公开(公告)号：US20030076066A1

公开(公告)日：2003-04-24

申请号：US10269961

申请日：2002-10-15

申请人： Fanuc Ltd.

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Satoshi Ikai

IPC分类号： G05B001/06

CPC分类号： G05B19/406 ,  G05B2219/39193 ,  G05B2219/41265 ,  G05B2219/42277 ,  G05B2219/50113 ,  G05B2219/50178

摘要： A servo controller capable of preventing downward displacement of a gravitating axis of a machine when an excitation of a servomotor for driving the gravitating axis is discontinued. When a shutdown command is issued, a command for shifting a position of the gravitating axis by an offset amount in a direction opposing the gravitation is issued to a servo system. Also, a command for operating a mechanical brake to apply a braking force on the gravitating axis is issued. After a predetermined time period, the excitation of the servomotor is discontinued. The position of the gravitating axis is shifted upward by the offset amount within a time-lag between an issuance of the mechanical brake operating command and actual application of the braking force by the mechanical brake, and the braking force is applied to the gravitating axis at the shifted position. When the excitation of the servomotor is discontinued, the downward displacement of the position of the gravitating axis due to a backlash of the mechanical brake is compensated by the upward shifting of the gravitating axis, thereby movable elements connected to the gravitating axis is prevented from collision or interference with peripheral objects.

摘要翻译： 一种当用于驱动重力轴的伺服电动机的激励被停止时能够防止机器的重力轴的向下位移的伺服控制器。 当发出关闭命令时，向伺服系统发出用于将重力轴位置偏移与重力相反方向的偏移量的指令。 此外，发出用于操作机械制动器以在重力轴上施加制动力的命令。 在预定时间段之后，停止伺服电动机的激励。 引力轴的位置在机械制动器操作指令的发出与机械制动器的实际施加制动力之间的时间滞后期间向上移位偏移量，并且制动力施加到引力轴 转移位置。 当停止伺服电机的激励时，由于机械制动器的间隙引起的重力轴位置的向下位移通过引力轴的向上移位来补偿，从而防止连接到引力轴的可动元件碰撞 或干扰周边物体。

公开(公告)号：US20040183497A1

公开(公告)日：2004-09-23

申请号：US10765190

申请日：2004-01-28

申请人： Fanuc Ltd.

发明人： Tadashi Okita ,  Naoto Sonoda

IPC分类号： H02P005/28

CPC分类号： H02P6/04 ,  H02P6/16

摘要： A controller monitoring an operating state and performing a suitable process when detecting a magnetic pole position by means of a sensor for detecting a position and velocity of a movable part (rotor or movable member) of a synchronous motor. If tandem control is not employed, PWM of the motor is made enable to commence the operation of detecting the magnetic pole position, thus detecting an operation abnormality based on feedback of the position. In the case of tandem control including two position detectors, either a master or slave motor is brought into a free state, and the other is caused to perform the operation of detecting the magnetic pole position, thus detecting an operation abnormality based on the feedback of the position. In the case of the tandem control including one position detector, an adjustment is made to a relative disparity between magnetic pole positions of the motors of master and slave axes, and the operation of detecting the magnetic pole position is simultaneously implemented, thus detecting an operation abnormality based on the position feedback. An abnormality in operation of detecting the magnetic pole position can be detected. Also in the tandem control, it is possible to normally detect the magnetic pole position while preventing flexure and torsion of a machine during the operation of detecting the magnetic pole position.

摘要翻译： 当通过用于检测同步电机的可动部件（转子或可动部件）的位置和速度的传感器检测磁极位置时，控制器监视操作状态并执行合适的处理。 如果不采用串联控制，则使电动机的PWM能够开始检测磁极位置的操作，从而基于位置的反馈来检测操作异常。 在包括两个位置检测器的串联控制的情况下，主电动机或从动电动机进入自由状态，另一个被执行检测磁极位置的操作，从而基于反馈来检测操作异常 的位置 在包括一个位置检测器的串联控制的情况下，对主轴和从动轴的电动机的磁极位置之间的相对差异进行调整，同时实现检测磁极位置的操作，从而检测操作 基于位置反馈的异常。 可以检测检测磁极位置的操作异常。 同样在串联控制中，可以在检测磁极位置的操作期间通常检测磁极位置同时防止机器的弯曲和扭转。

公开(公告)号：US20020195983A1

公开(公告)日：2002-12-26

申请号：US10158143

申请日：2002-05-31

申请人： Fanuc, Ltd.

发明人： Yasusuke Iwashita ,  Tadashi Okita

IPC分类号： G05B019/10

CPC分类号： G05B19/408

摘要： Parameter set 1: T1a, T2a, Fa, Aa, parameter set 2: T1b, T2b, Fb, Ab, and parameter set 3: T1c, T2c, Fc, Ac, which consist of parameters having discrete values in three stages (large, medium and small) are prepared in the memory for example of the CNC 1 or the personal computer 3. For a given parameter set, the set giving priority to accuracy (Snull0) is indicated by P (T1p, T2p, Fp, Ap), while the set giving priority to speed (Snull1) is indicated by Q (T1q, T2q, Fq, Ag), and interpolation is performed and the parameter set Ynull(1nullS)nullPnullSnullQ is obtained. The CNC 2 creates operating commands based on set Y and outputs these to the servo control section 2.

摘要翻译： 参数集1：T1a，T2a，Fa，Aa，参数集2：T1b，T2b，Fb，Ab和参数集3：T1c，T2c，Fc，Ac，由三个阶段（大， 在例如CNC 1或个人计算机3的存储器中准备了对于给定的参数集合，给出精度优先权的集合（S = 0）由P（T1p，T2p，Fp，Ap ），而通过Q（T1q，T2q，Fq，Ag）表示赋予速度优先权（S = 1）的集合，并且执行插值，并且获得参数集Y =（1-S）×P + S×Q。 CNC 2根据集合Y创建操作命令，并将其输出到伺服控制部分2。

公开(公告)号：US20020043944A1

公开(公告)日：2002-04-18

申请号：US09968508

申请日：2001-10-02

申请人： Fanuc Ltd.

发明人： Shunsuke Matsubara ,  Yasusuke Iwashita ,  Tadashi Okita

IPC分类号： H02P001/54 ,  H02P005/46 ,  H02P007/68 ,  H02P007/74 ,  H02P007/80

CPC分类号： G05B19/4069 ,  G05B19/4068 ,  G05B2219/35286 ,  G05B2219/35287 ,  G05B2219/35292

摘要： In a controller where a contour machining is performed through a synchronous control between a mechanically movable portion (servo axis) driven by a servo motor and a main shaft (spindle axis) driven by a spindle motor, the position of the servo axis and the position of the spindle axis are collected at the same timing for each predetermined cycle and are stored. The position data of the servo axis and the spindle axis stored are converted to obtain a machining contour shape data, and the shape obtained is displayed on a display device of a personal computer or the like.

摘要翻译： 在通过由伺服电动机驱动的机械可动部（伺服轴）和由主轴电动机驱动的主轴（主轴）之间的同步控制进行轮廓加工的控制器中，伺服轴的位置和位置 在每个预定周期的相同定时收集主轴的轴线并被存储。 转换存储的伺服轴和主轴的位置数据，得到加工轮廓形状数据，将得到的形状显示在个人计算机等的显示装置上。