的显示单元（7）向操作员提供用于控制主轴电动机（6）所需的内部数据。 在维护和调整时，通过开关（2）选择参数，使用软件将所需的内部数据从CPU（1）中取出。 基于显示在显示单元（7）上的数据，高效地进行维护操作。

公开(公告)号：WO1990012674A1

公开(公告)日：1990-11-01

申请号：PCT/JP1990000506

申请日：1990-04-18

Applicant: FANUC LTD ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: B23Q15/00

CPC classification number: G05B19/416 ,  G05B2219/50234 ,  G05B2219/50387

Abstract: A method of controlling a main shaft rotation, that is capable of driving two main shafts of a machine at the same rotational speed and in the same rotational phase. In response to the synchronous control command from a numerical control device, speed control based on first and second speed commands respectively calculated in accordance with calculation formula that is a function of a synchronous rotation speed command and a parameter corresponding to the configuration of a main shaft rotation control system is performed (S3 - S7). When the rotation speeds of both the main shafts reach the synchronous rotation speed (S8), first and second position deviations corresponding to the synchronous rotation speed are respectively calculated in accordance with a calculation formula that is a function of a position control gain and the speed commands are also respectively converted to first and second shifting commands, and a position control loop processing based on both shifting commands and first and second main shaft rotation amounts, and a speed control based on the position control loop output are performed (S10 - S13). In response to the input of the phase synchronous control command, calculated values of the rotational phases corresponding to the first and second rotation amounts since the signals of one rotation of the first and second main shafts have been generated are respectively subtracted from the position deviations relating to both main shafts (S15, S16), whereby the rotation speeds of both the main shafts are decreased and the rotational phases of both the main shafts finally coincide with each other.

公开(公告)号：WO1990014192A1

公开(公告)日：1990-11-29

申请号：PCT/JP1990000603

申请日：1990-05-11

Applicant: FANUC LTD ,  KAKU, Masahiro ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: B23G01/16

CPC classification number: B23G1/18 ,  G05B19/186 ,  G05B2219/45216 ,  Y10T29/5114 ,  Y10T408/165 ,  Y10T408/17

Abstract: This invention relates to a control device that can drive a compound lathe capable of tapping on the edge surface of a rotating work. This control device (100) is provided with first and second control circuits (110, 120) that control the rotation of first and second main shafts (10, 20) respectively loaded with a work (60) and a tapper (70). When tapping is to be started, after performing control of position loop according to the deviation (ε) between the position feedback signals (PCC1, PCC2) relating to each of both main shafts and controlling the rotations of both main shafts to the same speed, the second control circuit rotates the second main shaft faster than the first main shaft by a tapping speed according to the deviation (ε) between the sum of the tapping speed command (Vc) and the feedback signal (PCC1) from a high order control device (40) and the feedback signal (PCC2), as well as moves the second main shaft in the shaft direction at a speed determined according to the tapping speed and the tapping pitch, and performs the tapping on the edge surface of the rotating work. After the tapping is finished, the second main shaft is reversely rotated and moved backward to separate the tapper from the work.

公开(公告)号：WO1990007822A1

公开(公告)日：1990-07-12

申请号：PCT/JP1989001297

申请日：1989-12-25

Applicant: FANUC LTD ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: H02P05/408

CPC classification number: H02P21/09

Abstract: A method of controlling slip frequency of an induction motor exhibiting exact and excellent control response characteristics. In determining a slip frequency (fs) and an exciting flux frequency ( omega 0) by using hardware elements, control error and control delay are reduced by determining these two parameters through a software processing using a processor for vector control. For this purpose in the speed control routines (101 to 104), a slip quantity (A) and a remainder ( alpha ) obtained by the running of the routine of this time are calculated by dividing by a routine start frequency (CV) the value obtained by addition of the remainder ( alpha ') calculated by the running of the routine of the preceding time and a slip frequency that is obtained by dividing the product of a secondary current instruction (I2) and a proportional constant (K2) by the excitation flux instruction ( PHI ). In the current control routine (201 to 205) executed on a period shorter than that of the speed control routine, a slip distribution data ( omega s) and a remainder ( beta ) of this time are calculated by dividing the value obtained by addition of a slip quantity to be calculated and the remainder ( beta ') of the preceding time by the number (n) of times of starting the current control routine. Furthermore, data ( omega r) that represents an actual motor speed is added to the calculated slip distribution data in order to obtain an exciting flux frequency ( omega 0).

Abstract translation: 控制感应电动机的转差频率的控制响应特性的控制方法。 在通过使用硬件元件来确定滑差频率（fs）和激励磁通频率（ω-0）时，通过使用用于矢量控制的处理器的软件处理来确定这两个参数来减少控制误差和控制延迟。 为此，在速度控制程序（101〜104）中，通过将常规起始频率（CV）除以值来计算通过该时间的程序的运行获得的滑差量（A）和余数（α） 通过添加通过前一时间的程序的运行计算出的余数（α'）和通过将次级电流指令（I2）和比例常数（K2）的积除以激励而得到的转差频率来获得 磁通指令（PHI）。 在比速度控制程序短的时间段执行的当前控制程序（201〜205）中，通过将通过添加获得的值除以下来计算该时间的滑移分布数据（ω）和余数（β） 要计算的滑移量和前一时间的余数（β'）除了开始当前控制程序的次数（n）。 此外，代表实际电动机速度的数据（ω-r）被加到计算出的滑差分布数据中，以获得激励磁通频率（ω= 0）。

公开(公告)号：WO1993015876A1

公开(公告)日：1993-08-19

申请号：PCT/JP1993000092

申请日：1993-01-26

Applicant: FANUC LTD ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: B23Q15/26

CPC classification number: G05B19/232 ,  G05B2219/42104

Abstract: A main spindle positioning method which makes the most of deceleration of a spindle motor and speeds up a spindle positioning operation. It is assumed that the spindle motor is running under speed control. In response to a command for a stop at a given position, the spindle motor is decelerated to a speed N below a maximum rotating speed N1 determining a constant torque region on the basis of the speed control (Step S1), and the speed control is switched to a position control at the position at which the speed N is reached. At this time, a value which takes into consideration the present position at one rotating position of the spindle and a target stop position as an initial position error are set to an error counter (Steps S5 to S11). Thereafter, a position feedback quantity Pf from a position sensor is received by the error counter so as to execute linear acceleration/deceleration control to a final stop position (Step S12) and a speed command Vcmd is determined (Step S13), and a speed loop processing follows.

公开(公告)号：WO1991004812A1

公开(公告)日：1991-04-18

申请号：PCT/JP1990001296

申请日：1990-10-05

Applicant: FANUC LTD ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: B23B03/30

CPC classification number: G05B19/416 ,  G05B19/182 ,  G05B2219/50216 ,  G05B2219/50234 ,  G05B2219/50387

Abstract: A method of controlling rotations of main shafts, capable of preventing a work from being distorted during transfer of the work between the two main shafts of a machine. When speed loop controls are conducted by speed control sections (111, 211) of a first and a second main shaft control circuits (110, 210) and rotational speeds of a first and a second main shaft (100, 200) reach synchronous rotational speeds, positional loop controls are conducted by positional control sections (112, 212) of the two control circuits and the respective main shafts are operated at reduced speeds in accordance with rotational phases of the main shafts, thereafter, the speed loop controls are conducted again, and the two main shafts come to be rotated in equal phases and at equal and synchronous rotational speeds. In these states, the transfer of the work (300) is started between the two main shafts and integration controls at the two speed control sections are invalidated. For this reason, even if there is the difference in speed between the two main shafts at the time of starting the work transfer due to fluctuations in the rotational speeds of the two main shafts, the difference between torque commands from the two speed control sections due to the difference in rotational speed between the two main shafts is not gradually increased by the integration controls, thus the work can be prevented from being distorted.

Abstract translation: 一种控制主轴的旋转的方法，能够防止工件在机器的两个主轴之间的转移期间发生扭曲。 当第一和第二主轴控制回路（110,210）的转速控制部（111,211）和第一和第二主轴（100,200）的转速达到同步转速时， 通过两个控制电路的位置控制部（112,212）进行位置环控制，各主轴根据主轴的转动相位以较低的速度运转，此后再次进行速度环控制， 并且两个主轴以相等和相等的同步转速旋转。 在这些状态下，在两个主轴之间开始工件（300）的传送，并且两个速度控制部分的集成控制无效。 因此，即使由于两个主轴的转速的波动而导致作业转移开始时的两个主轴之间的速度差异，来自两个速度控制部的转矩指令之间的差异 通过一体化控制，两个主轴之间的转速差不会逐渐增加，因此能够防止工作扭曲。

公开(公告)号：WO1990001829A1

公开(公告)日：1990-02-22

申请号：PCT/JP1989000779

申请日：1989-07-28

Applicant: FANUC LTD ,  KOHARI, Katsuo ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: H02P05/00

CPC classification number: H02P5/50 ,  G05B19/182 ,  G05B2219/42104 ,  G05B2219/50221 ,  G05B2219/50234 ,  G05B2219/50387

Abstract: A method of controlling synchronized operation of a machine tool and an apparatus therefor. In a machine tool having two main spindles (14, 15), a work (18) is gripped by the first spindle and the second spindle controlled by control circuits (19, 20) that include a speed control unit and a position control unit. When the work is to be machined under this condition, digital speed instructions are fed to the two spindles simultaneously from, for example, a numerical controller. On each of the main spindles, separation means (sw2) is controlled to separate the position control unit from the speed control unit, the synchronized operation mode is set to switch the speed instruction to the position instruction, and the digital speed instructions are processed as position instructions to carry out the same position control. Therefore, the running speed of the two main spindles are brought into synchronism with each other, and the work is separated into two without giving excess force to the work.