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1. 发明授权

EP0287684B1 NEGATIVE FEEDBACK CONTROL SYSTEM 失效
标题翻译：负反馈控制系统
公开(公告)号：EP0287684B1
公开(公告)日：1992-08-05
申请号：EP87907132.2
申请日：1987-10-29
申请人： FANUC LTD.
发明人： SEKI, Shinji , MATSUBARA, Shunsuke
IPC分类号： G05B11/36
CPC分类号： G05B11/36
摘要： A negative feedback control system includes a control that increases or decreases a controlled variable by amplifying digital data resulting from negative feedback on the basis of a quickly responding operation that does not include integration. The negative feedback detects the increase or decrease in a predetermined unit quantity of controlled variable, and produces an increment signal or a decrement signal that corresponds thereto. Among the increment signals and decrement signals, neither up to the n-th decrement signals just after the increment signal nor up to the n-th increment signals just after the decrement signal are counted. The increment signals on and after the (n + 1)th one are counted as a +1 unit quantity of said controlled variable, and the decrement signals on and after the (n + 1)th one are counted as a -1 unit quantity of said controlled variable, thereby suppressing vibration in the controlled variable that would be caused by the negative feedback.

2. 发明公开

EP0287684A1 NEGATIVE FEEDBACK CONTROL SYSTEM 失效
标题翻译： GEGENKOPPLUNGSREGELSYSTEM。
公开(公告)号：EP0287684A1
公开(公告)日：1988-10-26
申请号：EP87907132.2
申请日：1987-10-29
申请人： FANUC LTD
发明人： SEKI, Shinji , MATSUBARA, Shunsuke
IPC分类号： G05B11/36
CPC分类号： G05B11/36
摘要： A negative feedback control system includes a control that increases or decreases a controlled variable by amplifying digital data resulting from negative feedback on the basis of a quickly responding operation that does not include integration. The negative feedback detects the increase or decrease in a predetermined unit quantity of controlled variable, and produces an increment signal or a decrement signal that corresponds thereto. Among the increment signals and decrement signals, neither up to the n-th decrement signals just after the increment signal nor up to the n-th increment signals just after the decrement signal are counted. The increment signals on and afterthe (n + 1)th one are counted as a + 1 unit quantity of said controlled variable, and the decrement signals on and afterthe (n + 1)th one are counted as a -1 unit quantity of said controlled variable, thereby suppressing vibration in the controlled variable that would be caused by the negative feedback.
摘要翻译：数字反馈控制系统基于检测值和指示值来增加或减少控制变量。该系统设有第一偏差检测器和用于低速或积分控制的简单计数器和用于高速控制的第二偏差检测器。为了抑制由控制变量检测器给出的交替的增量和减量信号引起的高速控制回路中的振荡。忽略第一个连续的n个增量或递减脉冲，并在（n + 1）之后开始计数。

3. 发明授权

EP0909999B1 COMMUNICATION METHOD FOR MACHINE CONTROLLER 失效
标题翻译：传输过程机器控制
公开(公告)号：EP0909999B1
公开(公告)日：2005-06-22
申请号：EP98905836.7
申请日：1998-03-10
申请人： FANUC LTD
发明人： UCHIDA, Hiroyuki , MATSUBARA, Shunsuke , YAMADA, Yuuichi, Fanuc Manshonharimomi
IPC分类号： G05B19/414
CPC分类号： G05B19/4142 , B29C45/76 , B29C2945/76953 , G05B19/414 , G05B2219/33155 , G05B2219/33177 , G05B2219/33198 , G05B2219/33207 , Y02P90/265
摘要： A communication method for machine controller by which a machine controller can make communication without receiving any influence from disconnection nor electrical external noise nor requiring troublesome cable laying work. The need of troublesome cable laying work and the occurrence of abnormal communication caused by disconnection and external electrical noise are eliminated by making communication, such as the input-output of voltage commands (PWM commands), feedback signals, etc., by means of infrared beam between a numerical controller (1) of a main control unit and servo amplifiers (2a, 2b, ...), etc., of the drive control units of the servo motors of a machine tool, etc. In addition, the design of the arranging position of each equipment is made easier.

4. 发明公开

EP0911959A1 INJECTION MOLDING MACHINE 失效
标题翻译：成型机
公开(公告)号：EP0911959A1
公开(公告)日：1999-04-28
申请号：EP98914124.7
申请日：1998-04-21
申请人： Fanuc Ltd
发明人： NEKO, Noriaki , MATSUBARA, Shunsuke , IWASHITA, Yasusuke Fanuc Manshonharimomi, , KAWAMURA, Hiroyuki 3119-1-202, Funatsu
IPC分类号： H02P21/00
CPC分类号： H02P21/00 , H02P21/22
摘要： In an injection molding machine whose movable part is driven by an AC servo motor (4), d-phase current in a direction of magnetic flux produced by a field system and q-phase current orthogonal to the d-phase current are obtained through d-q conversion on the basis of drive current of the AC servo motor (4) and a phase of a rotor. Control of current is made in DC mode on condition that the d-phase current is set to zero, and the q-phase current is adapted for a current command. Control of current in the DC mode as described above is designed to advance the phase of the q-phase current command, which is an effective component of a current command at the time of the occurrence of magnetic saturation, thereby preventing, the influence of magnetic saturation to lessen the fall of torque.

5. 发明授权

EP0911959B1 INJECTION MOLDING MACHINE 失效
标题翻译：成型机
公开(公告)号：EP0911959B1
公开(公告)日：2004-01-21
申请号：EP98914124.7
申请日：1998-04-21
申请人： Fanuc Ltd
发明人： NEKO, Noriaki , MATSUBARA, Shunsuke , IWASHITA, Yasusuke Fanuc Manshonharimomi, , KAWAMURA, Hiroyuki 3119-1-202, Funatsu
IPC分类号： H02P21/00
CPC分类号： H02P21/00 , H02P21/22

6. 发明授权

EP0313662B1 SERVO CONTROL CIRCUIT 失效
标题翻译： SERVOSTEUERSCHALTUNG。
公开(公告)号：EP0313662B1
公开(公告)日：1994-08-24
申请号：EP88903403.9
申请日：1988-04-26
申请人： FANUC LTD.
发明人： SAKAMOTO, Keiji , MATSUBARA, Shunsuke
IPC分类号： G05B19/19
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.

7. 发明公开

EP0350507A1 OVERCURRENT DETECTOR 失效
标题翻译： DETEKTORFÜRÜBERSPANNUNG。
公开(公告)号：EP0350507A1
公开(公告)日：1990-01-17
申请号：EP88901921.2
申请日：1988-02-19
申请人： FANUC LTD
发明人： KOBARI, Katsuo Fujimi-cho Danchi 35-210 , SEKI, Shinji Nishihare Bldg. 503 , MATSUBARA, Shunsuke
IPC分类号： H02H6/00 , H02H3/093
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 e(n) = K1P(n) + K2θ(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 {θ(max)) of the load, a first coefficient (K1) and a second coefficient (K2). The overcurrent determining means (5) further compares said temperature rise (θ(n)) with a difference between the allowable temperature rise (θ(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.
摘要翻译：使用微电脑实现的过电流检测器。该装置设置有过电流确定装置（5），其在条件下依赖于流入负载的电流（In）来计算温升θ（n）= K1P（n）+K2θ（n-1）具有电阻（r）的负载，使用负载的环境温度，负载的允许温度升高（θ（max）），第一系数（K1）和第二系数（K2）。过电流确定装置（5）进一步将所述温升（θ（n））与所述负载的允许温升（θ（max））与使用负载的环境温度之间的差进行比较，并且确定所述差当前是超过后者的过流。

8. 发明公开

EP0909999A1 COMMUNICATION METHOD FOR MACHINE CONTROLLER 失效
标题翻译： ÜBERTRAGUNGSVERFAHRENFÜRMASCHINENSTEUERUNG
公开(公告)号：EP0909999A1
公开(公告)日：1999-04-21
申请号：EP98905836.7
申请日：1998-03-10
申请人： FANUC LTD
发明人： UCHIDA, Hiroyuki , MATSUBARA, Shunsuke , YAMADA, Yuuichi, Fanuc Manshonharimomi
IPC分类号： G05B19/414
CPC分类号： G05B19/4142 , B29C45/76 , B29C2945/76953 , G05B19/414 , G05B2219/33155 , G05B2219/33177 , G05B2219/33198 , G05B2219/33207 , Y02P90/265
摘要： A communication method for machine controller by which a machine controller can make communication without receiving any influence from disconnection nor electrical external noise nor requiring troublesome cable laying work. The need of troublesome cable laying work and the occurrence of abnormal communication caused by disconnection and external electrical noise are eliminated by making communication, such as the input-output of voltage commands (PWM commands), feedback signals, etc., by means of infrared beam between a numerical controller (1) of a main control unit and servo amplifiers (2a, 2b, ...), etc., of the drive control units of the servo motors of a machine tool, etc. In addition, the design of the arranging position of each equipment is made easier.
摘要翻译：机器控制器的通信方法，机器控制器可以在不受到断开影响或电外部噪声的情况下进行通信，也不需要麻烦的电缆敷设工作。通过使用红外线等进行通信，例如电压指令（PWM指令）的输入输出，反馈信号等通信，消除了麻烦的电缆铺设工作和由断线和外部电噪声引起的异常通信的发生。主控制单元的数字控制器（1）与机床的伺服电动机的驱动控制单元的伺服放大器（2a，2b，...等）之间的梁。另外，设计的每个设备的布置位置变得更容易。

9. 发明公开

EP0874297A1 METHOD AND DEVICE FOR MANAGING EQUIPMENT CONNECTED TO CONTROLLER OF PRODUCTION MACHINE 失效
标题翻译：方法和设备与生产机器组合管理系统
公开(公告)号：EP0874297A1
公开(公告)日：1998-10-28
申请号：EP97909585.8
申请日：1997-10-22
申请人： FANUC LTD.
发明人： MATSUBARA, Shunsuke , MATSUKANE, Tokuhisa
IPC分类号： G05B19/414
CPC分类号： G05B19/414
摘要： Amplifiers (41 to 44) connected to a CNC (10) are provided individually with memories (41b to 44b) that are stored with ID data for discriminating the kinds and properties thereof and ID data as maintenance management data. Likewise, motors (41c to 44c) are provided with memories (41c to 44c) stored with ID data. The management of the amplifiers and the motors is facilitated by reading these ID data from the CNC (10) and displaying them on a display unit (20). Based on the ID data, moreover, adaptation or nonadaptation between the motors and the amplifiers is automatically determined by means of the CNC (10).
摘要翻译：放大器（41〜44）连接到CNC（10）设置有独立存储器（41B至44B）没有被存储具有ID数据，用于识别的种类和它们的性质和ID数据作为维护管理数据。同样地，马达（41C至44C）设置有存储有ID数据存储器（41C至44C）。放大器和电动机的管理是通过从CNC（10）读出合成ID数据以及显示单元（20）上显示它们容易。基于该ID数据，更上方，所述马达和所述放大器之间的适应或nonadaptation是自动确定由CNC（10）的方式开采。

10. 发明公开

EP0313662A1 SERVO CONTROL CIRCUIT 失效
标题翻译： SERVOSTEUERSCHALTUNG。
公开(公告)号：EP0313662A1
公开(公告)日：1989-05-03
申请号：EP88903403.9
申请日：1988-04-26
申请人： FANUC LTD
发明人： SAKAMOTO, Keiji , MATSUBARA, Shunsuke
IPC分类号： G05B19/19
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.
摘要翻译：伺服控制电路在来自机器系统的位置信号和移动指令之间的偏差超过预定参考的时刻，抑制速度控制块（5）的速度反馈回路中的积分增益中包含的不完全积分的项值。这使得可以控制对当前控制块（6）的转矩指令，使得根据机器系统的静态摩擦特性使转矩最小化，从而产生过热。在计算机辅助的数字伺服控制系统中实现了在充放电期间非线性地操作CR时间常数电路的系数的模拟伺服系统的操作。

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