Fanuc Corporation

Takehiro Yamaguchi

Kentaro Fujibayashi

Toshiaki Otsuki

Yasushi Onishi

Tetsuo Hishikawa

Kouichi Etou

Tetsuo Fanuc Manshonharimomi Hishikawa

To avoid cost increase, delay of response, time, and performance degradation in driving a power source including a plurality of servo motors and/or a servo motor with a plurality of windings. A slave unit drives a power source including a plurality of servo motors and/or a servo motor with a plurality of windings using a plurality of amplifiers on the basis of a command from a high-order controller. The slave unit includes: a storage unit stores servo internal statuses of the respective servo motors and/or the respective windings, judgment data, and resource data; a servo internal status copying judgment unit determines a copying source and a copying destination, and judges whether to copy a servo internal status of the copying source to the copying destination to commonalize therebetween on the basis of the judgment data and the resource data; a servo internal status copying execution unit copies the servo internal status of the copying source to the copying destination; and a servo control unit outputs each of the plurality of servo internal statuses to the respective amplifiers to control driving of the power source.

Slave unit and servo driving system

A drive apparatus which controls a speed or a torque of a servo motor of a processing machine according to a command obtained by converting an external command input from outside includes a machine learning apparatus which learns appropriate conversion from the external command to the command. The machine learning apparatus includes: a state observing unit which observes the external command, the command, and a state of the processing machine or the servo motor as state variables that represent a present state of an environment; a determination data acquiring unit which acquires determination data indicating an evaluation result of processing by the processing machine; and a learning unit which learns the external command and the state of the processing machine or the servo motor, and the command, in association with each other using the state variables and the determination data.

Drive apparatus and machine learning apparatus

Provided are a controller and a machine learning device that perform machine learning to optimize the servo gain of a machine inside a facility in accordance with action conditions, action environments, and a priority factor of the machine. The control system observes machine information on a machine as state, acquires information on machining by a machine as determination data, calculates a reward based on the determination data and reward conditions, performs the machine learning of the adjustment of the servo gain of the machine, determines an action of adjustment of the servo gain of the machine based on the state data and a machine learning result of the adjustment of the servo gain of the machine, and changes the servo gain of the machine, based on the action of adjustment of the determined servo gain.

Control system and machine learning device

A controller teaches a teaching point of a slave axis corresponding to a master axis so as to perform a synchronous operation. The controller calculates a teaching range based on one moving speed pattern selected from a plurality of moving speed patterns of the master axis which are preliminarily registered, a preliminarily-set allowable speed in an operation of the slave axis, and a calculated teaching range, in which teaching can be performed, of a following teaching point, so as to display the teaching range on a display device.

Controller including means for confirmation in preparation of synchronous operation teaching data

A numerical controller including an automatic display unit of a teach program includes a manual movement axis monitor unit for monitoring whether there is an axis moved by manual feed, a teach target program selection and determination unit for selecting and determining a teach program controlling the axis, and a teach block selection and determination unit for selecting and determining a teach point from a movement direction of the axis, and selecting and determining, as a teach block, a block in the teach program in which the teach point is an end point.

Numerical controller

A numerical controller includes a commanded movement-amount adjustment section, in addition to a position command section and a positional deviation counter but also. The commanded movement-amount adjustment section calculates an adjusted command movement amount based on a commanded movement amount output from the position command section, positional deviation acquired from the positional deviation counter, and an actual velocity of a control axis, and outputs the calculated adjusted command movement amount to the positional deviation counter. When a load acts on a servo motor so that positional deviation is accumulated and the load is abruptly removed, a situation in which the servo motor abruptly accelerates with its maximum torque in an attempt to eliminate the accumulated positional deviation is avoided.

Numerical controller having suppressor that suppresses variation in velocity due to abrupt change in positional deviation

A numerical controller capable of moving a tool end point position to an accurate position in a five-axis machining apparatus. Compensation amounts are set, which correspond to respective ones of a linear axis-dependent translational error, a rotary axis-dependent translational error, a linear axis-dependent rotational error, and a rotary axis-dependent rotational error, which are produced in the five-axis machining apparatus. A translational/rotational compensation amount &#x394;3D is determined from these compensation amounts and added to a command linear axis position Pm. As the compensation amounts, there is used a corresponding one of six-dimensional lattice point compensation vectors, which are determined in advance as errors due to the use of a mechanical system and measured at lattice points of lattices into which the entire machine movable region is divided.

Numerical controller for controlling a five-axis machining apparatus

A numerical controller is capable of foreseeing the occurrence of interference during operation of a machine and securely preventing the interference. An advanced position calculating section determines advanced time for the next interference check, based on an end time point of an interference check by an interference checking device and the sum of a time required for the interference check, a time required for communication, a time required for decelerating and stopping a movable part, and a predetermined float. If an interference checking device detects interference, the interference checking device delivers an axis stop signal the movable part.

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Yamanashi, Japan

Takehiro Yamaguchi