公开(公告)号：WO1989005004A1

公开(公告)日：1989-06-01

申请号：PCT/JP1988001063

申请日：1988-10-19

Applicant: FANUC LTD ,  KOHARI, Katsuo ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/4015 ,  G05B2219/50042

Abstract: A system for returning a main axis back to a preset mechanical origin. A spindle amplifier (20) rotates a main axis motor (30) upon receipt of a return-to-origin instruction from a numerical controller (10), and positions the main axis motor at a mechanical origin separated by a predetermined distance away from the point upon receipt of a turn signal (Pi) from a position detector (36). Therefore, if a rotational distance is given from a point where the turn signal (Pi) is produced to the mechanical origin, the operation for returning the main axis back to the origin can all be carried out by the spindle amplifier (20) simply in response the return-to-origin instruction sent from the numerical controller (10).

Abstract translation: 用于将主轴返回预设机械原点的系统。 主轴放大器（20）在接收到来自数字控制器（10）的返回原点指令时使主轴马达（30）旋转，并将主轴马达定位在离开 在从位置检测器（36）接收到转向信号（Pi）时指示。 因此，如果从产生转向信号（Pi）到机械原点的点给出旋转距离，则将主轴返回原点的操作都可以由主轴放大器（20）简单地 响应从数字控制器（10）发送的返回原点指令。

公开(公告)号：WO1989007364A1

公开(公告)日：1989-08-10

申请号：PCT/JP1989000083

申请日：1989-01-27

Applicant: FANUC LTD ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

Inventor： FANUC LTD

IPC: H02P07/63

CPC classification number: H02P27/08 ,  G05B11/28 ,  H02M5/458

Abstract: A speed controller which controls the speed of a servo motor (12) by the PWM-control of the inverter, wherein the power supply voltage of the inverter is detected to maintain constant the gain (K') of the amplifier (11) in the current loop.

公开(公告)号：WO1990002367A1

公开(公告)日：1990-03-08

申请号：PCT/JP1989000873

申请日：1989-08-28

Applicant: FANUC LTD ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/231

Abstract: A numerical controller which gives an instruction to a machine tool that uses a main shaft motor (5) to return to the origin, in order to control the position of a tool. The main shaft can be returned to the origin by simply giving an instruction for returning to origin to a main shaft amplifier (SPA) that drives the main shaft motor (5). Prior to CNC-operating the machine tool according to the invention, the grid shifting amount (P2) determined by a relationship of the main shaft motor (5) and the object to be controlled is set to the side of the spindle amplifier (SPA), and position data (P3) corresponding to a distance from the origin of machine to a machining starting point transferred prior to a predetermined position stop instruction and the grid shifting amount (P2) are added up together. Therefore, when the instruction for returning to origin is produced from the numerical controller to the spindle amplifier, the position control is automatically assumed, and the moving operation is started with respect to a desired position.

Abstract translation: 这里描述的数字控制单元使用主轴马达（5）向机床发送返回命令以控制工具的位置。 为了使主轴返回原点，向驱动主轴马达（5）的主轴放大器（SPA）发送返回指令就足够了。 在将所述命令应用于机床之前，由主轴电动机（5）与待控制对象之间的关系确定的网格移位量（P2）在放大器旁边确定 主轴（SPA）和在停止指令之前传送到给定位置的与机器原点和加工开始点之间的距离相对应的位置数据（P3） 并添加门移位量（P2）。 因此，当数字控制单元最初向主轴放大器发送返回命令时，隐式地和自动地采用位置控制，并且移动操作相对于期望的位置开始。

公开(公告)号：WO1989010655A1

公开(公告)日：1989-11-02

申请号：PCT/JP1989000428

申请日：1989-04-21

Applicant: FANUC LTD ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

Inventor： FANUC LTD

IPC: H02P07/63

CPC classification number: H02P27/08

Abstract: The present invention relates to a current control device for PWM-controlling motor current using a microprocessor. Delay in control is unavoidable since the motor current is received by the processor as discrete data. For this reason, it still remains impossible to predict the measured current value necessary for PWM control and therefore to increase the gain of the current control loop satisfactorily. The varying pattern of the motor current subjected to A/D conversion is accordingly utilized to estimate the motor current at the present time, based on which the current control is effected. The response characteristics of the current control system can be improved by equivalently minimizing the delay, whereby the gain of the current control loop can freely be set.

Abstract translation: 本发明涉及一种使用微处理器对电机电流进行PWM控制的电流控制装置。 由于电机电流被处理器接收为离散数据，所以控制延迟是不可避免的。 因此，仍然无法预测PWM控制所需的测量电流值，因此令人满意地增加电流控制回路的增益。 因此，利用进行A / D转换的电动机电流的变化模式来估计当前电流的电动机电流。 可以通过等效地使延迟最小化来改善电流控制系统的响应特性，从而可以自由地设定电流控制回路的增益。

公开(公告)号：WO1989006394A1

公开(公告)日：1989-07-13

申请号：PCT/JP1988001341

申请日：1988-12-28

Applicant: FANUC LTD ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

Inventor： FANUC LTD

IPC: G05D03/12

CPC classification number: G05B19/237 ,  G05B19/39 ,  G05B2219/41007 ,  G05B2219/42104 ,  G05B2219/42114 ,  G05B2219/42203 ,  G05B2219/42215 ,  G05B2219/43127 ,  G05B2219/43194

Abstract: A spindle orientation controller couples a spindle motor (2) via coupling means (5) with a main spindle (4) which produces a signal (LS) indicating its approximate stop position and a signal (MS) indicating its definite stop position. This controller is adapted to stop the spindle in position according to a speed instruction that varies depending upon the speed of the spindle motor (2). Speed pulses for detecting the rotating speed of the motor are used as position pulses, and a speed instruction value is decreased by the amount of feedback pulses. When the speed instruction value of the main spindle decreases to a predetermined level, the instruction value is clamped at that level. When the signal (LS) from the main spindle is detected in the clamped state, the signal (MS) from the main spindle is used as a speed instruction value. This makes it possible to stop the main spindle in position quickly.

公开(公告)号：WO1991016163A1

公开(公告)日：1991-10-31

申请号：PCT/JP1991000554

申请日：1991-04-24

Applicant: FANUC LTD ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

Inventor： FANUC LTD

IPC: B23G03/00

CPC classification number: G05B19/186 ,  B23G1/18

Abstract: A controller which makes it possible to effect tapping to the end surface of a work while the work is being rotated. A work rotation speed instruction (Vc) from a numerical controller (90) is applied to first and second speed control circuits (111, 121) of first and second control circuits (110, 120) so as to operate the both control circuits in a speed control mode and to rotate the work (70) fitted to a first main spindle (10) and a tapper (80) fitted to a second main spindle (20) by first and second main spindle motors (11, 21) at the same speed. Next, when an error pulse quantity corresponding to the work rotation speed instruction is set to an error register (123) of the second control circuit, the second control circuit operates in a tapping mode and executes a speed loop processing on the basis of a speed instruction on the basis of the moving instruction which is equal to the sum of the work rotation speed instruction and the tapping speed instruction (Uv) and on the basis of the position feedback signal (PPC) which represents an actual tapper rotating position and calculated in a position loop processing. The second control circuit rotates relatively the tapper at a predetermined tapping speed relative to the work. The tapper is moved in the axial direction towards the work and tapping is made to the end surface of the work.

公开(公告)号：WO1989012349A1

公开(公告)日：1989-12-14

申请号：PCT/JP1989000534

申请日：1989-05-29

Applicant: FANUC LTD ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

Inventor： FANUC LTD

IPC: H02P05/00

CPC classification number: G05B19/4063 ,  G05B19/4141 ,  G05B19/4142 ,  G05B2219/33105 ,  G05B2219/33119 ,  G05B2219/33125 ,  G05B2219/35267 ,  H02P5/00 ,  Y02P90/185

Abstract: A motor controller for an NC machine tool having many kinds of motor models. When the control parameters corresponding to the motor models are set from the external side, correct control parameters are set for the motor models to reliably prevent any accident that may be caused by erroneous setting of the control parameters. The motor controller has registration means (22) into which will be registered specific model codes that represent control parameters of the motor models, and storage means (21) that temporarily stores the control parameters that are set and the model codes that are transferred. The model codes registered to the registration means (22) are compared with the model codes that are transferred, to recognize the motor models.

公开(公告)号：WO1989012264A1

公开(公告)日：1989-12-14

申请号：PCT/JP1989000535

申请日：1989-05-29

Applicant: FANUC LTD ,  KOHARI, Katsuo ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

Inventor： FANUC LTD

IPC: G05B19/19

CPC classification number: G05B19/19 ,  G05B19/4141 ,  G05B2219/33182 ,  G05B2219/33207 ,  G05B2219/33337 ,  G05B2219/42215

Abstract: A numerical controller having a control function which permits a main axis to be stopped at any absolute position by a drive motor to determine the position of the main axis that controls the positioning. The numerical controller has storage means (6) for storing data related to a motor stop position and the rotational direction included in a control instruction via transfer means (3) which transfers the control instruction to the corresponding drive means, and has calculation means (7) which calculates a drive signal for stopping the motor at a predetermined position based on the stored data and feedback signals related to the speed and position of the motor. With the absolute position such as an angle and the rotational direction up to that position being instructed from the numerical controller, the motor side determines its position by itself.

Abstract translation: 一种具有控制功能的数字控制单元，该控制功能允许通过驱动马达在任何绝对位置上停止主轴以确定控制定位的主轴的位置。 数字控制单元具有用于经由传递马达停止位置的传递构件（3）存储与马达停止位置有关的数据和控制指令中包括的旋转方向的存储构件（6）。 控制指令给相应的驱动部件;以及计算部件（7），根据所存储的数据和与所述存储数据有关的反馈信号，计算用于使电动机停止在确定位置的驱动信号 发动机的速度和位置。 由于绝对位置表示为角度，旋转方向由数控单元决定，因此电机侧会自动确定其位置。

公开(公告)号：WO1989006452A1

公开(公告)日：1989-07-13

申请号：PCT/JP1989000010

申请日：1989-01-06

Applicant: FANUC LTD ,  KOHARI, Katsuo ,  FUJIOKA, Yoshiki ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

Inventor： FANUC LTD

IPC: H02H07/085

CPC classification number: H02H3/0935

Abstract: A system for protecting semiconductors (3) and other components in a servo amplifier (2) from overcurrents. A speed control circuit (1) uses a timer to measure the time during which a load current exceeds a predetermined value. If the time exceeds a predetermined value, the control circuit stops the operation of the servo amplifier and produces an alarm signal. This makes it possible to reliably protect the semiconductor without delay in the detection.

公开(公告)号：WO1989008533A1

公开(公告)日：1989-09-21

申请号：PCT/JP1989000170

申请日：1989-02-21

Applicant: FANUC LTD ,  KOHARI, Katsuo ,  KONO, Shinichi ,  TAKAHACHI, Hironobu

Inventor： FANUC LTD

IPC: B23Q05/10

CPC classification number: B23Q39/048 ,  G05B19/416 ,  G05B2219/41255 ,  G05B2219/42125 ,  G05B2219/50216 ,  G05B2219/50387 ,  Y10T82/10 ,  Y10T82/2502 ,  Y10T82/2524

Abstract: This invention relates to a machine tool having two main spindles which are subject to driving control by servomotors (1 and 2) by giving velocity commands (Vcmd1) and (Vcmd2) for controlling, respectively, the speed of rotation of a first main spindle and that of a second main spindle to speed control circuits (3 and 4), thereby controlling the two main spindles of a machine tool such as a lathe in synchronous operation in order to machine a work efficiently. In the present invention, the angles of rotation of the main spindles are brought into conformity to effect the synchronous operation without fail and to enable a catch of another work during rotation.