Fanuc Corporation

Keisuke Tsujikawa

Tetsuo Hishikawa

Noboru Hirose

Kentaro Fujibayashi

Satoshi Ikai

Yasushi Onishi

Shougo Shinoda

Hideo Ogino

Kouichirou Horiguchi

A control apparatus of a machine tool includes: a slide position control unit configured to control a slide according to operation patterns; a pressure command generation unit configured to generate a pressure command for a die cushion according to the operation patterns; a pressure detection unit configured to detect an actual pressure of the die cushion; a die cushion speed control unit configured to control the die cushion, based on an error between the pressure command and the actual pressure; and a command reach determination unit configured to determine whether or not the error is greater than a pressure threshold, wherein the slide position control unit sets, based on a result of the determination by the command reach determination unit, a waiting period between the operation pattern at the time of the determination and the next operation pattern, wherein the slide is kept at its position during the waiting period.

Control apparatus of machine tool for processing object to be processed on die cushion

Provided are: a position command calculation unit which calculates a position command specifying a target position of a driven body driven by a servomotor; a counterforce command. calculation unit which calculates a counterforce command specifying a target, counterforce which should be received by the driven body; a position acquisition unit which acquires an actual position of the driven body; a position reference drive control unit which generates a position reference drive signal so as to bring the position nearer the target position; a counterforce acquisition unit which acquires a counterforce being received by the driven body; a counterforce reference drive control unit which generates a counterforce reference drive signal so as to bring the counterforce nearer the target counterforce; and a drive signal selection unit which selects either one of the position reference drive signal and the counterforce reference drive signal; in which the position command calculation unit calculates the position command so that the target position becomes a second order or higher relationship relative to time, and the counterforce command calculation unit calculates the counterforce command so that a relationship between the target counterforce and the target position becomes substantially linear.

Servomotor control device with counterforce command calculation

Provided is a numerical controller capable of easily controlling a pressure without a pressure sensor. The numerical controller estimates a pressure based on at least one of a command value and a feedback value. A machine learning device for learning the pressure corresponding to the at least one of the command value and the feedback value is included. The machine learning device includes a state observation unit for observing the at least one of the command value and the feedback value as a state variable, a label data acquisition unit for acquiring label data indicating the pressure, and a learning unit for associating and learning the state variable with the label data.

Numerical controller with learned pressure estimation

The operator identification system is capable of managing the information required for authentication of operators centrally with high operation rate. The operator identification system includes a manufacturing cell including a manufacturing machine and a cell controller that can communicate with the manufacturing machine. The cell controller includes a first operator identification information acquisition unit for acquiring operator identification information, a first operation permission/inhibition information storage unit for storing operation permission/inhibition information of the operator on the manufacturing machine, and a first operator identification unit for determining an operation executable by the operator on the manufacturing machine based on the operator identification information and the operation permission/inhibition information. The manufacturing machine includes a second operator identification information acquisition unit, a second operation permission/inhibition information storage unit, a second operator identification unit, and an operation unit for accepting the operation by the operator. The operation unit executes the operation determined to be executable by the first operator identification unit or the second operator identification unit.

Operator identification system

A controller that can perform high-precision synchronous control even when the speed of a master axis changes and a machine learning device are provided. The controller includes the machine learning device that learns the future predicted position of the master axis with respect to the operation state of the master axis, and the machine learning device includes a state observing section that observes, as a state variable indicating the current state of an environment, master axis predicted position data indicating the future predicted position of the master axis and master axis operation state data indicating the operation state of the master axis, a judgment data acquiring section that acquires judgment data indicating the properness judgment result of a synchronization error of a slave axis, and a learning section that learns the future predicted position of the master axis by correlating the future predicted position of the master axis with the master axis operation state data by using the state variable and the judgment data.

Controller and machine learning device

A servomotor in a numerical controller is controlled by automatically switching to either pressure control or position control in association with the command which is smaller from among a command obtained by performing pressure feedback control and a command obtained by performing position feedback control. When switched to pressure control while moving according to a movement command, the output of the movement command is terminated halfway, and the command in the next block is executed, and pressure control of the next command is immediately started. As a result, a wasteful time is eliminated, and a cycle time of the operation can be shortened.

Numerical controller

A die cushion controller uses position control to position die cushion members for placement of a metal sheet. A pressing process starts and the upper die is lowered. When a position detector detects a position at which the upper die touches the sheet metal, the die cushion controller switches over from position control to pressure control and applies a preset pressure to the sheet metal. When the position detector detects that the upper die has risen to a preset position, the die cushion controller clears the positional deviation accumulated in position control to zero, then moves the die cushion members to preset positions and holds them there.

Die cushion controller

An 'interval' in which the synchronization status between the movable axes subject to synchronous control is monitored, an equation between the movable axes in the 'interval', and an &#x2018;allowable displacement&#x2019; for the positional relationship obtained with this equation and the actual positional relationship are set in advance. The &#x2018;start condition&#x2019; and &#x2018;termination condition&#x2019; for synchronous status verification processing are set with the master position and the like. When the start condition for synchronous status verification processing is satisfied, it is detected whether or not the actual position and the position obtained with the equation are within the range of the allowable displacement based on the position of the movable axes. If not within the range of the allowable displacement, operation set as &#x2018;operation to be executed when the allowable displacement is exceeded&#x2019; is executed.

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Yamanashi, Japan

Keisuke Tsujikawa