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31. 发明申请

WO1993010489A1 METHOD OF CONTROLLING SERVOMOTORS 审中-公开
标题翻译：控制伺服电机的方法
公开(公告)号：WO1993010489A1
公开(公告)日：1993-05-27
申请号：PCT/JP1992001453
申请日：1992-11-10
申请人： FANUC LTD , MATSUBARA, Shunsuke , OKITA, Tadashi , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/41024
摘要： A method of controlling a servomotor adapted to accelerate the convergence of deviations of position and speed, having excellent response and a high resistance to disturbance and free from mechanical resonance. When a torque command Tc1 obtained by a conventional speed control operation is small, a regulating gain G is increased, and, when this torque command is large, the regulating gain G is reduced (S1-S3). A torque Tc2 obtained by multiplying a Tc1, an output from a speed control unit by this regulating gain G is used as a torque command to be supplied to a servomotor (S4, S5). When deviations of position and speed and a torque command Tc1 are small, the gain becomes high, so that the response is improved and the convergence of these deviations is effected more speedily. When a torque command Tc1 is large, the gain is low, and mechanical oscillation does not occur.

32. 发明申请

WO1990008353A1 ANOMALY DETECTING METHOD IN A SERVO SYSTEM 审中-公开
标题翻译：伺服系统中的异常检测方法
公开(公告)号：WO1990008353A1
公开(公告)日：1990-07-26
申请号：PCT/JP1989001298
申请日：1989-12-25
申请人： FANUC LTD , MATSUBARA, Shunsuke
发明人： FANUC LTD
IPC分类号： G05D03/00
CPC分类号： G05B19/4062 , G05B2219/33286 , G05B2219/42194 , G05B2219/42268 , G05B2219/42307
摘要： An anomaly detecting method in a servo system that is capable of quickly detecting the occurrence of an anomaly even in a low revolution range is disclosed. A simulator (14) finds a position feedback (PAS) by integrating a speed instruction (Vcs) which is equal to the product of a position loop gain (PG) and an estimated position deflection (Ers) that is obtained by subtracting the position feedback (PAS) from a movement instruction (Mc) while the servo control for the servo motor is executed by the digital servo control units (11 to 13) according to a torque instruction (Tc) calculated based on the speed feedback (VA) and a speed instruction (Vc) that corresponds to a practical position deviation (Er). An extraordinary error detecting unit (15) compares a predetermined value (As) with the error (Er - Ers) between the practical position deviation and an estimated position deviation. In case any anomaly has occurred, the practical position deviation increases but there is no substantial change in the estimated position deviation generated by the simulator that approximately carries out normal servo control, whereby a difference between them reaches a predetermined value that indicates the occurrence of an anomaly and alarm is set off.

33. 发明申请

WO1989010590A1 METHOD OF CONTROLLING SERVO MOTOR 审中-公开
标题翻译：伺服电机的控制方法
公开(公告)号：WO1989010590A1
公开(公告)日：1989-11-02
申请号：PCT/JP1989000355
申请日：1989-04-04
申请人： FANUC LTD , MATSUBARA, Shunsuke , MATSUMOTO, Kaname
发明人： FANUC LTD
IPC分类号： G05D03/10
CPC分类号： G05B19/231 , G05B19/237
摘要： A multiplier ratio DMR is calculated in advance by an operation unit (20) based on the moving amount (L) of a mechanical moving part per turn of the motor, moving amount (R) per pulse of moving instruction, and the number (N) of incremental pulses generated in an absolute position detect pulse coder (18) per turn of the motor. Moving instructions (DELTARn) are integrated by a moving instruction integration unit (11), the absolute position (PA') of a machine produced from the absolute position detect pulse coder (18) is multiplied by DMR times, a difference (Er) between an integrated value (Pc) of moving instruction and a multiplied result (PA) is calculated as a positional error, and the rotation of the servo motor (17) is controlled based on the positional error.

34. 发明申请

WO1998018065A1 METHOD AND DEVICE FOR MANAGING EQUIPMENT CONNECTED TO CONTROLLER OF PRODUCTION MACHINE 审中-公开
标题翻译：用于管理连接到生产机器控制器的设备的方法和装置
公开(公告)号：WO1998018065A1
公开(公告)日：1998-04-30
申请号：PCT/JP1997003821
申请日：1997-10-22
申请人： FANUC LTD , MATSUBARA, Shunsuke , MATSUKANE, Tokuhisa
发明人： FANUC LTD
IPC分类号： G05B19/414
CPC分类号： G05B19/414
摘要： Memories (41b-44b) are provided for amplifiers (41-44) connected to a CNC (10) for storing the ID data used for discriminating the kinds and characteristics of the amplifiers (41-44) and the ID data of the maintenance and management data of the amplifiers (41-44). Memories (41b-44b) are also provided for motors (41c-44c) for storing ID data. Since the CNC (10) reads out the ID data from the memories and displays the ID data on a display device (20), the management of the amplifiers (41-44) and the motors (41c-44c) become easier. In addition, the CNC (10) automatically discriminates the suitableness/unsuitableness of the motors (41c-44c) and the amplifiers (41-44) from the ID data.
摘要翻译：存储器（41b-44b）用于连接到CNC（10）的放大器（41-44），用于存储用于区分放大器（41-44）的种类和特性的ID数据和维护的ID数据，放大器（41-44）的管理数据。还提供了用于存储ID数据的电动机（41c-44c）的存储器（41b-44b）。由于CNC（10）从存储器读出ID数据并在显示装置（20）上显示ID数据，因此放大器（41-44）和电动机（41c-44c）的管理变得更容易。此外，CNC（10）根据ID数据自动识别电动机（41c-44c）和放大器（41-44）的适合性/不合适性。

35. 发明申请

WO1988006363A1 OVERCURRENT DETECTOR 审中-公开
标题翻译：过流检测器
公开(公告)号：WO1988006363A1
公开(公告)日：1988-08-25
申请号：PCT/JP1988000172
申请日：1988-02-19
申请人： FANUC LTD , KOBARI, Katsuo , SEKI, Shinji , MATSUBARA, Shunsuke
发明人： FANUC LTD
IPC分类号： H02H06/00
CPC分类号： H02H6/005
摘要： An overcurrent detector realized by using a microcomputer. The apparatus is provided with an overcurrent determining means (5) which calculates the temperature rise (n) = K1P(n) + K2(n-1) relying upon a current (In) that flows into the load, under the conditions of the load having electric resistance (r), ambient temperature at which the load is used, an allowable temperature rise ((max)) of the load, a first coefficient (K1) and a second coefficient (K2). The overcurrent determining means (5) further compares said temperature rise ((n)) with a difference between the allowable temperature rise ((max)) of the load and the ambient temperature at which the load is used, and determines the difference in current to be an overcurrent when the former exceeds the latter.

36. 发明申请

WO1998001944A1 METHOD FOR DIAGNOSING ABNORMALITY OF CIRCUIT MEMBER OF INVERTER DRIVING CONTROLLER FOR DRIVING AND CONTROLLING MOTOR 审中-公开
标题翻译：用于诊断用于驱动和控制电机的逆变器驱动控制器的电路异常的异常的方法
公开(公告)号：WO1998001944A1
公开(公告)日：1998-01-15
申请号：PCT/JP1997002317
申请日：1997-07-03
申请人： FANUC LTD , MATSUBARA, Shunsuke , YAMADA, Yuichi
发明人： FANUC LTD
IPC分类号： H02P07/63
CPC分类号： G01R31/346 , G01R31/42 , H02H7/1227
摘要： An electric current is made to flow between selected phases by turning on the selective switching elements (for example, Tra and Trd) of an inverter. When the inclination of the current waveform detected by means of current detecting circuits IR and IS coincide with a reference inclination, the current detecting circuit and switching element of the circuit to which the current flows and the winding of a motor can be diagnosed as normal. When the inclination of the detected current waveform is "0" or gentler than the reference inclination, the current detecting circuit, switching element, and motor winding can be diagnosed as abnormal and the abnormal part is specified by changing the switching element to be turned on and finding the inclination of the waveform of the current detecting circuit in the same way. When the inclination of the detected current waveform is very steep as compared with the reference inclination, it can be diagnosed that a short circuit occurs in a cable or the motor winding.
摘要翻译：通过接通逆变器的选择性开关元件（例如，Tra和Trd），使电流在选定相之间流动。当通过电流检测电路IR和IS检测到的电流波形的倾斜度与参考斜率一致时，可以正常地诊断电流流过的电路的电流检测电路和开关元件以及电动机的绕组。当检测到的电流波形的倾斜度为“0”或比基准倾斜度慢时，可以将电流检测电路，开关元件和电动机绕组诊断为异常，通过改变开关元件来指定异常部分并且以相同的方式找到电流检测电路的波形的倾斜度。当检测到的电流波形的倾斜与参考斜率相比非常陡峭时，可以诊断出在电缆或电动机绕组中发生短路。

37. 发明申请

WO1994021425A1 TOOL LIFE MANAGEMENT METHOD BY ESTIMATION OF DISTURBANCE LOAD 审中-公开
标题翻译：工具生命管理方法通过估计干扰负荷
公开(公告)号：WO1994021425A1
公开(公告)日：1994-09-29
申请号：PCT/JP1994000336
申请日：1994-03-02
申请人： FANUC LTD , MATSUBARA, Shunsuke , IWASHITA, Yasusuke , OKITA, Tadashi
发明人： FANUC LTD
IPC分类号： B23Q17/09
CPC分类号： G05B19/4065 , G05B2219/37252 , G05B2219/37285 , G05B2219/41368 , G05B2219/41376 , G05B2219/41379
摘要： The invention relates to a method of estimating a load applied on a tool of a machine tool and managing the life of the tool on the basis of the load thus estimated. When a predetermined amount of processing is carried out on a predetermined work, a disturbance loading torque (Td2) exerted on a motor for a main shaft or a motor for a feed shaft is estimated by means of a disturbance estimating observer. When the disturbance loading torque (Td2) thus estimated becomes equal to or greater than a set reference value Ts (A2), a timer (te) is reset to start clocking (A5) and continue the same until the timer (te) clocks a predetermined set period of time (to). When the estimated disturbance loading torque (Td2) is equal to or greater than the set reference value (Ts), a tool change command is issued to suspend the processing (A7 to A9). Since the life of a tool is determined on the basis of a magnitude of a load applied on the tool, it is managed in an objective and positive manner.
摘要翻译：本发明涉及一种估计施加在机床的工具上的负载并基于如此估计的负载来管理工具的寿命的方法。当在规定的作业中进行预定量的处理时，借助于扰动估计观测器来估计施加在用于主轴的马达上的扰动加载扭矩（Td2），或用于进给轴的马达。当由此估计的扰动加载转矩（Td2）变得等于或大于设定的参考值Ts（A2）时，定时器（te）被复位以开始计时（A5）并且继续相同，直到定时器（te）计时预定设定的时间段（至）。当估计的扰动负载转矩（Td2）等于或大于设定的参考值（Ts）时，发出刀具更换命令以暂停处理（A7至A9）。由于工具的使用寿命是基于施加在工具上的负载的大小来确定的，因此以客观和积极的方式进行管理。

38. 发明申请

WO1989008287A1 METHOD FOR RETURNING TO ORIGIN 审中-公开
标题翻译：返回原点的方法
公开(公告)号：WO1989008287A1
公开(公告)日：1989-09-08
申请号：PCT/JP1989000150
申请日：1989-02-15
申请人： FANUC LTD , SAKAMOTO, Keiji , MATSUBARA, Shunsuke , MATSUMOTO, Kaname
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： G05B19/231 , G05B19/4015 , G05B2219/50025
摘要： When returning a movable part to the origin, a numeric control unit (21) reads an absolute position within one turn of a motor (23) from an absolute position detector (24), determines the distance from one pre-determined point of a motor (grid point) to the absolute position thus read and conducts initial setting of the distance B as a command position REFn from the grid point. Thereafter, the numeric control unit (21) outputs a movement command value DELTARn to a digital servo circuit (22) every predetermined time DELTAT, updates the command position REFn in accordance with the formula REFn + DELTARn -> REFn, determines REFn at the first point of time after restoration from step-in of a deceleration limit (25), outputs (N - REFn) as the last commanded movement quantity DELTARn to the digital servo circuit (22) to return a movable part to the position of the origin predetermined on the grid point.

39. 发明申请

WO1988008563A1 SERVO CONTROL CIRCUIT 审中-公开
标题翻译：伺服控制电路
公开(公告)号：WO1988008563A1
公开(公告)日：1988-11-03
申请号：PCT/JP1988000408
申请日：1988-04-26
申请人： FANUC LTD , SAKAMOTO, Keiji , MATSUBARA, Shunsuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/41156 , G05B2219/41186 , G05D3/20
摘要： A servo control circuit suppresses an incompletely integrated term contained in the integrated gain in a speed feedback loop of a speed control block (5) at a moment when a deviation between a position signal from a machine system and a movement instruction has exceeded a predetermined reference value. This makes it possible to control the torque instruction to the current control block (6) such that a torque is minimized that develops overshooting according to static frictional characteristics of the machine system. The operation equivalent to the one realized in the analog servo system by non-linearly operating the coefficients of a CR time-constant circuit during electric charge and discharge is realized in the digital servo control system aided by a computer.

40. 发明申请

WO1998026906A1 ROBOT CONSTRUCTION 审中-公开
标题翻译：机器人结构
公开(公告)号：WO1998026906A1
公开(公告)日：1998-06-25
申请号：PCT/JP1997004656
申请日：1997-12-17
申请人： FANUC LTD , TERADA, Akihiro , YAMASHIRO, Hikaru
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/047 , B25J19/0025 , B25J19/0029 , Y10S414/131 , Y10T74/20311
摘要： A robot (1A) comprises a robot fixing base (1), a first speed reducing mechanism mount base (11) mounting thereto a first shaft speed reducing mechanism (12) and a second shaft speed reducing mechanism (21), a first arm (AM1), a second speed reducing mechanism mount base (11) mounting thereto a third shaft speed reducing mechanism (31) and a fourth shaft speed reducing mechanism (41), and a second arm (AM2). An electric cable (CB) or piping passes through a hollow portion of the first shaft speed reducing mechanism (12) from the robot fixing base (1), is routed around an outside of the second shaft speed reducing mechanism (21) and extends along the first arm (AM1).
摘要翻译：机器人（1A）包括机器人固定座（1），安装在其上的第一减速机构安装座（11）和第二轴减速机构（21），第一臂（ AM1），安装有第三轴减速机构（31）和第四轴减速机构（41）的第二减速机构安装基座（11）和第二臂（AM2）。电缆（CB）或管道从机器人固定座（1）穿过第一轴减速机构（12）的中空部分，绕第二轴减速机构（21）的外侧延伸并沿着第一臂（AM1）。

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