Mitsubishi Electric Corporation

Mitsubishi Denki Kabushiki Kaisha

Kotaro Nagaoka

Tomoya Fujita

Tomonori Sato

Masahiro Ozawa

Hidetoshi Ikeda

Daisuke Fujino

Toshihiro Azuma

Toshiaki Kimata

Shinya Nishino

Naoki Nakamura

Akira Tanabe

Hiroyuki Sekiguchi

Tatsuya Ito

Nobuhiro Shinohara

Toru Otsuka

Takeshi Tsuda

Hiroki Uemura

Teruaki Fukuoka

Teiji Takahashi

Takahiro Nakai

Ryuta Sato

Takao Katsuta

Tsuyoshi Kumazawa

Shunro Ono

Mitsumasa Sakurai

Yukihiro Makino

Susumu Nakajima

Akihiko Koide

Wenjuan Wang

A maintenance support system includes a numerical controller that controls the drive of an operating mechanism of an industrial machine and a server that is a support device capable of communicating with the numerical controller, and the maintenance support system supports maintenance of the industrial machine. The numerical controller includes a first information generating unit that acquires, from among data related to a state of operation of the operating mechanism, data related to the state of operation of the operating mechanism when an anomaly is found in an operation of the operating mechanism, and generates first information including the data acquired. The server includes a second information generating unit that generates second information to be proposed to the numerical controller for the maintenance on the basis of the content of the first information.

Maintenance support system, numerical controller, and control method of maintenance support system

An adaptive control device according to the present invention includes: a processor that generates a second command value for a motor on the basis of at least one of a first command value received from a numerical control device, feedback data received from a motor control device that controls the motor on the basis of the first command value, and sensor data received from a sensor; and a communication circuit that transmits the second command value to the numerical control device.

Control device and motor control system

A vibration mode determining apparatus that determines vibration mode of a machine structure of a machine including motors and that includes a vibration command generating unit that generates a vibration command for the motor; a control unit that generates a current command for the motor according to the vibration command and outputs a conversion value for a motor excitation force to a vibration mode calculating unit; a motor drive unit that receives the motor current command and drives the motor; a vibration sensor that detects vibration of the machine structure; a measurement-point information input unit that sets information about the attachment point of the vibration sensor; a vibration mode calculating unit that calculates the vibration mode using the conversion value for the motor excitation force and the output of the vibration sensor; and a vibration mode output unit that outputs the vibration mode.

Vibration mode determining apparatus

A trajectory control device that controls a trajectory of a movable portion of a processing machine so as to follow a command path accurately. The trajectory control device includes an integrated-length calculation unit that calculates an integrated command length being a length integrated from a start position along a command path, a simulated servo-response filter unit that calculates an integrated response length, a reference-response calculation unit that calculates a reference response position, a response compensation unit that calculates a corrected command position on each of the plurality of axes, and a servo control unit that controls each of the plurality of axes.

Trajectory control device

A numerical control device that controls a servomotor on the basis of a machining program. The machining program determines whether or not to perform correction on reversal of a moving direction of a mechanical system driven in a movement axis direction by the servomotor. This is done on the basis of the machining program including an instruction that causes the reversal of the moving direction of the mechanical system and another instruction to be executed later than the instruction.

Numerical control device

A vibration cutting process diagnostic device diagnoses the propriety of a vibration cutting process to machine the sectional shape of a working object into a non-complete round shape by reciprocating a movable shaft. This device includes a frequency analyzer to calculate a frequency component contained in a position command signal for the movable shaft on the basis of shape data, which is machining shape data on a workpiece treated as the working object, and a machining speed set value; and a process diagnosis executor to diagnose the propriety of machining the shape data under the machining speed set value on the basis of the frequency component and a movable shaft parameter of the movable shaft.

Vibration cutting process diagnostic device

A friction identification method includes: measuring a relation between a driving force and a position of a driven object; identifying a parameter of a position-dependent friction model based on a relation between a driving force and a position of the driven object; measuring a relation between a driving force and a displacement of the driven object from a position at which a motion direction is reversed; identifying a parameter of a displacement-dependent friction model; measuring a relation between a driving force and a velocity of the driven object; identifying a parameter of a velocity-dependent friction model; measuring a relation between a driving force and an acceleration of the driven object; and identifying a parameter of an acceleration-dependent friction model.

Friction identification method and friction identification device

A device comprises: a calculation unit calculating, based on a model on a calculator, a response path along which a target actually operates when an instruction path is given; a determiner determining a target path along which the target operates; a generation unit regenerating a temporary instruction path based on the target path and a temporary instruction response path obtained when the calculation unit is given the temporary instruction path; a determiner determining a convergence determination condition; and a comparator determining whether error between the temporary instruction response path and the target path is converged, based on the condition. Regenerating the path and calculating the temporary instruction response path are repeated until the comparator determines that the condition is met, and, when the comparator determines so, the temporary instruction path is output to a controller controlling the target, as the path for operating the target.

Instruction value generation device

A control parameter adjustment device includes a command-value generation unit that generates a position command; a servo control unit that calculates a drive command such that a response position of a driven object follows the position command; a correction model unit that generates a correction command for correcting a response error that is a difference between the position command and the response position by using a model expressed by two or more types of parameters; and a parameter search unit that corrects the model by using a combination of values of the parameters, by which the response error is minimized, among a plurality of combinations of values of the parameters. The control parameter adjustment device drives the driven object on the basis of the drive command and the correction command.

Control parameter adjustment device

A servo control device includes a coarse-movement reference model unit calculating a coarse-movement model position by performing predetermined filter computation based on a position command; a coarse-movement follow-up control unit controlling the coarse-movement shaft motor such that a coarse-movement-shaft motor position follows the coarse-movement model position based on the coarse-movement-shaft motor position provided from the coarse-movement shaft motor and the coarse-movement model position; an integrated reference model unit calculating an integrated model position by performing predetermined filter computation based on a position command; and a fine-movement follow-up control unit controlling the fine-movement shaft motor such that a fine-movement-shaft motor position follows a fine-movement model position based on the fine-movement-shaft motor position provided from the fine-movement shaft motor and the fine-movement model position obtained from the integrated model position and the coarse-movement model position.

Servo control device with coarse and fine movement

A servo control device including a servo control unit that calculates a drive command that causes a feedback position from a motor to be driven to follow a command position, to drive the motor according to the drive command, a moving-state determination unit that determines a speed of the motor is by simulating a response of the motor, and outputs a determination result as a moving state, a correction-amount selection unit that selects a correction amount according to a change pattern of the moving state at a timing when the determined moving state changes, and an addition unit that adds the correction amount output from the correction-amount selection unit to the drive command calculated by the servo control unit to generate a corrected drive command, and sets the corrected drive command as a drive command to the motor instead of the drive command calculated by the servo control unit.

Servo control device

To dynamically change the acceleration without trial executions of a machining program, a numerical control device, which controls a motor on the basis of a machining program that specifies a path for a drive target of the motor, includes a changing unit that changes the acceleration of the motor under the control of the motor on the basis of the inertia ratio, the acceleration-deceleration factor that can be externally input, or the current value of the motor.

Numerical control device and numerical control method

A trajectory measuring device that measures a moving trajectory of a moving target in a machine including three or more movable axes for the moving target, the trajectory measuring device including a trajectory calculating unit that calculates, for each plane having two movable axes among the movable axes as coordinate axes, the moving trajectory on the plane by using command conditions to the moving target including an inter-axis phase difference among the movable axes, command signals to the movable axes generated on the basis of the inter-axis phase difference, and feedback signals indicating positions of the movable axes at time when the movable axes are feedback-controlled such that the positions of the movable axes follow the command signals.

Trajectory measuring device, numerical control device, and trajectory measuring method

A motor control device includes: an X-axis detector; a Y-axis detector; a trajectory command generator that outputs a first position command and a second position command; an X-axis response correction unit that outputs a corrected position command; an X-axis position control unit that generates a first torque command; a Y-axis position control unit that generates a second torque command; a Y-axis measuring instrument that detects second machine end displacement; a Y-axis zero-point estimation unit that extracts characteristics of a zero point of a transfer function on the basis of the second torque command and the machine end displacement or on the basis of the second position command and the machine end displacement; and a response-correction-parameter determination unit that sets a response correction filter by using the characteristics of the zero point.

Motor control device

A track control apparatus includes an interpolation/acceleration and deceleration calculating unit that interpolates a commanded route and calculates a post-acceleration and deceleration interpolation route, an axis distributing unit that generates a position command for each movable axis from the post-acceleration and deceleration interpolation route, a servo-response calculating unit that calculates a servo response to the position command, a tangential-direction-servo-response calculating unit that obtains a tangential direction servo response from the post-acceleration and deceleration interpolation route, a reference-point generating unit that obtains a reference point from the tangential direction servo response, a position-vector correcting unit that corrects the position command for each movable axis to output a post-correction position command for each movable axis, and a servo control unit that outputs motor driving torque such that each movable axis follows the corresponding post-correction position command.

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Tokyo, Japan

Kotaro Nagaoka