公开(公告)号：US11914334B2

公开(公告)日：2024-02-27

申请号：US16564595

申请日：2019-09-09

Applicant: FANUC CORPORATION

Inventor： Ryoutarou Tsuneki ,  Satoshi Ikai ,  Takaki Shimoda

IPC: G05B13/02 ,  G05B13/04 ,  G06N5/02 ,  G06N5/022

CPC classification number: G05B13/042 ,  G05B13/0265 ,  G06N5/022

Abstract: An object is to make it possible to acquire a parameter or a first physical quantity that has been learned and an evaluation function value and thereby check the progress or the result of machine learning. An output device includes: an information acquisition unit which acquires, from a machine learning device that performs machine learning on a servo control device for controlling a servo motor driving the axis of a machine tool, a robot or an industrial machine, a parameter or a first physical quantity of a constituent element of the servo control device that is being machine learned or has been machine learned and an evaluation function value; and an output unit which outputs information indicating a relationship between the acquired parameter, the first physical quantity or a second physical quantity determined from the parameter and the evaluation function value.

公开(公告)号：US11567475B2

公开(公告)日：2023-01-31

申请号：US16925084

申请日：2020-07-09

Applicant: FANUC CORPORATION

Inventor： Tsutomu Nakamura ,  Satoshi Ikai

IPC: G05B19/414

Abstract: To provide a servo controller for an industrial machine allowing construction of a system achieving more excellent power efficiency than a conventional system. A servo controller includes: a driving motor that drives an industrial machine; a load detecting unit that detects a load on the driving motor or the amount of power consumed by the driving motor; a buffer motor that feeds regenerative power to the driving motor on the basis of a result of the detection by the load detecting unit; and a base speed setting unit for recovering the buffer motor to a second base speed set to be lower than a constant first base speed preset for the buffer motor and applied before the regenerative power is fed to the driving motor after the buffer motor is decelerated from the first base speed and the regenerative power is fed to the driving motor.

公开(公告)号：US11559867B2

公开(公告)日：2023-01-24

申请号：US16891768

申请日：2020-06-03

Applicant: Fanuc Corporation

Inventor： Tsutomu Nakamura ,  Satoshi Ikai

IPC: B23Q17/12 ,  B23Q5/10 ,  G06F17/11 ,  B23Q17/09 ,  G05B19/18

Abstract: A motor control device includes an acceleration detecting section configured to detect an acceleration of a control object, and an acceleration control section configured to control an acceleration of a motor driving the control object based on the detected acceleration, in which the acceleration control section includes a vibration component extraction filter configured to extract a vibration component generated between the motor and the control object, and the vibration component extraction filter changes a filter characteristic frequency according to at least one of a position and a mass of the control object.

公开(公告)号：US11513501B2

公开(公告)日：2022-11-29

申请号：US16897787

申请日：2020-06-10

Applicant: FANUC CORPORATION

Inventor： Yao Liang ,  Satoshi Ikai

IPC: G05B19/416 ,  G05B19/19

Abstract: An object is to read the information of a feature shape included in a machining program so as to calculate a control command suitable for machining processing on the feature shape. A numerical controller (300) includes: a feature detection unit (302) which detects the feature of a machined shape from a machining program that commands the movement of a tool or a workpiece; an inward-turning amount calculation unit (303) which calculates, based on a servo parameter of a servo controller (400) that drives the tool or the workpiece, the feature of the machined shape detected from the machining program and a machining requirement that specifies a machining condition, a relation formula that determines the inward-turning amount of a machining path with respect to a program path; and a feedrate determination unit (304) which determines a feedrate that is optimized with the relation formula.

公开(公告)号：US11460826B2

公开(公告)日：2022-10-04

申请号：US16920146

申请日：2020-07-02

Applicant: FANUC CORPORATION

Inventor： Takaki Shimoda ,  Satoshi Ikai ,  Yuuki Shirakawa

IPC: G05B19/402

Abstract: To provide a servo motor controller allowing to eliminate the risk of abnormal driving in a servo motor caused due to the inability to detect abnormality prior to establishment of absolute position. A device is configured to control a servo motor of an industrial machine. The device includes a position detection part configured to detect a position of the servo motor, a magnetic pole detection part configured to detect a magnetic pole position of the servo motor, and a pole position calculation part configured to, at least in initial calculation, obtain the magnetic pole position detected by the magnetic pole detection part as an initial magnetic pole position, prior to establishment of absolute position, and in the following calculation, incrementally obtain the magnetic pole position on the basis of data of the position detected by the position detection part and a magnetic pole interval of the motor.

公开(公告)号：US11256220B2

公开(公告)日：2022-02-22

申请号：US16822576

申请日：2020-03-18

Applicant: FANUC CORPORATION

Inventor： Ryoutarou Tsuneki ,  Satoshi Ikai

IPC: G05B13/02

Abstract: A machine learning device that performs reinforcement learning for a servo control device and optimizes a coefficient of a filter for attenuating a specific frequency component provided in the servo control device includes a state information acquisition unit which acquires state information that includes the result of calculation of at least one of an input/output gain of the servo control device and a phase delay of input and output, the coefficient of the filter and conditions, and an action information output unit which outputs, to the filter, action information including adjustment information of the coefficient. A reward output unit determines evaluation values under the conditions based on the result of the calculation to output, as a reward, the value of a sum of the evaluation values. A value function updating unit updates an action value function based on the value of the reward, the state information and the action information.

公开(公告)号：US11243501B2

公开(公告)日：2022-02-08

申请号：US16807804

申请日：2020-03-03

Applicant: FANUC CORPORATION

Inventor： Ryoutarou Tsuneki ,  Satoshi Ikai

IPC: G05B13/02 ,  G05B19/19 ,  G05B19/416

Abstract: Vibration of a machine end and an error of a moving trajectory are suppressed. A machine learning device performs machine learning of optimizing first coefficients of a filter provided in a motor controller that controls a motor and second coefficients of a velocity feedforward unit of a servo control unit provided in the motor controller on the basis of an evaluation function which is a function of measurement information after acceleration and deceleration by an external measuring instrument provided outside the motor controller, a position command input to the motor controller, and a position error which is a difference between the position command value and feedback position detection value from a detector of the servo control unit.

公开(公告)号：US11023827B2

公开(公告)日：2021-06-01

申请号：US16272099

申请日：2019-02-11

Applicant: FANUC CORPORATION

Inventor： Ryoutarou Tsuneki ,  Satoshi Ikai

IPC: G06N20/00 ,  G05B13/02

Abstract: A machine learning device performs machine learning with respect to a servo control device including at least two feedforward calculation units among a position feedforward calculation unit configured to calculate a position feedforward term on the basis of a position command, a velocity feedforward calculation unit configured to calculate a velocity feedforward term on the basis of a position command, and a current feedforward calculation unit configured to calculate a current feedforward term on the basis of a position command. Machine learning related to the coefficients of a transfer function of one feedforward calculation unit among the at least two feedforward calculation units is performed earlier than machine learning related to the coefficients of a transfer function of the other feedforward calculation unit.

公开(公告)号：US10739734B2

公开(公告)日：2020-08-11

申请号：US16571470

申请日：2019-09-16

Applicant: FANUC CORPORATION

Inventor： Ryoutarou Tsuneki ,  Satoshi Ikai ,  Takaki Shimoda

IPC: F15B21/02 ,  G05B13/02 ,  G05B19/414 ,  F15B21/08

Abstract: A motor control apparatus including a controller that controls a servo motor or a spindle motor and includes a switching determining part that determines a switching condition of the controller based on axis position information on a motor related to control of the motor control apparatus, a machine learning part that adjusts one or more parameters for the controller by machine learning for each switching condition, and a parameter holding part that holds the parameter adjusted by the machine learning part for each switching condition. The switching determining part, when determining the switching condition after adjustment of the parameter, uses the adjusted parameter corresponding to the switching condition in the controller. The apparatus enables changing, and automatic adjustment, of a parameter or controller to be used depending on a switching condition of the parameter related to axis position information or a switching condition of the controller using the parameter.

公开(公告)号：US10605273B2

公开(公告)日：2020-03-31

申请号：US16209118

申请日：2018-12-04

Applicant: FANUC CORPORATION

Inventor： Tsutomu Nakamura ,  Satoshi Ikai

IPC: F15B11/04 ,  B30B15/16 ,  B30B15/26 ,  B21J5/00 ,  G05B19/19 ,  G05D3/12 ,  F04B49/06 ,  F15B11/028 ,  G05B7/02 ,  F15B21/08

Abstract: A motor control device includes a pressure command unit calculating a pressure command for commanding pressure generated in a pressure control object, a pressure detection unit detecting the pressure generated in the pressure control object, a pressure control unit calculating a speed command for pressure control for the servo motor, based on the calculated pressure command and the detected pressure, and a servo control unit controlling speed of the servo motor, based on the calculated speed command. The pressure control unit performs an integral operation. When a direction of increasing pressure in the integral operation is defined as a positive direction in the integral operation, and a direction of decreasing the pressure is defined as a negative direction, a median between an upper limit in the positive direction and a lower limit in the negative direction in the integral operation is larger than zero.