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21. 发明专利

JPS63180444A WORKING CONTROLLER 失效
公开(公告)号：JPS63180444A
公开(公告)日：1988-07-25
申请号：JP880587
申请日：1987-01-17
申请人： TOYODA MACHINE WORKS LTD , TOYOTA MOTOR CORP
发明人： INAGAKI SHOJI , TAKANO TOSHIO , HASEGAWA KOJI , IGAWA MASAHARU , SUGITO YASUNORI , ITO MASASHI , TAKEUCHI AKIHIRO
IPC分类号： G05D3/12 , B23Q17/20
摘要： PURPOSE:To easily judge the correctness of the working dimension, kind and position of a workpiece by installing a correctness judging means which operates on the basis of the detection signals supplied from a detection signal output means after an electric current restricting circuit operates during the feed control of a movable shaft. CONSTITUTION:A sequence controller 6 judges the kind of a workpiece 25, position, and the correctness of working dimension on the basis of the detection signals PSW1, PSW2, PSW3, and PSW4 outputted from an NC controller A, after the electric current restricting circuit of a servounit B actually operates. In other words, when the detection signal PSW2 is turned-ON, an OK-signal which represents that the working dimension of the workpiece 25 is within a prescribed range in close to the center of a set value is outputted, and the time cycle is completed. When the detection signal PSW2 is not turned ON, and the detection signal PSW4 is not turned ON, it is judged that the contact position between a drill 28 and the workpiece 25 deflects largely, and it is judged that the drill 28 is broken or the position of the workpiece is incorrect, and an error signal is outputted.

22. 发明专利

JPS63157207A NUMERICAL CONTROLLER 失效
公开(公告)号：JPS63157207A
公开(公告)日：1988-06-30
申请号：JP30604686
申请日：1986-12-22
申请人： TOYODA MACHINE WORKS LTD , TOYOTA MOTOR CORP
发明人： SANPEI HIDEYUKI , TAKANO TOSHIO , HASEGAWA KOJI , SATO HIDEKI , IGAWA MASAHARU , SUGITO YASUNORI , ITO MASASHI , TAKEUCHI AKIHIRO
IPC分类号： G05B19/19 , G05B19/4063
摘要： PURPOSE:To switch the operation to a current limit mode simultaneously with a feed action by using a means which designates a position and give a command to drive a servomotor in the current limit mode. CONSTITUTION:A RAM 4 of a numerical controller A includes an NCD area storing an NC program, a current limit mode flag FLG which is set when a current limit mode is commanded, a mode switching position register MSR which sets a position where the operation is switched to a current limit mode, a target position register OPR which sets a target position of the feed control, a present position register APR which stores the present absolute position value of a spindle stock 10 every time the present absolute position of the stock 10 is detected by an absolute position detector C, etc. A current limiting circuit 21 of a servo unit B limits the maximum current which is supplied to a servomo tor 9 from a drive circuit 8 when a current limit signal S3 is supplied from an MPU 1 which decides the positional relation between the APR and the MSR.

23. 发明专利

JPS63157206A NUMERICAL CONTROLLER 失效
公开(公告)号：JPS63157206A
公开(公告)日：1988-06-30
申请号：JP30604586
申请日：1986-12-22
申请人： TOYODA MACHINE WORKS LTD , TOYOTA MOTOR CORP
发明人： ENOMOTO MINORU , INAGAKI SHOJI , TAKANO TOSHIO , HASEGAWA KOJI , SATO HIDEKI , IGAWA MASAHARU , SUGITO YASUNORI , ITO MASASHI , TAKEUCHI AKIHIRO
IPC分类号： G05B19/18 , G05B19/4155
摘要： PURPOSE:To turn on an M output (target position) at an optional position in a command by using a command means which designates the position of a movable axis and turns on the M output. CONSTITUTION:A RAM 4 of a numerical controller A includes an NCD area storing an NC program, the M output flags F1-F4 which are set when an ON state of the M output is commanded, the M output position registers (MSR)1-4 which set the positions of the M output is turned on, a target position register OPR which sets the control target position, a speed register VR which sets a feed speed, and a present position register APR which stores the present absolute position value every time the present absolute position of a spindle base 10 is detected by an absolute position detecting device C. An MPU1 turns on the M output when the values of MSRs 1-4 are equal to the value of the register APR in a feed control process.

24. 发明专利

JPS6310210A POSITIONING DEVICE 失效
公开(公告)号：JPS6310210A
公开(公告)日：1988-01-16
申请号：JP15391786
申请日：1986-06-30
申请人： TOYODA MACHINE WORKS LTD , TOYOTA MOTOR CORP , SANYO ELECTRIC CO
发明人： TAKANO TOSHIO , HASEGAWA KOJI , SATO HIDEKI , IGAWA MASAHARU , NARUSE KATSUTOSHI , SUGITO YASUNORI , ITO MASASHI , HAYASHI HIDEKI , YAMAMOTO SADAHIRA
IPC分类号： G05D3/12
摘要： PURPOSE:To eliminate the unstableness of a servo system and to present the occurrence of noise by securing synchronism between the control of a positioning device done for fixed time and the detecting cycle of the absolute position of an absolute position detector. CONSTITUTION:The timing with which the present position of a movable stage 10 via an absolute position detector C is controlled accurately to a 2ms cycle by a real time clock RTC20. Thus the interruption signal S2 to be applied to an MPU1 is also set accurately at 2ms and the control timing with which the MPU1 calculates the following deviation and outputs the speed signal S1 is set accurately at 2ms. This control timing has a delay just by a constant time to the detection timing. Therefore the follow-up deviation is fixed when the interpolated control target value has its change at a fixed speed. Thus the speed of the stage 10 is also fixed and therefore the unstableness of a servo system is improved.

25. 发明专利

JP2002258921A NUMERICAL CONTROL METHOD AND ITS RECORDING MEDIUM AND DEVICE THEREFOR 失效
公开(公告)号：JP2002258921A
公开(公告)日：2002-09-13
申请号：JP2001059512
申请日：2001-03-05
申请人： TOYODA MACHINE WORKS LTD
发明人： AONO TOSHIO , YOGO TATSUYA , TAKANO TOSHIO
IPC分类号： G05B11/36 , G05B19/18 , H02P5/46
摘要： PROBLEM TO BE SOLVED: To provide a numerical control method capable of reducing costs, and making compact a control box to be housed and its recording medium and its device. SOLUTION: In a numerical control method for controlling a plurality of control axis using a numerical control part, a servo control part, a driving part, and a servo motor part, a plurality of servo motor parts are controlled by a pair of a servo control part and a driving part. This method is provided with a connection switching step for allowing a pair of the servo control part and the driving part to simultaneously connect only to a pair of servo motor parts, and this connection switching step is provided with a malfunction preventing step for braking the servo motor which is not controlled, and for outputting an alarm at the time of detecting that at least two servo motors are operated in order to execute the emergency stop.

26. 发明专利

JPH07319546A POSITIONING CONTROLLER 失效
公开(公告)号：JPH07319546A
公开(公告)日：1995-12-08
申请号：JP10993894
申请日：1994-05-24
申请人： TOYOTA CENTRAL RES & DEV , TOYODA MACHINE WORKS LTD
发明人： KOIDE MITSUO , ITO YOSHIAKI , TAKANO TOSHIO , KAMIYA SHINGO
IPC分类号： G05B11/36 , G05D3/12
摘要： PURPOSE:To smoothly switch an input to a controlled system. CONSTITUTION:A switching deciding device 4 caculates the inertia value of link around a joint axis from six present joint angles and when the inertia value is small, based on the level of the calculated inertia value, a switching device 3 is switched so as to use a manipulated variable u1 (i) calculated by a classical control means 1 but when the inertia value is large, the device 3 is switched so as to use a manipulated variable u2 (i) calculated by a modern control means 2. When a control means before switching is defined as a first control means, the control means after switching is defined as a second contorl means and a switching signal is outputted, the first control means is switched to the second control means but at (k) samples just after switching, the integration control system output of the second contorl means is calculated by a formula as follows; z2(K+1)=u1(k)+KF.x(k)-ff(k) when the first control means is the classical control means or z1(k+1)=u2(k)-Kv{Kp[r(k)-y(k)]v(k)} when the first control means is the modern control means.

27. 发明专利

JPH03284184A DIGITAL SERVOCONTROLLER 失效
公开(公告)号：JPH03284184A
公开(公告)日：1991-12-13
申请号：JP8198090
申请日：1990-03-28
申请人： TOYODA MACHINE WORKS LTD
发明人： YOKOE ISAMU , TAKANO TOSHIO , SAKUGI YASUNORI
IPC分类号： H02P21/00 , H02P21/05 , H02P21/18 , H02P21/22 , H02P21/24 , H02P23/04 , H02P23/16 , H02P23/18 , H02P27/04 , H02P27/08
摘要： PURPOSE:To prevent oscillation of output torques by controlling the load current of a servomotor through the PWM voltage control of an inverter. CONSTITUTION:A digital signal processor 14 compares the current target value of a servomotor 31 with the current feedback value of load current detected by current transformer 32a, 32b to calculate current deviation and operates the instantaneous current command value at this time from the instantaneous current deviation at this time and the cumulative value and the current target value of the instantaneous current deviation. That instantaneous current command value is compared with high-frequency triangular waves to generate voltage control PWM signal which controls on-off states of each phase transistor of the inverter 25. This voltage control PWM signal is outputted to the inverter 25 to drive each phase transistor of the inverter 25. The load current of each pair of transistors is controlled to the current target value by switching of this inverter 25.

28. 发明专利

JPH02193584A SERVO CONTROLLER 失效
公开(公告)号：JPH02193584A
公开(公告)日：1990-07-31
申请号：JP1151689
申请日：1989-01-19
申请人： TOYODA MACHINE WORKS LTD
发明人： YOKOE ISAMU , TAKANO TOSHIO
IPC分类号： H02P29/00
摘要： PURPOSE:To preserve various types of sampling immediately before at the time of abnormal stop in memory means and to shorten repairing time by checking the content by providing memory means for storing sampled latest values for a positional deviation, speed, current, etc., in predetermined number backup memory. CONSTITUTION:Various values such as a positional deviation epsilonp, a speed command VCMD, a speed feedback value VFBK, a current command ICMD and a current feedback value IFBK are stored in a backup RAM 18 at each sampling time at the time of normal operation, and sequentially updated with latest values. If any malfunction is detected by abnormal time stop means 26 and an operation is stopped, data epsilonp, VCMD, VFBK, ICMD, IPBK sampled immediately before are preserved and retained in the backup RAM 18. Accordingly, the data are read by a CPU 11 to know the behavior of a servo immediately before the abnormal stop.

29. 发明专利

JP2001315659A ELECTRIC POWER STEERING SYSTEM 失效
公开(公告)号：JP2001315659A
公开(公告)日：2001-11-13
申请号：JP2000136082
申请日：2000-05-09
申请人： TOYODA MACHINE WORKS LTD , TOYOTA CENTRAL RES & DEV
发明人： NAKANO JIRO , TAKANO TOSHIO , OBA YUJI , TAKEUCHI SHINJI , TAKAHASHI TOSHIHIRO , MOMIYAMA MINEICHI , FUTAMURA HIROAKI , INAGUMA YUKIO , KOIDE MITSUO , ONO HIDEKAZU , ASAI SHOJI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00
摘要： PROBLEM TO BE SOLVED: To efficiently adjust a steering feeling to provide an optimum steering feeling for various traveling states and steering states. SOLUTION: Steering torque is made to follow a target value, and the steering feeling is adjusted by the target value. The steering feeling can thereby be efficiently adjusted. The optimum steering feeling for the traveling state and the steering state can be provided by generating target torque on the basis of the speed of a vehicle, the rotating angle of a steering wheel and the rotating angular velocity of the steering wheel. The further optimum steering feeling can be provided by using a steering torque control means set to ensure robust stability.

30. 发明专利

JP2001178199A MOTOR CONTROLLER 失效
公开(公告)号：JP2001178199A
公开(公告)日：2001-06-29
申请号：JP35558599
申请日：1999-12-15
申请人： TOYODA MACHINE WORKS LTD
发明人： TAKANO TOSHIO , KODAMA KAZUMASA
IPC分类号： H02P21/00 , H02P6/06 , H02P6/08 , H02P6/16 , H02P6/28 , H02P21/22 , H02P23/16 , H02P23/18 , H02P27/04 , H02P27/08 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To attain a motor controller, capable of rotating a motor with high efficiency by reducing rise in reactive current and drop in torque. SOLUTION: A CPU captures a torque command iq*(S10), a current value iu of a u-phase and the current value iv of a v-phase (S12), and a rotational angle θ(S14). It computes an average angular velocity εθ (n-1) between the detection points (S16) and a rotational angle at current detection timing, i.e. a rotational angle θ01 (n-1) used in d/q conversion (S18). Therefore, a timing lag between current detection and rotational angle detection is corrected enabling d/q conversion. Then, a rotational angle at the next detection timing, i.e. a rotational angle θ2 (n) used for d/q conversion is computed (S20). As a result, a d/q converting part 56 can output a voltage command converted into three phases, in synchronization with the next rotational angle detection timing.

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