Abstract: A system for path command generation includes an industrial machine, an interface accessible via a remote device, and a server communicably coupled to the industrial machine and the remote device via a network. The server includes processing circuitry configured to calculate an optimum path command, simulate the optimum path command based on the calculation of the optimum path command, calculate a cycle time and error of the path command, determine if the path command is acceptable, and transmit path command data to the industrial machine in response to the acceptable path command being selected.

Abstract: A system for path command generation includes an industrial machine, an interface accessible via a remote device, and a server communicably coupled to the industrial machine and the remote device via a network. The server includes processing circuitry configured to calculate an optimum path command, simulate the optimum path command based on the calculation of the optimum path command, calculate a cycle time and error of the path command, determine if the path command is acceptable, and transmit path command data to the industrial machine in response to the acceptable path command being selected.

Abstract: An apparatus for controlling conveyance between rollers includes: a tension-control-amount-detector; a speed-shaft-speed-controller; a tension-shaft-speed-controller; a synchronous-speed-command-generation-unit synchronizing the speed-shaft speed command with a tension-shaft reference speed command; a tension-control-calculation-unit outputting a tension-control correction value based on proportional compensation based on a proportional gain, and integral compensation based on an integral gain; an adjustment-execution-command-generation-unit outputting an adjustment execution command during an automatic adjustment period; a binary-output-unit outputting one of positive and negative values of the additional-value amplitude as an additional value in adjustment during the automatic adjustment period; a tension-shaft-speed-command-generation-unit outputting a tension-shaft speed command based on the tension-shaft reference speed command, the tension-control correction value and the additional value in adjustment;

Abstract: An inter-roller conveyance control device conveying an object to be conveyed between a speed shaft roller driven by a speed shaft motor and a tension shaft roller driven by a tension shaft motor while providing tension to the object includes a gain table that stores a plurality of pairs of a conveyance condition variable changing while the object to be conveyed is conveyed and affecting an appropriate value of a control parameter and a control parameter candidate value that is an appropriate control parameter where, when the conveyance condition variable is changed, the device performs calculation on the basis of the conveyance condition variable and a gain calculation result and writes, into the gain table, the control parameter candidate value and the conveyance condition variable in association with each other when the calculation is completed.

Abstract: An inter-roller conveyance control device conveying an object to be conveyed between a speed shaft roller driven by a speed shaft motor and a tension shaft roller driven by a tension shaft motor while providing tension to the object includes a gain table that stores a plurality of pairs of a conveyance condition variable changing while the object to be conveyed is conveyed and affecting an appropriate value of a control parameter and a control parameter candidate value that is an appropriate control parameter where, when the conveyance condition variable is changed, the device performs calculation on the basis of the conveyance condition variable and a gain calculation result and writes, into the gain table, the control parameter candidate value and the conveyance condition variable in association with each other when the calculation is completed.

Abstract: A positioning control device according to an embodiment includes an amplifier that includes a converter that rectifies and outputs an AC power supply to bus-bars; a smoothing capacitor that smoothes an output of the converter and generates a bus voltage; a regenerative resistance and a regenerative transistor; an inverter that supplies a drive current; and a command generation unit that generates a position command value for positioning control of a mechanical load in accordance with a command pattern. The inverter is connected between the bus-bars and supplies the drive current. The command generation unit acquires a regenerative-power-amount estimated value and an energy value storable in the smoothing capacitor; and on the basis of a result of a comparison between these values, it decides whether to use the position command value on the basis of the command pattern.

Abstract: An apparatus for controlling conveyance between rollers includes: a tension-control-amount-detector; a speed-shaft-speed-controller; a tension-shaft-speed-controller; a synchronous-speed-command-generation-unit synchronizing the speed-shaft speed command with a tension-shaft reference speed command; a tension-control-calculation-unit outputting a tension-control correction value based on proportional compensation based on a proportional gain, and integral compensation based on an integral gain; an adjustment-execution-command-generation-unit outputting an adjustment execution command during an automatic adjustment period; a binary-output-unit outputting one of positive and negative values of the additional-value amplitude as an additional value in adjustment during the automatic adjustment period; a tension-shaft-speed-command-generation-unit outputting a tension-shaft speed command based on the tension-shaft reference speed command, the tension-control correction value and the additional value in adjustment;

Abstract: A positioning control device according to an embodiment includes an amplifier that includes a converter that rectifies and outputs an AC power supply to bus-bars; a smoothing capacitor that smoothes an output of the converter and generates a bus voltage; a regenerative resistance and a regenerative transistor; an inverter that supplies a drive current; and a command generation unit that generates a position command value for positioning control of a mechanical load in accordance with a command pattern. The inverter is connected between the bus-bars and supplies the drive current. The command generation unit acquires a regenerative-power-amount estimated value and an energy value storable in the smoothing capacitor; and on the basis of a result of a comparison between these values, it decides whether to use the position command value on the basis of the command pattern.

Abstract: A servo control device includes a follow-up control unit that controls a control target that drives a mechanical system by a motor, a command function unit that has input therein a phase signal ? indicating a phase of a cyclic operation performed by the control target, and that calculates a machine motion command according to the phase signal ? by a preset first function, a second derivative unit that uses a second function obtained by second-order differentiating the first function with respect to the phase signal to calculate a value of the second function according to the phase signal as a second-order differential base signal, a correction-value computation unit that computes a first command correction value for correcting the motor motion command by using a product of a square value of the phase velocity, the second-order differential base signal, and a first constant, and a correction-value addition unit that calculates the motor motion command based on an added value of the first command correction val

Abstract: A motor control device includes: a feedforward computing section for computing a motion reference value and a feedforward driving force based on a motion command; a deviation compensation computing section for outputting a deviation compensation driving force by a control computation for reducing a control deviation; a driving-force command synthesizing section for outputting a driving-force command based on the feedforward driving force and the deviation compensation driving force; a reaction-force compensation computing section for computing a motion correction value based on a predetermined reaction-force reference value and the deviation compensation driving force; and a control-deviation computing section for computing the control deviation based on a deviation between the motion reference value and a motor motion detection value, and the motion correction value.

Abstract: Provided is a motor control device which realizes automatic adjustment of control of a motor for driving a mechanical load through a simple operation. The motor control device includes: a follow-up control unit (6) for receiving detection information of a detector (3) to output a torque command signal and output a status of motor control of a motor (1) as a control status amount signal, when a command signal regarding the motor control to be output from an upper-level controller is absent; an oscillation detection unit (9) for receiving the control status amount signal and detecting oscillation of a control status amount to output an oscillation detection signal; and an automatic adjustment unit (10) for receiving the oscillation detection signal to monitor a control status of the motor (1) and adjust a control parameter of the follow-up control unit (6) only when abnormality is detected.

Abstract: A servo control device includes a follow-up control unit that controls a control target that drives a mechanical system by a motor, a command function unit that has input therein a phase signal ? indicating a phase of a cyclic operation performed by the control target, and that calculates a machine motion command according to the phase signal ? by a preset first function, a second derivative unit that uses a second function obtained by second-order differentiating the first function with respect to the phase signal to calculate a value of the second function according to the phase signal as a second-order differential base signal, a correction-value computation unit that computes a first command correction value for correcting the motor motion command by using a product of a square value of the phase velocity, the second-order differential base signal, and a first constant, and a correction-value addition unit that calculates the motor motion command based on an added value of the first command correction val

Abstract: An electronic cam control device includes an electronic-cam-curve generating unit configured to generate an electronic cam curve to pass a plurality of designated coordinates that define a relation between a main shaft position and a driven shaft position and an output unit configured to output the driven shaft position corresponding to the main shaft position. The electronic-cam-curve generating unit generates the electronic cam curve to include a section where a waveform of cam velocity obtained by differentiating the electronic cam curve with respect to the main shaft position changes to fixed cam velocity in each of regions, which are regions among the designated coordinates, and include a monotonous acceleration or deceleration section that connects sections where the waveform of the cam velocity changes to the fixed cam velocity by accelerating or decelerating while monotonously increasing or monotonously decreasing between adjacent regions.

Abstract: There are provided a command speed calculation means (101) for outputting a command speed (?r) from a base speed (?b) and a ratio gain (?), reference speed generation means (108) calculating a reference speed (?a) so as to follow the command speed (?r) based on the command speed (?r), control deviation calculation means (103) for outputting a control deviation (e) from a speed deviation (?e) and a speed deviation correction value (?ec), speed control means (104) for outputting a compensation torque (?m) for decreasing the control deviation (e), speed deviation correction means (105) for calculating the speed deviation correction value (?ec) from at least the compensation torque (?m), command torque calculation means (107) for outputting a command torque (?r) from at least the compensation torque (?m) and ratio calculation means (102) for calculating the ratio gain (?) from the speed deviation (?e).

Abstract: There are provided a command speed calculation means (101) for outputting a command speed (?r) from a base speed (?b) and a ratio gain (?), reference speed generation means (108) calculating a reference speed (?a) so as to follow the command speed (?r) based on the command speed (?r), control deviation calculation means (103) for outputting a control deviation (e) from a speed deviation (?e) and a speed deviation correction value (?ec), speed control means (104) for outputting a compensation torque (?m) for decreasing the control deviation (e), speed deviation correction means (105) for calculating the speed deviation correction value (?ec) from at least the compensation torque (?m), command torque calculation means (107) for outputting a command torque (?r) from at least the compensation torque (?m) and ratio calculation means (102) for calculating the ratio gain (?) from the speed deviation (?e).

Abstract: A motor control device includes: a feedforward computing section for computing a motion reference value and a feedforward driving force based on a motion command; a deviation compensation computing section for outputting a deviation compensation driving force by a control computation for reducing a control deviation; a driving-force command synthesizing section for outputting a driving-force command based on the feedforward driving force and the deviation compensation driving force; a reaction-force compensation computing section for computing a motion correction value based on a predetermined reaction-force reference value and the deviation compensation driving force; and a control-deviation computing section for computing the control deviation based on a deviation between the motion reference value and a motor motion detection value, and the motion correction value.

Abstract: Provided is a motor control device which realizes automatic adjustment of control of a motor for driving a mechanical load through a simple operation. The motor control device includes: a follow-up control unit (6) for receiving detection information of a detector (3) to output a torque command signal and output a status of motor control of a motor (1) as a control status amount signal, when a command signal regarding the motor control to be output from an upper-level controller is absent; an oscillation detection unit (9) for receiving the control status amount signal and detecting oscillation of a control status amount to output an oscillation detection signal; and an automatic adjustment unit (10) for receiving the oscillation detection signal to monitor a control status of the motor (1) and adjust a control parameter of the follow-up control unit (6) only when abnormality is detected.

Abstract: An accurate load position control is made possible even when rigidity of a load drive system using a motor is relatively low. Load position signal xl is a present-position measurement value of a load, and after compensation in response to a phase delay thereof has been performed by a stability compensation circuit, the high-frequency portion thereof is taken as a control-target position signal xfb by replacing, in a position-signal combination circuit, a motor position signal xm as a present-position measurement value of a motor, and then the control-target position signal xfb is fed back to a position control circuit. Thereby, a torque command signal indicating a torque target value for driving the load is outputted.

Abstract: In order to simultaneously realize an improvement in disturbance suppression force of an electric motor control apparatus and vibration suppression of a load machine, a velocity control circuit receives a velocity command signal as a target value of velocity of an electric motor and a corrected velocity signal, obtained by correcting a velocity signal with a velocity correction signal, and outputs a torque command signal specifying target torque of the electric motor driving the load machine. A vibration suppression circuit outputs a velocity correction signal, based on an acceleration signal, indicating acceleration of the load machine. A transfer function from the acceleration signal to the torque command signal is obtained by multiplying a transfer function from a position signal, indicating position of the electric motor to the torque command signal, by a proportion characteristic having a specified gain and integration characteristic.

Abstract: Even when rigidity of a load drive system using a motor is relatively low, by performing a load position control in which a load position signal is fed back as stable as a semi-closed control system in which only a motor position signal is fed back, an accurate load position control can be made possible. Therefore, regarding a load position signal xl as a present-position measurement value of a load 20, after compensation in response to a phase delay thereof has been performed by a stability compensation circuit 80, the high-frequency portion thereof is taken as a control-target position signal xfb by replacing, in a position-signal combination circuit 90, by a motor position signal xm as a present-position measurement value of a motor 30, and then the control-target position signal xfb is fed back to a position control circuit 110; thereby, a torque command signal indicating a torque target value that the motor 30 drives the load 20 is configured to be outputted.