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1. 发明专利

JP2005135060A Servo adjusting method of trace follow-up control 有权
标题翻译：跟踪控制的SERVO调整方法
公开(公告)号：JP2005135060A
公开(公告)日：2005-05-26
申请号：JP2003368506
申请日：2003-10-29
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： TAKEI YASUYUKI , IMAZU ATSUSHI
IPC分类号： G05B11/32 , G05B19/404 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a method for easily adjusting a servo so that a shape error becomes a targeted reduction quantity of a circular arc radius not depending on a command program or a moving speed and even in the case of use of speed feedforward.
SOLUTION: A servo adjusting method of trace follow-up control comprises a step of repeatedly executing positioning operations until overshoot will be suppressed within a targeted value and adjusting a speed feedforward gain (step 2), and a step of obtaining a position control loop gain of a positioning control unit by operating from the targeted reduction quantity of the circular arc radius and the speed feedforward gain (steps 4, 5).
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：为了提供一种容易调节伺服的方法，使得形状误差成为不依赖于命令程序或移动速度的圆弧半径的目标减小量，并且即使在使用速度前馈解决方案：跟踪跟踪控制的伺服调整方法包括重复执行定位操作的步骤，直到过冲将被抑制在目标值内并调整速度前馈增益（步骤2），以及获得位置的步骤通过从圆弧半径的目标减少量和速度前馈增益进行操作来定位控制单元的控制回路增益（步骤4,5）。版权所有（C）2005，JPO＆NCIPI

2. 发明专利

JP2004139531A Method for interpolating position command of servo device 审中-公开
公开(公告)号：JP2004139531A
公开(公告)日：2004-05-13
申请号：JP2002305940
申请日：2002-10-21
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： IMAZU ATSUSHI , HAGIWARA ATSUSHI , OGURO RYUICHI
IPC分类号： G05B19/4103 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a method for interpolating a position command of a servo device which can suppress vibrations caused by interpolation. SOLUTION: This method determines a section interpolation trajectory for interpolating the section from the last value but one to the last value on the basis of this time value, the last value and the value of two times before of a higher order position command (S10) and a higher order differential value (S11) of a section trajectory termination in sequential computation of periods. When the value of two times before is equal to the last value, the section interpolation trajectory is made to be a fixed trajectory (S15), when the value of two times before is different from the last value and the sign of a product of difference between this time value and the last value, and difference between the last value and the value of two times before is negative, the section interpolation trajectory is made to be a stop trajectory that smoothly stops at the last value, and when the value of two times before is different from the last value and the sign of the product of the difference between this time value and the last value, and the difference between the last value and the value of two times before is positive, the section interpolation trajectory is made to be a vibration suppression trajectory (S16) for making vibrations small. COPYRIGHT: (C)2004,JPO

3. 发明专利

JP2005215842A Servo control device 有权
标题翻译：伺服控制装置
公开(公告)号：JP2005215842A
公开(公告)日：2005-08-11
申请号：JP2004019652
申请日：2004-01-28
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO , NAKAMURA YUJI , IMAZU ATSUSHI
IPC分类号： G05B5/01 , G05B11/32 , G05B13/04 , H02P29/00 , H02P5/00
CPC分类号： G05B13/042 , G05B5/01 , G05B2219/41121
摘要： PROBLEM TO BE SOLVED: To provide a servo control device following without delay from a host instruction by improving the following accuracy without involving overshoot or continuation vibration. SOLUTION: An instruction signal is directly transmitted to a controller 20 as target instruction increment value. A compensation signal computing unit 10 inputs the target instruction increment value, and transmits a compensation signal generated by subtracting the target instruction increment value from a signal passed to an inverse transfer transmission function device having inverse transfer function characteristics of an optional low pass filter followed by multiplying by an adjustment gain to a control object 1. The controller 20 inputs the target instruction increment value and an output increment value of the control object 1 and transmits a control input to the control object 1 so that a target instruction is matched with the output of the control object 1. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：通过提高以下准确度而不涉及过冲或持续振动来提供跟随主机指令而不延迟的伺服控制装置。解决方案：指令信号作为目标指令增量值直接发送到控制器20。补偿信号计算单元10输入目标指令增量值，并且从传递给具有可选低通滤波器的逆传递函数特性的逆传输发送功能装置的信号中减去目标指令增量值而产生的补偿信号，将调整增益乘以控制对象1.控制器20输入控制对象1的目标指令增量值和输出增量值，并将控制输入发送到控制对象1，使得目标指令与输出的控制对象1.版权所有（C）2005，JPO＆NCIPI

4. 发明专利

JP2006314041A Parameter setting apparatus 有权
标题翻译：参数设定装置
公开(公告)号：JP2006314041A
公开(公告)日：2006-11-16
申请号：JP2005136302
申请日：2005-05-09
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： ITAKURA YOKO , IMAZU ATSUSHI , TAKEI YASUYUKI
IPC分类号： H03M11/04 , G06F3/023 , G09G5/08
摘要： PROBLEM TO BE SOLVED: To provide a parameter setting apparatus capable of setting a plurality of, and a wide range of, parameter kinds with simple operation while simplifying a switch for inputting parameters, selecting digits of a cursor, achieving space-saving, and suppressing costs.
SOLUTION: The apparatus is provided with a cursor shift/display update means 5 which shifts the cursor to a smallest digit position or largest digit position when a cursor digit shift switch 3 is pressed while the cursor is at the largest digit position or the smallest digit position of a parameter setting value and, at the same time, updates the parameter kinds in preset order to display them to a parameter display 1.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种参数设置装置，其能够简单地设置多个参数种类和广泛的参数种类，同时简化用于输入参数的切换，选择光标的数字，实现节省空间，并抑制成本。解决方案：该装置设置有光标移位/显示更新装置5，当光标处于最大数字位置时，当按下光标位置转换开关3时将光标移动到最小数字位置或最大数字位置，或者参数设置值的最小位数，同时以预设顺序更新参数种类，将其显示为参数显示1.
版权所有（C）2007，JPO＆INPIT

5. 发明专利

JP2005096061A Gear synchronous machining device and its controlling method 有权
标题翻译：齿轮同步加工装置及其控制方法
公开(公告)号：JP2005096061A
公开(公告)日：2005-04-14
申请号：JP2004010032
申请日：2004-01-19
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： IMAZU ATSUSHI , TAKEI YASUYUKI , YOSHIURA YASUSHI
IPC分类号： B23F23/10
摘要： PROBLEM TO BE SOLVED: To provide a gear synchronous machining device capable of performing accurate machining without shortening the service life of a tool and preventing an influence by synchronous origin aligning accuracy and its controlling method.
SOLUTION: This device is provided with a tool shaft motor 3, a tool shaft motor driver 4, a workpiece axis motor 5, a workpiece axis motor driver 6, a pulse distributing part 8 for outputting command pulses to the tool shaft motor driver 4 and the workpiece axis motor driver 6, a NC command executing part 7 for interpreting a NC command and giving a position command of the machining to the pulse distributing part 8, a target torque preparing part 9 for determining target torque at the time of the machining, and a synchronous correction value processing part 10 for calculating and correcting a correction value of a synchronous error from a difference between the target torque and motor torque at the time of the machining.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够进行精密加工而不缩短刀具的使用寿命并防止同步原点对准精度及其控制方法的影响的齿轮同步加工装置。解决方案：该装置具有工具轴电动机3，工具轴电动机驱动器4，工件轴电动机5，工件轴电动机驱动器6，用于向工具轴电动机输出指令脉冲的脉冲分配部8 驱动器4和工件轴电动机驱动器6，用于解释NC指令并给予脉冲分配部8的加工位置命令的NC指令执行部7，用于确定目标转矩的目标转矩准备部9，以及同步校正值处理部10，用于根据加工时的目标转矩和电动机转矩的差计算和校正同步误差的校正值。版权所有（C）2005，JPO＆NCIPI

6. 发明专利

JP2005081500A Gear wheel synchronous working method 审中-公开
标题翻译：齿轮同步工作方法
公开(公告)号：JP2005081500A
公开(公告)日：2005-03-31
申请号：JP2003317136
申请日：2003-09-09
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： IMAZU ATSUSHI , YOSHIURA YASUSHI
IPC分类号： B23F23/12
摘要： PROBLEM TO BE SOLVED: To provide a determination method for a synchronizing position on the basis of all gear engagement without extending recycling time using a special sensor.
SOLUTION: In a gear cutting apparatus which performs gear cutting while synchronously controlling a tool motor 18 mounted with a gear-shaped tool 19 and a work motor 15 mounted with a gear 16 to be cut, the tool motor 18 and the work motor 15 are synchronously accelerated with gears engaged with each other. An average of motor torques in an accelerating section of either of them is calculated during the acceleration. A difference between the calculated average and a preset target value is multiplied by coefficient and filtering processing to calculate a correction value.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供基于所有齿轮啮合的同步位置的确定方法，而不需要使用专用传感器延长再循环时间。解决方案：在同步控制安装有齿轮形工具19的工具电机18和安装有待切割齿轮16的作业马达15的同时进行齿轮切割的齿轮切割装置中，工具马达18和工件马达15与彼此啮合的齿轮同步加速。在加速期间计算其中任何一个的加速部分中的电动机转矩的平均值。将计算出的平均值与预设目标值之差乘以系数和滤波处理，以计算校正值。版权所有（C）2005，JPO＆NCIPI

7. 发明专利

JP2005050215A Vibration suppression instructing method for position control device 审中-公开
标题翻译：用于位置控制装置的振动抑制指令方法
公开(公告)号：JP2005050215A
公开(公告)日：2005-02-24
申请号：JP2003283059
申请日：2003-07-30
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： CHO BUNNO , IMAZU ATSUSHI
IPC分类号： G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide an instructing method for a positioning control device capable of achieving both the suppression of low frequency vibrations and the reduction of positioning time.
SOLUTION: A position instructing method for a position control device comprises a vibration suppression instructing method for the position control device, wherein a target position signal configured as follows is used as a position instruction of a position control system: The target position signal in an acceleration process is configured by a vibration suppression polynomial instructing method. The target position signal in a constant-speed process is defined as the same as a dummy position signal in the constant-speed process. A target acceleration signal in a deceleration process is obtained by shifting a target acceleration signal in the acceleration process to the right on the time base for a period from the start of acceleration to the start of deceleration and then inverting the sign of the value. A signal obtained by integrating the target acceleration signal in the deceleration process two times is defined as the target position signal in the deceleration process.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够实现低频振动的抑制和定位时间的减少的定位控制装置的指示方法。解决方案：位置控制装置的位置指示方法包括用于位置控制装置的振动抑制指示方法，其中使用如下构成的目标位置信号作为位置控制系统的位置指令：目标位置信号在加速过程中由振动抑制多项式指令方法构成。定速过程中的目标位置信号被定义为与恒速过程中的虚拟位置信号相同。通过将加速处理中的目标加速度信号从加速开始到减速开始的期间在时基上向右移位，然后反转该值的符号，来获得减速处理中的目标加速度信号。通过将减速处理中的目标加速度信号进行两次积分而获得的信号被定义为减速处理中的目标位置信号。版权所有（C）2005，JPO＆NCIPI

8. 发明专利

JP2007024532A Method and apparatus for measuring oscillation frequency 有权
标题翻译：用于测量振荡频率的方法和装置
公开(公告)号：JP2007024532A
公开(公告)日：2007-02-01
申请号：JP2005203274
申请日：2005-07-12
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： IMAZU ATSUSHI , TAKEI YASUYUKI
IPC分类号： G01R23/10
摘要： PROBLEM TO BE SOLVED: To provide a method and an apparatus for measuring oscillation frequencies and capable of precisely measuring the oscillations of low frequencies in real time by simple computations.
SOLUTION: In the oscillation frequency measuring method for determining oscillation frequencies on the basis of the waveform of signals, after signal peak values; peak time temporary values; and the direction of signal changes are initialized to acquire current values of the signals, the current values of the signals are compared with the peak values of the signals in a step (ST23). In a step (ST25), in the case that the current values of the signals have not increased in the direction of signal changes more than the signal peak values have in the step (ST23) and that peaks are not updated, the presence or absence of signal inversion is verified on the basis of whether separation has occurred by preset oscillation detection values set in the direction of signals changes and its opposite direction or more than the current values of the signals and the peak values of the signals. The need for the processing of adjusting the center of signals at zero is thereby eliminated.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于测量振荡频率并且能够通过简单的计算实时地精确地测量低频振荡的方法和装置。解决方案：在基于信号波形确定振荡频率的振荡频率测量方法中，在信号峰值之后; 峰值时间临时值; 并且信号变化的方向被初始化以获取信号的电流值，将信号的当前值与步骤中的信号的峰值进行比较（ST23）。在步骤（ST25）中，在步骤（ST23）中，在信号变化方向上的信号变化方向上没有增加信号峰值的情况下，并没有更新峰值的情况下，存在或不存在基于信号变化方向设定的预设振荡检测值和信号的相反方向或信号的当前值和信号峰值是否发生分离，来验证信号反转。由此消除了将信号的中心调整为零的处理的需要。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2005020794A Servo controller and method of automatically setting its filter constant 审中-公开
标题翻译：伺服控制器及其自动设置过滤器的方法
公开(公告)号：JP2005020794A
公开(公告)日：2005-01-20
申请号：JP2003177668
申请日：2003-06-23
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： IMAZU ATSUSHI , YOSHIURA YASUSHI
IPC分类号： H02P29/00 , H02P5/00
摘要： PROBLEM TO BE SOLVED: To provide an apparatus and a method for automatically setting a filter constant in a short time without damaging a machine which can obtain a resonance frequency even without resonating between a motor and a load in a servo controller. SOLUTION: The servo controller includes motor machine constant storage means 7 for storing the value of the motor rotor inertial moment of the motor 4 driven by the servo controller and a torsion spring constant of a rotary shaft of the motor, machine inertial moment acquisition means 8 for acquiring a value of an inertial moment of the machine driven by the motor 4 and acquiring a value of the machine inertial moment in terms of the rotary shaft of the motor 4, and resonance frequency calculating means 9 for calculating a twist resonance frequency to set the filter constant based on the twist resonance frequency. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于在短时间内自动设定滤波器常数的装置和方法，而不损坏即使在马达与伺服控制器中的负载之间没有谐振也能获得谐振频率的机器。解决方案：伺服控制器包括电机恒定存储装置7，用于存储由伺服控制器驱动的电动机4的电动机转子惯性力矩和电动机旋转轴的扭转常数，机器惯性力矩用于获取由电动机4驱动的机器的惯性力矩的值并获取关于电动机4的旋转轴的机器惯性力矩值的获取装置8，以及用于计算扭转共振的共振频率计算装置9 频率根据扭转共振频率设定滤波常数。版权所有（C）2005，JPO＆NCIPI

10. 发明专利

JP2004094649A Positioning control device 有权
标题翻译：定位控制装置
公开(公告)号：JP2004094649A
公开(公告)日：2004-03-25
申请号：JP2002255615
申请日：2002-08-30
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： IMAZU ATSUSHI , NAKAMURA YUJI , HONDA HIDEKI
IPC分类号： G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a positioning control device capable of driving a controlled target on an efficient time-track without being restricted by the time-track of a master command when the dynamic characteristic model of the controlled target is valid in the operation sequence of a machine and driving the controlled target on the basis of the master command when the dynamic characteristic model of the controlled target is not valid.
SOLUTION: The positioning control device is provided with a position command acquisition part 1 for acquiring a position command from a master device in each command period and an interpolating track creation part 3 for interpolating between the position command and the current value of status quantity of a motor or equipment in which the motor is integrated. A signal switching part 4 switches control following the position command received from the master device and control following an interpolating track created in the device by selecting either one of two follow-up modes, a sequential command follow-up mode and an interpolating track follow-up mode, to drive the motor M.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种定位控制装置，其能够在受控对象的动态特性模型有效的情况下，在高效的时间轨道上驱动受控目标而不受主指令的时间轨迹的限制当受控对象的动态特性模型无效时，基于主命令驱动机器的操作顺序并驱动受控对象。
解决方案：定位控制装置设置有用于在每个命令周期中从主装置获取位置命令的位置指令获取部分1和用于在位置命令和当前状态值之间进行内插的内插轨迹创建部分3 电动机集成的电动机或设备的数量。信号切换部分4根据从主设备接收到的位置命令来切换控制，并且通过选择两个跟随模式，顺序命令后续模式和内插轨道跟随模式中的任意一个，在设备中创建的内插轨迹之后进行控制，（C）2004，JPO

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