公开(公告)号：US11886205B2

公开(公告)日：2024-01-30

申请号：US16924599

申请日：2020-07-09

Applicant: FANUC CORPORATION

Inventor： Daisuke Tajima ,  Yuuki Morita ,  Tadashi Okita

IPC: G05D13/62 ,  G05D3/12 ,  G01D5/347 ,  G01D5/12

CPC classification number: G05D13/62 ,  G05D3/125 ,  G01D5/12 ,  G01D5/3473

Abstract: 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.

公开(公告)号：US11714395B2

公开(公告)日：2023-08-01

申请号：US16279051

申请日：2019-02-19

Applicant: FANUC CORPORATION

Inventor： Yuuki Morita ,  Tadashi Okita

IPC: G05B19/404 ,  B23Q17/09

CPC classification number: G05B19/404 ,  B23Q17/0952 ,  G05B2219/37355 ,  G05B2219/49061 ,  G05B2219/49108

Abstract: 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.

公开(公告)号：US11609551B2

公开(公告)日：2023-03-21

申请号：US16685148

申请日：2019-11-15

Applicant: FANUC CORPORATION

Inventor： Kouki Oikawa ,  Yuuki Morita ,  Tadashi Okita

IPC: G05B19/416 ,  G05D13/62 ,  H02P23/16 ,  H02P23/14

Abstract: 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.

公开(公告)号：US11067972B2

公开(公告)日：2021-07-20

申请号：US16189334

申请日：2018-11-13

Applicant: FANUC CORPORATION

Inventor： Wei Luo ,  Junichi Tezuka ,  Tadashi Okita

IPC: G05B23/02 ,  G06K15/02 ,  G05B19/4063

Abstract: To provide an observation device, an observation method, and a computer-readable medium developed to allow checking of observation data in entirety. An observation device comprises: a data acquisition unit that acquires observation data together with temporal information, the observation data including at least one of an internal behavior signal about a numerical controller for controlling a machine tool, etc., and feed axis control data and spindle control data detected from a motor of the machine tool, etc.; a setting unit that sets a time scale for the observation data acquired by the data acquisition unit; a print data generation unit that generates print data including the observation data represented on the time scale set by the setting unit; and a print data output unit that outputs the print data generated by the print data generation unit to a printer capable of producing a long printed matter.

公开(公告)号：US10955813B2

公开(公告)日：2021-03-23

申请号：US16278931

申请日：2019-02-19

Applicant: Fanuc Corporation

Inventor： Daisuke Tajima ,  Yuuki Morita ,  Tadashi Okita

IPC: G05B19/19

Abstract: A control apparatus of a machine tool, the control apparatus including: a numerical control unit configured to create a spindle axis command and a feed axis command according to a tapping program; a spindle axis control unit configured to control rotational operation of the spindle axis according to the spindle axis command; a rotation detector configured to detect a rotation position of the spindle axis; and a feed axis control unit configured to control feeding operation of the feed axis according to the feed axis command on the basis of the rotation position. The numerical control unit is further configured to include, in the spindle axis command, a speed command value during return that does not depend on maximum rotation speed during machining of the spindle axis and that is higher than the maximum rotation speed during machining, as a command of return operation.

公开(公告)号：US10802474B2

公开(公告)日：2020-10-13

申请号：US16270251

申请日：2019-02-07

Applicant: FANUC CORPORATION

Inventor： Kouki Oikawa ,  Yuuki Morita ,  Tadashi Okita

IPC: G05B19/416

Abstract: To simplify determination of drive parameters upon driving a motor for which circuit constants are unknown, and shorten the time required in determination. A parameter determination support device includes: an automatic measurement part which applies initial parameters, and automatically measures a revolution speed (rpm) of a synchronous motor, as well as a DC link voltage (V) and Q-phase voltage command (%) of a motor drive device, as operating information upon driving the synchronous motor at substantially constant speed based on a base speed, according to a test-run program; an estimation part which estimates a reverse voltage constant (V/krpm) and torque constant (Nm/Arms) as circuit constants of the synchronous motor based on the operating information; and a calculation part which performs calculation of optimum parameters tailored to the output specification of the synchronous motor based on the circuit constants.

公开(公告)号：US10571886B2

公开(公告)日：2020-02-25

申请号：US15496197

申请日：2017-04-25

Applicant: FANUC CORPORATION

Inventor： Tadashi Okita ,  Yuuki Morita ,  Geng Li

IPC: H02K29/00 ,  G05B19/18 ,  G05B19/4062

Abstract: A machine tool control device according to the present invention includes a feedback counter for obtaining A- and B-phase signals of rectangular waves or sine waves and a one-rotation signal, which are outputted from a sensor for detecting the position or speed of a driven axis or a motor, to calculate a feedback count value that is a count value of the number of feedback pulses generated from the A- and B-phase signals; a feedback count value storage unit for storing an inter-one-rotation-signal feedback count value that is the feedback count value counted between the two sequential one-rotation signals; a reference value storage unit for storing an anomaly determination reference value corresponding to the inter-one-rotation-signal feedback count value; and an anomaly cause determination unit for determining the cause of an anomaly by comparison between the inter-one-rotation-signal feedback count value and the anomaly determination reference value.

公开(公告)号：US10444288B2

公开(公告)日：2019-10-15

申请号：US15968004

申请日：2018-05-01

Applicant: FANUC CORPORATION

Inventor： Yuuki Morita ,  Kenji Takahashi ,  Tadashi Okita

IPC: H02K17/32 ,  G01R31/34 ,  H02P3/18 ,  H02H1/00 ,  H02P29/10 ,  H02P29/024

Abstract: An abnormality diagnosing device diagnoses a driving abnormality of a single motor driven by a plurality of motor driving devices. The plurality of motor driving devices calculate a plurality of voltage command values based on a speed command, and voltages are applied to a plurality of windings possessed by the motor based on the plurality of calculated voltage command values, thereby driving the motor. The abnormality diagnosing device is equipped with a command value difference calculating unit for calculating a difference between the plurality of voltage command values calculated by the plurality of motor driving devices, and a determination unit for determining the presence of an abnormality, when an absolute value of the difference calculated exceeds a first threshold value continuously for a predetermined time period.

公开(公告)号：US10260966B2

公开(公告)日：2019-04-16

申请号：US15665980

申请日：2017-08-01

Applicant: FANUC CORPORATION

Inventor： Yuuki Morita ,  Tadashi Okita

IPC: G01K13/08 ,  G01K1/16 ,  G01K7/00 ,  G01K15/00 ,  G01K13/00 ,  H02P29/60

Abstract: To provide a motor control device that specifies a type of temperature sensor by a simple technique, even in a case of the type of temperature sensor installed to a motor being unclear. A motor control device includes: a temperature detection circuit capable of mounting a plurality of types of temperature sensors as a temperature sensor installed to a motor; a storage unit that stores a plurality of conversion tables corresponding to each of the plurality of types of temperature sensors; and a motor temperature detection part that detects a motor temperature using feedback data from the temperature sensor and a conversion table corresponding to the type of temperature sensor, in which the type of temperature sensor installed to the motor is specified using comparison results between the temperature of a different motor from the motor obtained from a known type of temperature sensor or the temperature of the motor control device itself, and a plurality of calculated temperatures calculated using feedback data and conversion tables corresponding to each of the plurality of types of temperatures sensors.

公开(公告)号：US10209700B2

公开(公告)日：2019-02-19

申请号：US15377346

申请日：2016-12-13

Applicant: FANUC CORPORATION

Inventor： Daisuke Tajima ,  Tadashi Okita

IPC: B23Q11/00 ,  B23Q5/10 ,  B23Q5/58 ,  G05B19/406 ,  B23Q11/12 ,  B23Q11/14 ,  G05B19/4062

Abstract: A machine tool controller according to an embodiment of the present invention, for controlling a spindle and a feed axis, includes a motor temperature obtaining unit for obtaining and outputting the winding temperature of a spindle motor as a motor temperature; an inverter temperature obtaining unit for obtaining and outputting the temperature of an inverter that drives the spindle motor as an inverter temperature; a motor temperature comparator for comparing the outputted motor temperature with an overheat temperature for the motor; an inverter temperature comparator for comparing the outputted inverter temperature with an overheat temperature for the inverter; and an overheating assessment unit for imposing a restriction on the output of the spindle motor according to the smaller one of the differences between the motor temperature and the overheat temperature for the motor and between the inverter temperature and the overheat temperature for the inverter.