Fanuc Corporation

Daisuke Tajima

Yuuki Morita

Tadashi Okita

Provided are a control device and a control method for a machine tool which are capable of further reducing a command-waiting time. This control device for a machine tool which controls synchronized operation of a main shaft and a feed shaft comprises: a numerical value control unit; a main shaft control unit; a rotation detection unit. The numerical value control unit has a main shaft command output unit which, when a cutting operation and pulling-out operation are carried out from a machining start position to a target position an arbitrary number of times, acquires from the tapping program the rotation amount and the maximum rotation speed of the main shaft in the cutting operation and pulling-out operation and which supplies the rotation amount and the maximum rotation speed of the main shaft to the main shaft control unit as the main shaft command.

Control device and control method for machine tool

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.

Servo motor controller

To provide a servo motor controller that can quickly and effectively stop an industrial machine at a particular position even if operation speed is relatively low when a fixed position stop command is issued. The servo motor includes a speed comparison unit configured to compare speed at a time of a fixed position stop command with a first speed, a fixed position stop operation determination unit configured to determine an operation method at the time of the fixed position stop command, and a fixed position stop control unit configured to control the servo motor based on the determined operation method. When speed at the time of the fixed position stop command is higher than the first speed, the fixed position stop operation determination unit decelerates the speed to a second speed lower than the first speed and creates a move command for stopping at a target position based on an acceleration rate during deceleration or a predetermined acceleration rate and, when speed at the time of the fixed position stop command is lower than the first speed, decelerates the speed by a predetermined deceleration rate and creates a move command for stopping at a target stop position, and the fixed position stop control unit controls the servo motor based on the move command.

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 quickly. A motor controller is configured to stop a rotary shaft, and includes: a first time period calculator that calculates 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; a second time period calculation unit that calculates 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; a comparison unit that compares the first time period with the second period; and an orientated stop control unit that controls and stops the motor.

Motor controller

A motor control device according to an aspect of the present disclosure controls a motor by switching between speed control and position control, and sets a maximum voltage applied to the motor during the position control to lower than a maximum voltage applied to the motor during the speed control.

Motor control device and machine tool

A machine learning device includes: a state information acquisition unit configured to cause the control device to execute a tapping program to acquire from the control device, state information including a torque command value with respect to the spindle motor, a drive state including deceleration, a ratio of a movement distance in acceleration and a movement distance in deceleration; an action information output unit configured to output action information including adjustment information of the ratio of the movement distance in acceleration and the movement distance in deceleration, to the control device; a reward output unit configured to output a reward value in reinforcement learning based on a torque command value in deceleration, and a target torque command value in deceleration; and a value function update unit configured to update an action value function based on the reward value, the state information, and the action information.

Machine learning device, control system, control device, and machine learning method

A control apparatus of a machine tool, the control apparatus including: a numerical control unit configured to create a spindle axis command and a feed axis command according to a tapping program; a spindle axis control unit configured to control rotational operation of the spindle axis according to the spindle axis command; a rotation detector configured to detect a rotation position of the spindle axis; and a feed axis control unit configured to control feeding operation of the feed axis according to the feed axis command on the basis of the rotation position. The numerical control unit is further configured to include, in the spindle axis command, a speed command value during return that does not depend on maximum rotation speed during machining of the spindle axis and that is higher than the maximum rotation speed during machining, as a command of return operation.

Control apparatus for tapping

A controller controlling a synchronized operation of spindle and feed axes. The controller is configured to make a spindle axis perform an accelerated rotation at maximum capacity from a starting position aiming at a maximum rotation speed; detect a maximum acceleration of the spindle axis; detect a residual rotation amount of the spindle axis; detect a current speed of the spindle axis; and execute a position control for making the spindle axis perform a decelerated rotation so as to reach a target position, after the accelerated rotation at maximum capacity. The controller is further configured to make the spindle axis perform the decelerated rotation at a positioning deceleration higher than a deceleration corresponding to the maximum acceleration and equal to or lower than a maximum deceleration capable of compensating for a mechanical loss in a drive source during the decelerated rotation of the spindle axis.

Device and method of controlling machine tool, to control synchronized operation of spindle axis and feed axis

A controller controlling a synchronized operation of spindle and feed axes. A positioning-motion control section of a spindle-axis control section calculates a first velocity command making a spindle axis perform a decelerated rotation at a variable deceleration lower than a maximum deceleration during an acceleration-varying time just after the spindle axis reaches an intermediate speed or just before the spindle axis reaches a target position, and making the spindle axis perform the decelerated rotation at the maximum deceleration during a time except for the acceleration-varying time; calculates a second velocity command making the spindle axis perform a decelerated rotation at a constant deceleration lower than the maximum deceleration after the spindle axis reaches the intermediate speed; and chooses either one, achieving a lower speed, of the first and second velocity command during a period when the spindle axis operates from the intermediate speed to reach the target position.

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.

A machine tool controller according to an embodiment of the present invention, for controlling a spindle and a feed axis, includes a motor temperature obtaining unit for obtaining and outputting the winding temperature of a spindle motor as a motor temperature; an inverter temperature obtaining unit for obtaining and outputting the temperature of an inverter that drives the spindle motor as an inverter temperature; a motor temperature comparator for comparing the outputted motor temperature with an overheat temperature for the motor; an inverter temperature comparator for comparing the outputted inverter temperature with an overheat temperature for the inverter; and an overheating assessment unit for imposing a restriction on the output of the spindle motor according to the smaller one of the differences between the motor temperature and the overheat temperature for the motor and between the inverter temperature and the overheat temperature for the inverter.

Machine tool controller having function of changing operation according to motor temperature and amplifier temperature

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 at maximum capacity from a starting position; a maximum-acceleration detecting section for detecting a maximum acceleration of the spindle axis; 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; a flux-content predicting section for predicting an actual motor-flux content at the intermediate speed; and a deceleration determining section for determining a deceleration for a positioning operation, based on the maximum acceleration, the motor-flux-content command value and the motor-flux content.

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 () includes: a coordinate converter () as a voltage command output unit that outputs voltage command data instructing a voltage to be applied to a motor () based on an external instruction; a voltage command data interchanging unit () 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 () as an amplifier that drives the motor () based on the voltage command data outputted by the voltage command data interchanging unit (); a current detection unit () that detects the electric current flowing through the motor () and outputs current feedback data; and a current feedback data interchanging unit () that outputs by interchanging or not interchanging the current feedback data based on a setting for interchanging.

Motor control device, motor control method, and non-transitory computer readable medium encoded with computer program

A controller for controlling a synchronized operation of spindle and feed axes. A spindle-axis control section includes an initial-motion control section for making a spindle axis perform an accelerated rotation at maximum capacity from a process start position; a maximum-acceleration detecting section for detecting a maximum acceleration of the spindle axis; 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 positioning-motion control section for making the spindle axis perform a decelerated rotation so as to reach the target thread depth after the accelerated rotation; and an overshoot detecting section for detecting an overshoot of the spindle axis during the decelerated rotation.

A controller for controlling a synchronized operation of spindle and feed axes. A spindle-axis control section includes an initial-motion control section for making a spindle axis perform an accelerated rotation at maximum capacity from a process start position; a maximum-acceleration detecting section for detecting a maximum acceleration of the spindle axis; 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 making the spindle axis perform a decelerated rotation at a gradually increasing deceleration so as to reach an intermediate rotation speed after the accelerated rotation; and a positioning-motion control section for making the spindle axis perform a decelerated rotation at maximum capacity so as to reach the target thread depth after reaching the intermediate rotation speed.

Growing community of inventors

Yamanashi, Japan

Daisuke Tajima