Fanuc Corporation

Yuuki Morita

Tadashi Okita

Daisuke Tajima

Shoutarou Hashimoto

Kouki Oikawa

Tomohisa Tsutsumi

Kenji Takahashi

Takashi Okamoto

Kenta Yamamoto

Shinichi Kono

Takahiro Akiyama

Geng Li

Provided are a control device and a control method for a machine tool which are capable of further reducing a command-waiting time. This control device for a machine tool which controls synchronized operation of a main shaft and a feed shaft comprises: a numerical value control unit; a main shaft control unit; a rotation detection unit. The numerical value control unit has a main shaft command output unit which, when a cutting operation and pulling-out operation are carried out from a machining start position to a target position an arbitrary number of times, acquires from the tapping program the rotation amount and the maximum rotation speed of the main shaft in the cutting operation and pulling-out operation and which supplies the rotation amount and the maximum rotation speed of the main shaft to the main shaft control unit as the main shaft command.

Control device and control method for machine tool

The purpose of the present invention is to provide a control device for a machine tool that can reliably chop chips while suppressing vibration of the machine tool. A control device () for a machine tool machines by relatively oscillating a tool and a workpiece, the control device comprising: an oscillation command generation unit () that calculates an oscillation amplitude and an oscillation frequency from a machining condition and generates an oscillation command; and a position-speed control unit () that relatively oscillates the tool and the workpiece on the basis of a superimposed command generated by superimposing the oscillation command generated by the oscillation command generation unit () on a position command or a position deviation. The oscillation command generation unit () changes the oscillation amplitude and/or the oscillation frequency during machining.

Control device for machine tool

The purpose of the present invention concerns a control command for a machine tool, and is to make it possible to adopt a high-frequency repetitive oscillation command, without restrictions on communication capacity, when acquiring a control command created by superimposing a command with repeatability on a normal move command such as a move command having no repeatability. The purpose can be achieved by: acquiring, from an higher-order control device, only information about the form of a command, and parameter information on numerical information relating to an amplitude, a period, and other feature amount; creating a repetitive movement command that is a command with repeatability only from the parameter information; and superimposing the repetitive movement command on a normal move command such as a move command having no repeatability.

Servo control device

A servo motor controller capable of eliminating inconvenience that the position of a shaft or the like of a servo motor is detected or set erroneously due to influence of noise or the like is provided. A servo motor controller that detects Z-phase signals of an incremental-type encoder that detects rotation of a servo motor to perform driving control of the servo motor includes: a position detection unit that detects a reference position of a rotating shaft of the servo motor on the basis of the Z-phase signal of the encoder; a signal interval detection unit that measures intervals of a plurality of detected Z-phase signals; and an abnormality determination unit that determines that the Z-phase signal is abnormal when the interval measured by the signal interval detection unit is equal to or larger than a prescribed threshold.

Servo motor controller

A motor control device is a motor control device which controls a spindle motor of a machine tool, the device including: a low-pass filter which averages torque command values or drive current values of the spindle motor and calculates averaged load information of the spindle motor; and a time constant calculation unit which calculates, as a time constant of the low-pass filter, a first time constant based on a cut-off frequency according to the rotation number of the spindle driven by the spindle motor, or a second time constant based on a cut-off frequency according to a value produced by multiplying a of cutting tooth number of a tool by the rotation number of the spindle.

Motor control device

To provide a servo motor controller that can quickly and effectively stop an industrial machine at a particular position even if operation speed is relatively low when a fixed position stop command is issued. The servo motor includes a speed comparison unit configured to compare speed at a time of a fixed position stop command with a first speed, a fixed position stop operation determination unit configured to determine an operation method at the time of the fixed position stop command, and a fixed position stop control unit configured to control the servo motor based on the determined operation method. When speed at the time of the fixed position stop command is higher than the first speed, the fixed position stop operation determination unit decelerates the speed to a second speed lower than the first speed and creates a move command for stopping at a target position based on an acceleration rate during deceleration or a predetermined acceleration rate and, when speed at the time of the fixed position stop command is lower than the first speed, decelerates the speed by a predetermined deceleration rate and creates a move command for stopping at a target stop position, and the fixed position stop control unit controls the servo motor based on the move command.

The determination of a slip constant is simplified upon driving a motor for which the slip constant is unknown, based on the acceleration time when accelerating an induction motor from start up to a predetermined rotation speed. A parameter determination support device for motor driving includes: an automatic measurement part which automatically measures characteristic information including the acceleration time upon driving an induction motor to accelerate from start up to a predetermined rotation speed set in advance, relative to each slip constant, based on a plurality of slip constants set in advance; and an estimation part which estimates, as the slip constant of the induction motor, a slip constant at which the acceleration time up to a predetermined rotation speed becomes the shortest, among a plurality of slip constants, based on the characteristic information.

Parameter determination support device, parameter determination supporting method, and program

A control apparatus of a machine tool including a feed axis, which is driven by a feed axis motor, includes a load torque estimation unit configured to estimate a load torque acting on a spindle motor, based on a torque command to the spindle motor which drives a spindle axis of the machine tool, and a speed of the spindle motor; and a speed control unit configured to control a speed of a feed axis motor such that the load torque estimated by the load torque estimation unit follows a prescribed load torque target value.

Control apparatus of machine tool including spindle axis and feed axis

The present disclosure provides a motor controller which can effectively stop a motor at a specific position in a short period of time, and can achieve an orientation operation quickly. A motor controller is configured to stop a rotary shaft, and includes: a first time period calculator that calculates a target stop position and an acceleration at a time of positioning, a first time period that is to be taken by the rotary shaft to stop at the target stop position; a second time period calculation unit that calculates the target stop position and the acceleration at the time of positioning, a second time period that is to be taken by the rotary shaft to stop at the target stop position; a comparison unit that compares the first time period with the second period; and an orientated stop control unit that controls and stops the motor.

Motor controller

A pole direction detection device for detecting a pole direction of a synchronous motor having saliency comprises a high-frequency voltage application unit that applies a high-frequency voltage to the motor; an excitation phase change unit that changes an excitation phase of the motor to an arbitrary phase; a driving current detection unit that detects a driving current value of the motor; a pole direction estimation unit that detects a pole direction based on the excitation phase and the driving current value; a measurement unit that measures an inductance value of the motor; and a control unit that changes a frequency of the high-frequency voltage to be applied by the high-frequency voltage application unit based on the inductance value measured by the measurement unit.

Pole direction detection device and pole direction detection method

A magnetic pole initial position detection device includes: a direct-current excitation command generation section configured to generate a first command for causing a constant excitation current with a current phase fixed to a first phase to flow through the synchronous motor; a torque-zero determination section configured to determine whether a torque generated in the rotor of the synchronous motor is zero when the excitation current based on the first command flows through the synchronous motor; and a magnetic pole initial position acquisition section configured to acquire the magnetic pole initial position of the rotor of the synchronous motor on a basis of a rotor actual position at or near a point in time when the torque-zero determination section determines that the torque is zero; a number of pole pairs of the synchronous motor; and an excitation phase during direct-current excitation under the first command.

Magnetic pole initial position detection device using direct-current excitation method and magnetic pole position detection device

A motor control device according to an aspect of the present disclosure controls a motor by switching between speed control and position control, and sets a maximum voltage applied to the motor during the position control to lower than a maximum voltage applied to the motor during the speed control.

Motor control device and machine tool

A motor controller includes: a rotation speed estimating unit that estimates a rotation speed of a motor based on current information and primary frequency information of the motor; a proximity switch that outputs an ON signal when a portion of a rotating body of the motor is in proximity and that outputs an OFF signal when a portion of the rotating body of the motor is not in proximity; a rotation speed calculating unit that calculates a rotation speed of the motor based on the ON signal and the OFF signal output from the proximity switch; a speed command compensating unit that compensates a speed command value such that an error between the speed command value and a rotation speed calculation value becomes smaller; and a speed control system that perform the speed control on the motor based on the compensated speed command value and the rotation speed estimation value.

The determination of a slip constant is simplified upon driving a motor for which the slip constant is unknown, based on variation of acceleration when accelerating an induction motor from start up to a predetermined speed. A parameter determination support device for motor driving includes: an automatic measurement part which automatically measures characteristic information including a speed during acceleration and acceleration upon driving an induction motor to accelerate from start up to a predetermined speed set in advance which is no more than a base speed of the induction motor, relative to each slip constant, based on a plurality of slip constants set in advance; and an estimation part which estimates, as a slip constant of the induction motor, a slip constant having the smallest variation in acceleration, among a plurality of slip constants, based on the characteristic information.

A machine learning device includes: a state information acquisition unit configured to cause the control device to execute a tapping program to acquire from the control device, state information including a torque command value with respect to the spindle motor, a drive state including deceleration, a ratio of a movement distance in acceleration and a movement distance in deceleration; an action information output unit configured to output action information including adjustment information of the ratio of the movement distance in acceleration and the movement distance in deceleration, to the control device; a reward output unit configured to output a reward value in reinforcement learning based on a torque command value in deceleration, and a target torque command value in deceleration; and a value function update unit configured to update an action value function based on the reward value, the state information, and the action information.

Growing community of inventors

Yamanashi, Japan

Yuuki Morita