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1. 发明申请

US20200310378A1 SERVOMOTOR CONTROL DEVICE 审中-公开
公开(公告)号：US20200310378A1
公开(公告)日：2020-10-01
申请号：US16814344
申请日：2020-03-10
申请人： FANUC CORPORATION
发明人： Noboru HIROSE , Keisuke TSUJIKAWA
IPC分类号： G05B19/19
摘要： Provided are: a position command calculation unit which calculates a position command specifying a target position of a driven body driven by a servomotor; a counterforce comm and. calculation unit which calculates a counterforce command specifying a target, counterforce which should be received by the driven body; a position acquisition unit which acquires an actual position of the driven body; a position reference drive control unit which generates a position reference drive signal so as to bring the position nearer the target position; a counterforce acquisition unit which acquires a counterforce being received by the driven body; a counterforce reference drive control unit which generates a counterforce reference drive signal so as to bring the counterforce nearer the target counterforce; and a drive signal selection unit which selects either one of the position reference drive signal and the counterforce reference drive signal; in which the position command calculation unit calculates the position command so that the target position becomes a second order or higher relationship relative to time, and the counterforce command calculation unit calculates the counterforce command so that a relationship between the target counterforce and the target position becomes substantially linear.

2. 发明申请

US20230101050A1 CONTROL DEVICE, AND CONTROL METHOD 有权
公开(公告)号：US20230101050A1
公开(公告)日：2023-03-30
申请号：US17801578
申请日：2021-03-08
申请人： FANUC CORPORATION
发明人： Noboru HIROSE
IPC分类号： G05B19/05
摘要： A control device has first and second control units. The first unit includes a timing unit which measures elapsed time and instructs the start of a first safety signal circuit test based on the time, and a first circuit test control unit which, when a safety signal circuit output signal has been output to a first circuit, or output thereof has stopped, detects whether a safety signal circuit input signal is input, and executes the first safety signal circuit test. The second unit is provided with an implementation verifying unit which verifies whether the first safety signal circuit test is complete, and a second circuit test control unit which, after verification, when a safety signal circuit output signal is output to a second circuit, or when output thereof has stopped, detects whether a safety signal circuit input signal is input, and executes a second safety signal circuit test.

3. 发明申请

US20140292250A1 HOST CONTROLLER GENERATING POSITION CONTROL GAIN 有权
标题翻译：主机控制器产生位置控制增益
公开(公告)号：US20140292250A1
公开(公告)日：2014-10-02
申请号：US14229607
申请日：2014-03-28
申请人： FANUC CORPORATION
发明人： Noboru HIROSE
IPC分类号： G05B5/01
CPC分类号： G05B11/01 , G05B19/19 , G05B2219/41021 , G05B2219/41026
摘要： A reference value generating unit (14b) generates a reference value which is equal to a speed command value taken when an override value is 1. A speed command value generating unit (14c) generates a speed command value taken when an override value is a set value. A position control gain generating unit (14d) generates a position control gain to be used by a motor controller (12) on the basis of the ratio of the speed command value to the reference value and a gain-related value relating to a gain which is set in accordance with an upper die (9a), and outputs the generated position control gain to a memory (11).
摘要翻译：参考值生成单元（14b）生成与超驰值为1时的速度指令值相等的基准值。速度指令值生成单元（14c）生成超控值为设定值时的速度指令值值。位置控制增益生成单元（14d）基于速度指令值与参考值的比率和与增益相关的增益相关值，生成由马达控制器（12）使用的位置控制增益，根据上模（9a）设定，并将所生成的位置控制增益输出到存储器（11）。

4. 发明申请

US20180038771A1 CONTROLLER AND CONTROL METHOD FOR DOUBLY CHECKING THE STATE OF A CONTROL SHAFT 审中-公开
公开(公告)号：US20180038771A1
公开(公告)日：2018-02-08
申请号：US15669068
申请日：2017-08-04
申请人： FANUC CORPORATION
发明人： Noboru HIROSE
IPC分类号： G01M13/02
CPC分类号： G01M13/025
摘要： A controller outputs a first detection signal indicative of the position of a control shaft, and by forwardly converting a motor position signal indicative of the position of a motor through use of a motion conversion characteristic of a power transmission unit, outputs a second detection signal corresponding to the position of the control shaft. Then using the respectively output first detection signal and second detection signal, the controller doubly determines whether or not the state of the control shaft is abnormal.

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