Toshiba Kikai Kabushiki Kaisha

Toshiba Machine Co., Ltd.

Shibaura Machine Co., Ltd.

Jun Fujita

Minoru Hamamura

Sadaji Hayama

Ichiro Matsumoto

Takamichi Ito

Kouichi Katoh

Kazuhiro Shiba

Atsushi Tada

Toshihiro Ueta

Hirohiko Matsuzaki

Yoshinori Nakanishi

Kiyoshi Inoue

Masaru Suzuki

Hideki Hayashi

Koichi Kato

Takao Date

Hideo Tanaka

Kazuo Nagashima

Masahito Shiozaki

Tomoo Hayashi

Yoshinari Sasaki

Yasunori Nishihara

Masahiro Akiyama

Masao Hirosawa

Shinichi Tazawa

Nobukatsu Omura

Harukatsu Goto

Kazutaka Yamashita

Michio Matumoto

Takahiro Funaki

Shigeichi Yamamoto

Teturo Kurokawa

Koichi Kikuchi

Hiromasa Suzuki

Yuta Matsumoto

Kanji Atsumi

Hironobu Ohara

Chihiro Saga

Etsuzi Oda

Takehiko Serizawa

Ikuo Kuribayashi

Masayuki Kato

An industrial machinery includes: a drive mechanism driving a control target that moves work or a tool; a motor; a first sensor detecting a position of the control target; a second sensor detecting a position of the motor; a current controller controlling a supply current to the motor; a servo controller outputting a torque instruction to the current controller; and a numerical controller calculating a processing force of the control target to the work based on position information on the control target acquired from the first sensor, position information on the motor acquired from the second sensor, and the torque instruction, the numerical controller determining that the tool is in failure if an absolute value of a first component of the processing force becomes equal to or larger than a first threshold value while processing the work, the first component having a frequency lower than a predetermined frequency.

Industrial machinery and control method thereof

A robot apparatus () includes a control apparatus () which carries out correction with use of an estimated value of a joint torque estimation unit () which estimates a joint torque acting upon each of joints (to). The joint torque estimation unit () includes a Coulomb frictional force torque estimation unit (), a viscous frictional torque estimation unit (), and a transition interval arithmetic operation unit () which smoothens transition from the Coulomb frictional force torque estimation unit () to the viscous frictional force estimation unit () and transition from the viscous frictional force torque estimation unit () to the Coulomb frictional force torque estimation unit ().

Robot apparatus and control method therefor

A machine tool according to an embodiment includes a drive mechanism configured to move a control target; a motor configured to operate the drive mechanism; a first encoder configured to detect a position of the control target; a second encoder configured to detect a position of the motor; a servo control unit configured to control the motor; and a numerical control unit configured to receive or calculate an error between the position of the control target obtained from a detection result of the first encoder and a position of the control target obtained from a detection result of the second encoder from the servo control unit, and to estimate a transmission error of the drive mechanism based on a change amount of the error between before and after inversion of a moving direction of the control target.

Machine tool and control method therefor

A method according to an example of the present invention is a servo control method to be applied to a feed drive mechanism configured to drive an object to be driven by using a plurality of motors, in which velocity control of the object to be driven is carried out by using a signal obtained by mixing velocity feedback signals of the motors with each other, and a torque instruction obtained by the velocity control is used for drive of all the motors. By this example, there is provided a servo control system capable of preventing a phenomenon in which a transfer function changes depending on the position of the object to be driven, and the phase abruptly lags to make the operation unstable, thereby making it difficult to increase the gain, from occurring.

Servo control method and servo control apparatus

A method of controlling a current by supplying a d-axis current in order to prevent a voltage saturation includes: defining an amount of the d-axis current as Id=|Idmax|&#xb7;sin &#x3b8;; continuously comparing a voltage command value with the voltage command value threshold Vo in a predetermined cycle; extracting a predetermined number No of latest comparison results in terms of time; setting a phase angle &#x3b8; to be 0&#xb0; when a number N of the comparison results out of the predetermined number No of the comparison results is equal to or less than an integer Nb; and increasing the phase angle &#x3b8; depending on largeness of the number N when the number N is more than the integer Nb.

Servomotor current control method and servomotor

A driving velocity of a motor is detected by processing a position information signal output from a sensor in accordance with a driving position of a motor. The signal processing device includes a position information signal processor () that processes the position information signal and calculates driving velocity information of the motor, and an internal position information generator () that reflects a latest driving velocity information (&#x3c9;) calculated by the position information signal processor () and generates a latest presumed position of the motor as internal position information. An amplitude correcting unit () detects the amplitude of the position information signal from the sensor and corrects the amplitude of the internal position information signal based on the detected amplitude.

Signal processing device, velocity detecting device and servo mechanism

A servo motor controlling method includes: directly or indirectly detecting a position of a moving body which performs a circular-arc interpolation feeding motion by a servo motor; performing a feedback control for enabling the position of the moving body to comply with a position command; and at a quadrant changing time when a moving direction of the moving body is changed, performing torque correction on a torque command value according to a distance from a position where the moving direction is changed. By this method, a quadrant protrusion and a torque change with respect to a friction caused from a free zone at a time of reversion of a ball screw can be appropriately corrected. Especially, by performing a first torque correction for a static friction at the position where the moving direction is changed, and by performing a second torque correction for a moving friction after movement by the distance corresponding to the free zone, more appropriate correction can be obtained.

Servo motor controlling method

A signal processing device processes a position information signal (A sin&#x3b8;, A cos&#x3b8;) output from a sensor in accordance with a driving position of a motor and detects a driving speed of the motor. The signal processing device includes a position information signal processor () that processes the position information signal and calculates driving speed information of the motor, and an internal position information generator () that reflects a latest driving speed information (&#x3c9;) calculated by the position information signal processor () and generates a latest presumed position of the motor as internal position information. The position information signal processor () calculates driving speed information (&#x3c9;) of the motor based on a difference between the position information signal (A sin&#x3b8;, A cos&#x3b8;) from the sensor and the internal position information (A sin&#x3b8;, A cos&#x3b8;) generated by the internal position information generator ().

Signal processing device, signal processing method, signal processing program, recording medium storing the program, speed detector and servomechanism

Upon analyzing a processing program () in an analyzer (), a numerical control apparatus extracts information about a contact position between a tool and a workpiece, and based on the information, it calculates a main spindle revolution instruction value in a main spindle revolution calculator). In a CAM system, information about the contact position between the tool and the workpiece to be supplied to the numerical control apparatus is calculated and added to the processing program.

Numerical control apparatus and CAM system

A position control apparatus and method has been devised which provides for an improved means of suppressing tracking error from a variable position reference occurring when a control object positioned via a transmission mechanism with mechanical transmission error resumes movement from a state stopped at a target position. A selection between two alternative tracking error compensating means within the control apparatus is made based on whether the detected position of the control object changes in a period after the control object stops and before the variable position reference is input again to a control deviation generating unit.

Position control apparatus and position control method

A numerical controlling unit includes: an inputting part into which a machining program is inputted; an analyzing part that analyzes the machining program to generate an instructed spindle rotational speed and calculates a spindle load ratio of a load applied to a spindle under a machining condition according to the machining program to a spindle load caused when the workpiece is machined: and a distributing part that generates, based on the machining program, a distribution amount per unit period inputted into a feed-axis servo driver. A spindle-rotational-amount-command outputting part receives the instructed spindle rotational speed and outputs a spindle-rotational-amount command for commanding a rotational amount per unit period which is inputted into a spindle driver. A cutting-load-for-judgment calculating part calculates a reference torque value based on the spindle load ratio, the distribution amount, and the spindle-rotational-amount command. A spindle-load comparing part compares the reference torque value with a load torque value which is feedback inputted by the spindle driver and outputs a tool-breakage detecting signal when the load torque value is higher than the reference torque value.

Numerical controlling unit having tool-breakage detecting function

A numerical controlling unit that accelerates or decelerates a feeder-driving system includes; an acceleration setting part that can set a volume and a timing of an acceleration that should be supplied to the feeder-driving system, based on a predetermined target condition; and a controlling part that can supply the acceleration set by the acceleration setting part to the feeder-driving system. The acceleration setting part is adapted to set: a first acceleration that starts to be supplied at a timing of starting to accelerate; and a second acceleration that has a volume and that starts to be supplied overlappedly with the first acceleration at a timing, the volume and the timing being determined so as to damp vibration of the feeder-driving system that is generated by starting to supply the first acceleration.

Numerical controlling unit

When driving a plurality of paralleled feed drive mechanisms individually by servo motors ( ), torque of the servo motors ( ) is detected, and in dependence on a difference therebetween, a position command of servo motor ( ) at a slave side is corrected, so that torque of the slave side servo motor ( ) is matched to to torque of servo motor ( ) at a master side.

Position control method and position control system for drive feed equipment

A positional control system wherein the position of the controlled object connected to a drive is controlled to a variable target or desired position. A period is determined which starts with a detection of a reversal in the direction of the feed of a positional command Pr as well as the detection of a stoppage of a table as a controlled object and which ends with a detection of the re-start of the movement of the table . During the period, a correction amount for correcting a positional deviation E is issued.

Positional control system and positional control method

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Mishima, Japan

Jun Fujita