This servo system is a servo system in which a host apparatus and a plurality of servo amplifiers transmit and receive a communication signal. Each of the servo amplifiers includes a servo computation unit configured to perform servo computation processing, a communication unit configured to transmit and receive the communication signal, a storage unit configured to save servo computation information in the servo computation processing as history data, and a trigger information processor configured to set, in advance, a save stop condition for stopping saving the history data, determine, for each servo computation period, whether the save stop condition is matched, and notify, when the save stop condition is matched, the communication unit of a determination result indicating detection of a trigger as a trigger detection flag.

A motor control apparatus including a controller that controls a servo motor or a spindle motor and includes a switching determining part that determines a switching condition of the controller based on axis position information on a motor related to control of the motor control apparatus, a machine learning part that adjusts one or more parameters for the controller by machine learning for each switching condition, and a parameter holding part that holds the parameter adjusted by the machine learning part for each switching condition. The switching determining part, when determining the switching condition after adjustment of the parameter, uses the adjusted parameter corresponding to the switching condition in the controller. The apparatus enables changing, and automatic adjustment, of a parameter or controller to be used depending on a switching condition of the parameter related to axis position information or a switching condition of the controller using the parameter.

A control device for a machine tool to efficiently and successively produce a plurality of different-shaped products is provided. In the control device, each driving shaft of modules is assigned to different control systems. The device includes a multi-system program storage part for storing a plurality of multi-system programs to machine a workpiece in different shapes, a multi-system program dividing part for dividing the multi-system programs into machining programs, a divided program storage part for storing the divided machining programs individually, a system-based program storage part for storing the machining programs each corresponding to each of the control systems, and a machining program selection part for selecting a predetermined machining program from the divided program storage part in accordance with the machining step to be performed and for alternately storing the selected machining programs in two program storage parts of the system-based program storage part for the respective control systems.

A numerical controller includes a command analysis unit for analyzing the machining program in which the axis movement command for a plurality of sections is described in one block of the machining program in a reading processing for the one block to specify a plurality of coordinate values or movement amounts, and a block information generation unit for generating the block information for the plurality of sections based on the plurality of coordinate values or movement amounts. Each of one or more addresses is described only once and a plurality of command values corresponding to the respective addresses is described according to a predetermined order in the axis movement command, and the command analysis unit specifies a correlation between the addresses and the command values according to the order.

A machine learning device performs machine learning with respect to a servo motor controller that converts a three-phase current to a two-phase current of the d- and q-phase. The machine learning device includes: a state information acquisition unit configured to acquire, from the servo motor controller, state information including velocity or a velocity command, reactive current, and an effective current command and effective current or a voltage command; an action information output unit configured to output action information including a reactive current command to the servo motor controller; a reward output unit configured to output a value of a reward of reinforcement learning based on the voltage command or the effective current command and the effective current; and a value function updating unit configured to update a value function on the basis of the output value of the reward, the state information, and the action information.

This method for controlling an industrial robot comprising a moving robot arm provided with at least one electric motor suitable for moving this robot arm includes the following steps: a) the execution (1000), by a central unit, of a control program of the robot arm and, in response, the calculation and sending of position instructions of the robot arm; b) generation (1004) of supply voltages of the motor by an axis controller as a function of the calculated position instructions, implementing cascading regulators including at least one entry point receiving an input signal; and c) controlling (1006) the motor with the generated supply voltages.
During step b), a sound excitation signal is superimposed with the input signal of one of the regulators to form a composite signal, the supply voltages being generated as a function of the composite signal.

Provided is a method for identifying a disturbance component, including: when a vibration frequency included in a position deviation or a synchronization error between a tool axis and a workpiece axis is defined as fd, and a sampling frequency of a sampling period, which is a time from when a tool cuts a single tooth trace on a workpiece until the tool again cuts the same tooth trace, is defined as Fs, determining a frequency Fa of undulation in a tooth trace direction from a formula:

Fa=MIN|fdNFs|,

where N is a natural number,

calculating a pitch of undulation in the tooth trace direction using the formula and a speed of the tool axis in a feed direction; and when the calculated pitch and a measured value of the pitch match, determining that fd is the disturbance component.

The servo controller is provided with a command reception unit and a servo control computation unit. In a measurement mode, the command reception unit asynchronously receives with every command reception period a counter output by the control device with every command update period. The servo controller is further provided with an event detection unit configured to detect the occurrence of an event which entails variation in reception intervals of the counter in the measurement mode, a deviation calculation unit configured to calculate a deviation amount between respective clocks of the control device and the servo controller, based on an occurrence period of the event and the command reception period, in the measurement mode, and a reception period adjustment unit configured to adjust the command reception period based on the deviation amount in an operation mode.

Provided is a controller for controlling a gear cutting machine having a plurality of axes, the controller including an axis information storage unit configured to store data related to control of the plurality of axes during machining, and a disturbance component identification unit configured to identify a component of disturbance with respect to the plurality of axes using the data stored by the axis information storage unit and measurement results of machining accuracy of a workpiece machined by the cutting machine.

A numerical controller, which reciprocates a parent axis and a child axis according to a predetermined synchronization ratio by multi-axis synchronization control, is provided with a command decoding unit configured to decode a command including a plurality of command blocks, a distribution processing unit configured to generate a distribution movement amount, which is an amount of movement for each control period of a motor, based on the command blocks, an end-point correction unit configured to perform first correction processing for correcting the distribution movement amount so that a feedback position of the child axis reaches an end point, which is a turning point of the reciprocating motion, and second correction processing for recovering synchronization destroyed by the first correction processing, and a motor control unit configured to drivingly control the motor based on the corrected distribution movement amount.