Abstract: A servomotor control device includes: a servomotor, detection unit, driven body, connection mechanism, and motor control unit, in which the motor control unit includes: a force estimation section that estimates a drive force acting on the driven body at a connection part between the connection mechanism and the driven body; a correction amount generation section that generates a correction amount for correcting the position command value, based on the drive force estimated and a constant for correction; and a rigidity estimation section that gradually increases the constant for correction in a state suspending generation of the position command value, and estimates a magnitude of rigidity of the connection mechanism based on the constant for correction when a variation point occurs in behavior of rotation position information of the servomotor detected, drive force estimated, or correction amount generated.

Abstract: A control system of a machine tool includes an analysis device, the analysis device includes acquisition portions which acquire chronological control data when a work is machined and which acquire spatial machined surface measurement data after the machining of the work, a storage portion which stores the control data and the machined surface measurement data, a data-associating processing portion which associates the control data and the machined surface measurement data with each other in two machining directions, a machined surface failure detection portion which detects a failure on the machined surface of the work and a location thereof based on the machined surface measurement data in the two machining directions and an identification portion which identifies a drive axis that causes the failure from the detected failure and the machining direction of the control data corresponding to the detected failure location.

Abstract: A control system of a machine tool includes an analysis device, the analysis device includes acquisition portions which acquire chronological speed control data when a work is machined and which acquire spatial machined surface measurement data after the machining of the work, a data-associating processing portion which associates the speed control data and the machined surface measurement data with each other, a machined surface failure detection portion which detects a failure depth of a failure location on the machined surface of the work and an identification portion which identifies the control data of the failure location corresponding to the machined surface measurement data of the failure location so as to identify a failure depth corresponding to the control data of the failure location and the numerical control device corrects the control data based on the control data of the failure location and the corresponding failure depth.

Abstract: A motor control device includes a velocity controller configured to calculate a torque command from a velocity command and a motor velocity; a compensation torque calculation unit configured to calculate a compensation torque command by multiplying an error between the motor velocity and a velocity of a driven part by a compensation gain and a compensation filter; a torque control unit configured to control torque of a motor based on a value obtained by adding the torque command and the compensation torque command; and a setting change part configured to change a gain of the velocity controller according to an operating condition of the motor control device, and change at least one of the compensation gain and the compensation filter in accordance with a change in the gain of the velocity controller.

Abstract: An adjustment device that controls a control device controlling motors driving at least two axes, and a machine learning device performing machine learning with respect to the control device. The adjustment device includes: a start command output unit configured to output a start command for starting the machine learning device; a feedback information. acquisition unit configured to acquire feedback information acquired on the basis of an evaluation program executed by the control device, from the control device; a feedback information transmission unit configured to transmit the feedback information acquired, to the machine learning device; a parameter setting information acquisition unit configured to acquire control parameter setting information acquired by machine learning using the feedback information, from the machine learning device; and a parameter setting information transmission unit configured to transmit the control parameter setting information acquired, to the control device.

Abstract: A controller capable of preventing a control target from being controlled by an abormal value output from a mathematical model is provided. A controller includes a control unit, the control unit including: a first correction amount computation unit that computes a first correction amount for correction from a command value to a second command value; a second correction amount computation unit that computes a second correction amount for correction from the command value to the second command value; and a correction amount selecting unit that selects either one of the first correction amount and the second correction amount. The first correction amount computation unit computes the first correction amount using a first mathematical model configured by machine learning, and the second correction amount computation unit computes the second correction amount using a second mathematical model configured by a method different from that of the first correction amount computation unit.

Abstract: A machine learning device includes a label acquisition unit for acquiring, as a label, a current command that drives a control target of a servo control device in a state in which disturbance is suppressed; an input data acquisition unit for acquiring, as input data, a velocity of the control target driven based on the current command in the state in which disturbance is suppressed; and a learning unit for constructing a learning model for estimating a current to drive the control target from the velocity of the control target, by way of performing supervised leaning with a group of the label and the input data as training data.

Abstract: To easily perform adjustment relating to feedforward control and also to improve command follow-up performance. A machine learning device includes label acquisition means for acquiring, as a label, a command output by a servo control apparatus to a control target device so as to drive and control the control target device, input data acquisition means for acquiring, as input data, an output of the control target device driven based on the command, and learning means for building a learning model relating to feedforward control for correcting the command, by performing supervised learning by use of a set of the label and the input data serving as teacher data.

Abstract: A numerical control system of a machine tool includes an analysis device. The analysis device includes acquisition portions which acquire chronological speed control data when the work is machined and which acquire spatial machined surface measurement data after the machining of the work, a data-associating processing portion which associates the speed control data and the machined surface measurement data with each other, a machined surface failure detection portion which detects failures on the machined surface of the work, an identification portion which identifies the speed control data of failure locations corresponding to the machined surface measurement data of the failure locations, a failure interval detection portion which detects the interval of the failures and a calculation portion which calculates the frequency of vibrations based on a machining speed based on the speed control data of the failure locations and the interval of the failures.

Abstract: A servo motor control apparatus for controlling a servo motor includes a storage unit configured to store a torque constant predefined for the servo motor, a torque constant correction unit configured to correct the torque constant stored in the storage unit when magnetic saturation occurs in a winding of the servo motor, and an output calculation unit configured to calculate an output of the servo motor on the basis of the torque constant stored in the storage unit or the torque constant after correction calculated by the torque constant correction unit, a value associated with a current of the servo motor, and a value associated with a speed of the servo motor.

Abstract: A machine learning device performs machine learning with respect to a servo control device including a velocity feedforward calculation unit. The machine learning device comprises: a state information acquisition unit configured to acquire from the servo control device, state information including at least position error, and combination of coefficients of a transfer function of the velocity feedforward calculation unit; an action information output unit configured to output action information including adjustment information of the combination of coefficients included in the state information, to the servo control device; a reward output unit configured to output a reward value in reinforcement learning based on the position error included in the state information; and a value function updating unit configured to update an action value function on the basis of the reward value output by the reward output unit, the state information, and the action information.

Abstract: A control system of a machine tool which machines a work includes: a numerical control device which controls the drive axis of the machine tool based on control data; a machined surface measurement device which measures the machined surface of the work; and a data processing device, and the data processing device includes a drive axis control data acquisition portion which acquires, from the numerical control device, the chronological control data when the work is machined; a machined surface measurement data acquisition portion which acquires spatial machined surface measurement data after the machining of the work measured by the machined surface measurement device; and a data-associating processing portion which associates the chronological control data acquired by the drive axis control data acquisition portion and the spatial machined surface measurement data acquired by the machined surface measurement data acquisition portion with each other.

Abstract: A servomotor control device includes: a servomotor; a driven body that is driven by way of the servomotor; a connection mechanism that connects the servomotor and the driven body to transmit power of the servomotor to the driven body; and a motor control unit that controls the servomotor, in which the motor control unit includes: a force acquisition section that acquires a drive force acting on the driven body at a connection part between the connection mechanism and the driven body; and a rigidity estimation section that estimates a magnitude of rigidity of the connection mechanism, based on position information of the servomotor and a drive force acquired by the force acquisition section when causing the servomotor to rotate in a state mechanically fixing the driven body.

Abstract: A servomotor control device includes: a driven body configured to be driven by a servomotor; a connection mechanism configured to connect the servomotor and the driven body; a position command generation unit configured to generate a position command value; a motor control unit configured to control the servomotor using the position command value; a force estimation part configured to estimate a force estimated value which is a drive force acting on the driven body at a connecting part with the connection mechanism; a force estimated value output part configured to decide on reflection of updating and interruption of updating of a force estimated value based on the position command value, and output either of a force estimated value reflecting updating, or a force estimated value of when interrupting updating; and a compensation amount generation part configured to generate a compensation amount for compensating the position command value.

Abstract: A controller and a laser processing device having the controller, capable of reducing time for switching feedback control to gap control, and capable of moving a processing nozzle relative to a workpiece so that an amount of change in acceleration when switching is minimized. The controller has: a deceleration start distance calculating part which calculates a deceleration start distance corresponding to a distance between the nozzle and the workpiece when deceleration of approach motion of the nozzle is started; a first velocity command generating part which generates a first velocity command value based on the deceleration start distance, a predetermined maximum approach velocity and deceleration rate; a second velocity command generating part which generates a second velocity command value based on a gap target value and a feedback value; and a velocity command switching part which selects one of the first and second velocity command values.

Abstract: A servomotor control device includes: a driven body configured to be driven by a servomotor; a connection mechanism configured to connect the servomotor and the driven body; a position command generation unit configured to generate a position command value for the driven body; a motor control unit configured to control the servomotor using the position command value; a force estimation part configured to estimate a force estimated value which is a drive force acting on the driven body at a connecting part with the connection mechanism; and a compensation amount generation part configured to generate a compensation amount for compensation the position command value generated by the position command generation part, using a product of the force estimated value and a coefficient indicating a physical constant, in which the coefficient indicating the physical constant changes by the force estimated value or a magnitude of the compensation amount thus generated.

Abstract: A motor control device which controls a motor in a machine tool or an industrial machine includes: a power outage detection unit that detects a power outage of a power source which supplies electric power for driving the motor; a DC link voltage detection unit that detects a value of a DC link voltage applied to an amplifier which drives the motor; a comparison unit which compares the value of the DC link voltage with a predetermined threshold value; a torque command generation unit which generates a torque command for driving the motor; a torque limit value setting unit which sets a torque limit value in accordance with a result of a comparison by the comparison unit; and a torque command limit unit which limits the torque command to the torque limit value when a power outage is detected by the power outage detection unit.

Abstract: A servo control device includes a velocity command creation part configured to create a velocity command value for driving a servomotor; a velocity detection part configured to detect velocity of the servomotor; and a torque command creation part configured to create a torque command value using a difference between the velocity command value and the velocity detection value. The torque command creation part has an integral gain part and a proportional gain part, an integral gain and a proportional gain are obtained by multiplying a value calculated by multiplying an initial value by a ratio of load inertia of a machine relative to rotor inertia of the servomotor, by an integral gain magnification and a proportional gain magnification, respectively, and the integral gain magnification is set to a value smaller than the square of the proportional gain magnification according to a delay time of a velocity control loop.

Abstract: A servomotor controller includes a connection mechanism configured to transfer power of a servomotor to a driven body; a motor control unit configured to control the servomotor using a position command value; a first force estimation unit configured to estimate a first force estimated value which is a drive force acting on the driven body at a connecting unit with the connection mechanism; a second force estimation unit configured to estimate a second force estimated value serving as a fixed value; a selection unit configured to compare an absolute value of the first force estimated value and an absolute value of the second force estimated value to output the first or second force estimated value having the larger absolute value; and a compensation amount generation unit configured to generate a compensation amount for compensating the position command value on the basis of the first or second force estimated value.

Abstract: A servo motor controller for performing more precise machining by calculating an appropriate compensation amount for a servo motor even in the case where the servo motor performs a reversal or the like. The controller includes a command calculation part for calculating a command for a position or a speed of a servo motor, a determining part for determining that the servo motor is performing “reversal” or “movement from stop,” an acceleration calculation part for obtaining the acceleration of the servo motor based on the determination result, and a compensation amount calculation part for calculating a compensation amount for compensation of delay of the servo motor. The acceleration calculation part obtains the acceleration even after the servo motor performs “reversal” or “movement from stop.” The compensation amount calculation part calculates the compensation amount according to the obtained acceleration, even after the servo motor performs “reversal” or “movement from stop.