Fanuc Corporation

Kouichirou Horiguchi

Keisuke Tsujikawa

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 numerical controller contains a position table where a positional relationship is defined between a position of a master axis and positions of a plurality of slave axes, a slave axis synchronous control unit that drives and controls the plurality of slave axes in accordance with the position table so that the slave axes are synchronized with the master axis, a parent determining unit that determines one slave axis, which is stopped due to a failure, to be a parent of the master axis, and a master axis control unit that drives and controls the master axis based on a command position, and if a slave axis serving as the parent of the master axis is determined by the parent determining unit, drives and controls the master axis in accordance with the position table, so that the master axis is synchronized with the slave axis determined to be the parent.

Numerical controller and synchronous follow-up control method

A master unit that controls a master axis and a slave unit that controls a slave axis are connected via a communication path to construct a numerical control system. The slave unit acquires a reception time of synchronization information received from the master unit and records a history of the reception time of the synchronization information. Then, when retransmission of transfer of the synchronization information is detected, the slave unit corrects the reception time of the synchronization information based on history data of the reception time and corrects asynchronous position of the slave axis based on a corrected reception time.

Numerical control system having synchronous control function between units

A numerical controller outputs a position command corresponding to a synchronous position in consideration of a servo delay of a slave axis, to the slave axis from a real position of a master axis, in order to perform position control of the slave axis, thereby making a real position of the slave axis synchronously follow the real position of the master axis. A position control gain of the slave axis is changed based on a predetermined physical quantity during the synchronous control and a compensation value for the position command for the slave axis is varied depending on the amount of change of the position control gain of the slave axis.

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Yamanashi, Japan

Kouichirou Horiguchi