CN112817274B - Machine tool acceleration and deceleration time optimization method and system based on load inertia - Google Patents
Machine tool acceleration and deceleration time optimization method and system based on load inertia Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
Abstract
The invention discloses a method and a system for optimizing acceleration and deceleration time of a machine tool based on load inertia, belonging to the technical field of numerical control machining, wherein the method comprises the following steps: identifying a non-cutting section and a cutting section in the G code by analyzing the processed G code; processing the first workpiece by using the initial acceleration and deceleration time parameter, and acquiring state data in the processing process to identify and obtain the initial load inertia corresponding to each row of G codes; adjusting acceleration and deceleration time parameters corresponding to each row of G codes based on the initial load inertia and the machine tool motion control strategy to obtain an acceleration and deceleration time parameter table after first optimization; processing the next workpiece by utilizing the first optimized acceleration and deceleration time parameter table to obtain a second optimized acceleration and deceleration time parameter table; until the last workpiece is machined. Therefore, the acceleration and deceleration time parameter of the numerical control system can be quickly optimized, and the processing quality and efficiency of the numerical control system are improved to the maximum extent.
Description
Technical Field
The invention belongs to the technical field of numerical control machining, and particularly relates to a method and a system for optimizing acceleration and deceleration time of a machine tool based on load inertia.
Background
The manufacturing industry is the foundation for developing national economy, and the development of numerical control machine tools is the foundation for the development of the manufacturing industry. Along with the continuous improvement of the performance requirements of the manufacturing industry on high-grade numerical control machine tools, particularly on the premise of ensuring the machining quality of parts, the production efficiency is improved, the production cost is reduced, and the machine tool feeding system is developing towards high speed and precision. The high-speed spindle must also be matched with a high-speed feeding system to fully exert the advantages of high-speed cutting.
The acceleration and deceleration time parameter determines the magnitude of the acceleration (jerk) of the movement of the machine tool axis, and the larger the acceleration and deceleration parameter is, the smaller the acceleration (jerk) is, and the longer the time for the machine tool axis to reach the specified speed is. In order to meet the requirements of high-speed and high-precision machining, it is necessary to reasonably set acceleration and deceleration time constants in different machining feeding states. The reasonable acceleration and deceleration time constant can prevent the overshoot of the main shaft during high-speed rotation and shorten the machining time during low-speed rotation. Meanwhile, the acceleration and deceleration time constant is also influenced by the load inertia of the feeding system of the machine tool. When the load inertia is not matched with the acceleration and deceleration time constant, the machine tool is impacted by frequent acceleration and deceleration in high speed and acceleration states, the vibration mode of a feeding system of the machine tool is excited, and the processing quality of a workpiece is influenced.
In order to improve the production efficiency, shorten unnecessary processing time and improve the product quality, the optimization of processing technological parameters is paid extensive attention and research, but the optimization variables of the optimization of the processing technological parameters are the technological parameters of the rotating speed of a main shaft, the feeding speed, the back cutting amount, the milling width and the like in the processing process. The acceleration and deceleration time constant is often out of consideration. Meanwhile, inertia identification is carried out on a feeding system of the machine tool, parameter self-tuning is carried out on the basis, only the servo parameter is adjusted, and optimization of an acceleration and deceleration time constant is ignored.
When a machine tool is machined, under the influence of different feeding speeds, back-cut amounts, machining materials and other factors, the load inertia of a feeding system is different, so that the inertia of the machine tool is identified under different conditions, and the acceleration and deceleration time constant of the system is adjusted according to the load inertia. Currently, research and results on optimizing acceleration and deceleration time constants according to load inertia are very weak.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a method and a system for optimizing the acceleration and deceleration time of a machine tool based on load inertia.
In order to achieve the above object, in one aspect, the present invention provides a method for optimizing acceleration and deceleration time of a machine tool based on load inertia, including the following steps:
s1, analyzing the processed G code to identify a non-cutting section and a cutting section in the G code;
s2, processing the first workpiece by using the initial acceleration and deceleration time parameter, and acquiring state data in the processing process to identify and obtain the initial load inertia corresponding to each row of G codes;
s3, adjusting acceleration and deceleration time parameters corresponding to each row of G codes based on the initial load inertia and a machine tool motion control strategy to obtain an acceleration and deceleration time parameter table after first optimization; wherein, the acceleration and deceleration time parameter corresponding to the non-cutting interval is not adjusted;
s4, processing the next workpiece by utilizing the first optimized acceleration and deceleration time parameter table, and repeating the steps S2 and S3 to obtain a second optimized acceleration and deceleration time parameter table; until the last workpiece is machined.
Further, identifying the load inertia specifically includes:
(1) calculating an output estimation value at the k moment:
wherein the content of the first and second substances,
is the machine speed at the moment k,
is the electromagnetic torque at time k, T is the transposed symbol,
the estimated value of the load inertia at the moment k-1 is obtained;
(2) calculating error
Wherein y (k) is the actual output of the system; feeding the error e (k) back to an identification algorithm, and estimating the load inertia value of the last moment by a correction term
Correcting to obtain estimated value of load inertia at time k
(3) Using estimated value of load inertia at time k
Estimating the load torque T at time kL(k) Then use
TL(k)、
Estimating load inertia estimated value at k +1 moment
(4) And circularly iterating until the corresponding criterion function takes the minimum value.
Further, the adjusted acceleration/deceleration time parameter is expressed as:
wherein t is a reference initial acceleration and deceleration time parameter; j is the load inertia of the machine tool in a non-processing state; j. the design is a square′Is the load inertia identified during the operation of the machine tool; and m is an adjusting proportionality coefficient and is related to a machine tool motion control strategy and a machining instruction.
Further, the state data in the machining process comprises current and speed of the machine tool.
And further, selecting a machine tool motion control strategy according to the machining requirement and the machining condition, wherein the machine tool motion control strategy comprises linear acceleration and deceleration, exponential acceleration and deceleration and S-shaped curve acceleration and deceleration.
In another aspect, the present invention provides a system for optimizing acceleration and deceleration time of a machine tool based on load inertia, including:
the analysis module is used for identifying a non-cutting interval and a cutting interval in the G code by analyzing the processed G code;
the identification module is used for processing the first workpiece by utilizing the initial acceleration and deceleration time parameter and acquiring state data in the processing process so as to identify and obtain the initial load inertia corresponding to each row of G codes;
the optimization module is used for adjusting acceleration and deceleration time parameters corresponding to each row of G codes based on the initial load inertia and a machine tool motion control strategy to obtain an acceleration and deceleration time parameter table after first optimization; wherein, the acceleration and deceleration time parameter corresponding to the non-cutting interval is not adjusted;
the iteration module is used for processing the next workpiece by utilizing the first optimized acceleration and deceleration time parameter table, and repeatedly executing the operation of the identification module and the optimization module to obtain a second optimized acceleration and deceleration time parameter table; until the last workpiece is machined.
Further, the identification module is specifically configured to,
(1) calculating an output estimation value at the k moment:
wherein the content of the first and second substances,
is the machine speed at the moment k,
is the electromagnetic torque at time k, T is the transposed symbol,
the estimated value of the load inertia at the moment k-1 is obtained;
(2) calculating error
Wherein y (k) is the actual output of the system; feeding the error e (k) back to an identification algorithm, and estimating the load inertia value of the last moment by a correction term
Correcting to obtain estimated value of load inertia at time k
(3) Using estimated value of load inertia at time k
Estimating the load torque T at time kL(k) Then use
TL(k)、
Estimating load inertia estimated value at k +1 moment
(4) And circularly iterating until the corresponding criterion function takes the minimum value.
Further, the adjusted acceleration/deceleration time parameter is expressed as:
wherein t is a reference initial acceleration and deceleration time parameter; j is the load inertia of the machine tool in a non-processing state; j. the design is a square′Is the load inertia identified during the operation of the machine tool; and m is an adjusting proportionality coefficient and is related to a machine tool motion control strategy and a machining instruction.
Further, the state data in the machining process comprises current and speed of the machine tool.
And further, selecting a machine tool motion control strategy according to the machining requirement and the machining condition, wherein the machine tool motion control strategy comprises linear acceleration and deceleration, exponential acceleration and deceleration and S-shaped curve acceleration and deceleration.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) the optimization method is based on the instruction domain, the system load inertia in each processing state is identified in real time, and the acceleration and deceleration time parameters of the current G code line of the machine tool are optimized by matching the appropriate acceleration and deceleration time parameters according to the load inertia; and when the G code runs to the row in the next processing round, automatically calling the optimized parameter value. Therefore, the acceleration and deceleration time parameter of the numerical control system can be quickly optimized, and the processing quality and efficiency of the numerical control system are improved to the maximum extent.
(2) The invention provides an operation human-computer interaction interface integrated in a numerical control system, which provides a processing state information curve graph based on an instruction sequence, collects current state data in real time in the processing process, identifies the load inertia of a machine tool on line according to the processing data, and simultaneously draws the instruction sequence curve graph to comprise wave and column forms. The wavy graph is a load inertia identification result, the identification result of the load inertia tends to be stable along with the increase of an identification period, and the identification result of the load inertia is convenient to observe by using the wavy graph; and the histogram is the optimized acceleration and deceleration time parameter, the display time sequence of the histogram is slightly lower than that of a wave chart, the histogram observes the axis according to the behavior of a processing G code program, the acceleration and deceleration time parameter of each line is optimized, the optimized result is displayed at any time, the G code line of the machine tool axis motion is distinguished from the histograms of other G code lines, and the optimization and adjustment are needed only for the acceleration and deceleration time of the axis motion line. Therefore, the invention is highly integrated with the numerical control system in a seamless way, all data interaction is carried out on data in the data system, the parameter optimization and the numerical control system are synchronous in period, and complicated and unchangeable manual adjustment is avoided, so that the parameter optimization period of acceleration and deceleration time is greatly shortened, and the timeliness and effectiveness of the parameter optimization are ensured.
Drawings
FIG. 1 is a flowchart of a method for optimizing acceleration/deceleration time of a machine tool based on load inertia according to the present invention;
FIG. 2 is a graph of velocity change for three acceleration and deceleration control strategies; wherein, (a), (b), (c) are linear type acceleration and deceleration, exponential type acceleration and deceleration, S-shaped (bell type) acceleration and deceleration respectively; t is the time to accelerate from 0 to a specified speed or decelerate from a specified speed to 0; in S-type acceleration and deceleration, the acceleration process is changed to acceleration, the acceleration is increased from 0 to a stable value, the acceleration is started to accelerate at a constant speed, then the speed is changed to decelerate, T2 is the acceleration change (increase or decrease) time, T1 is the time from the start of acceleration to the end of the uniform acceleration stage, and the acceleration is obtained by calculation according to the set speed and T1;
FIG. 3 is a graph showing a waveform of a load inertia identification result according to the present invention; wherein N1, N2 and N3 … … Nn represent the line number of the G code program; the Y axis of the ordinate represents the identified inertia result, the G code line is moved on each axis for inertia identification, the inertia identification result gradually converges along with the acquired data, and the identification result is stable; in the non-axial moving process, inertia identification is not carried out on a feeding system of the machine tool, and an identification result curve is a horizontal line;
FIG. 4 is a graph showing a load inertia based acceleration and deceleration time parameter optimization curve according to the present invention; wherein, N1, N2 and N3 … … Nn represent line numbers of a G code program, a, b and b … … represent acceleration and deceleration time parameters after optimization of corresponding lines, a light-colored bar chart represents that the line program is an axis moving program and the acceleration and deceleration time parameters need to be modified, and a dark-colored bar chart represents a non-axis moving line program and the acceleration and deceleration time parameters do not need to be modified; the Y axis of the ordinate represents the current acceleration and deceleration time parameter value, and the height of each histogram is determined by the load inertia identified by the G code line and the selected acceleration and deceleration control strategy;
fig. 5 is a schematic diagram of a process for online modification of acceleration/deceleration time parameters provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, the invention provides a method for optimizing acceleration and deceleration time of a machine tool based on load inertia, which comprises the following steps:
step 1: firstly, a non-cutting interval and a cutting interval in a G code are identified by analyzing the processed G code, for a non-cutting process such as G00, each motion axis mainly completes a fast moving positioning task, and static load inertia can not change under the condition of the same tool, fixture and part; for the cutting process, the dynamic load inertia of the machine tool shaft changes due to the action of the cutting force of the cutter; therefore, in the two cases, load inertia needs to be identified respectively, and acceleration and deceleration time constants of different axes, such as fanuc system 1620/1621 parameters, are optimized according to different load inertias.
Step 2: generally, a numerical control system manually adjusts the acceleration and deceleration strategy according to different processing requirements, such as the linear/bell-type acceleration and deceleration of a fanuc system. Different acceleration and deceleration control strategies can cause different impacts and vibrations to the machine tool in the machining process, and influence the machining quality of workpieces. For the occasions with low requirement on the machining precision, such as rough machining, or for auxiliary motions of starting, stopping, feeding and retracting and the like, linear acceleration and deceleration control is adopted, the continuity of the speed is mainly ensured, the acceleration has sudden change at the starting point and the ending point of the speed acceleration and deceleration stage, in addition, the speed transition is not smooth enough, and the motion precision is low. The exponential acceleration and deceleration has good smoothness and high motion progress compared with the linear acceleration and deceleration, and acceleration sudden change still exists at the starting point and the end point of the acceleration and deceleration, so that the linear acceleration and deceleration has certain flexible impact, has higher requirement on tracking response of a machine tool, and can be used in cutting feed or manual feed motion. The acceleration of the S-shaped acceleration and deceleration at any point is continuously changed, so that the flexible impact is avoided, the speed smoothness is good, the motion precision is high, the requirements on a machine tool and a system are high, and the S-shaped acceleration and deceleration device is suitable for high-speed and high-precision machining occasions. The selection of the specific acceleration and deceleration strategy needs to be selected according to the actual machining requirements and machining conditions according to the experience of the machining personnel. The different acceleration and deceleration strategies have different adjustments on the acceleration and deceleration time, and as shown in fig. 2, the optimization of the acceleration and deceleration time parameters according to the inertia change is realized according to the acceleration and deceleration control strategy set by the system.
And step 3: and (3) acquiring data in the processing process through processing of the first workpiece, wherein the acceleration and deceleration time parameters of the system are not modified in the step. The method needs to identify the inertia first and optimizes the acceleration and deceleration time parameters according to the inertia. The inertia identification firstly needs to acquire state data of the machine tool in cutting machining, so that a workpiece needs to be processed in a trial mode, and initial inertia and optimized acceleration and deceleration time parameters are acquired through the workpiece. Workpieces that are subsequently processed at this point may be iteratively identified and optimized. The result of inertia identification is shown in fig. 3, and is displayed in real time in the human-computer interface. And calculating the electromagnetic torque in the shaft motion acceleration process according to the torque constant (if the motor does not provide the torque constant, the electromagnetic torque can be calculated according to the maximum current, the maximum torque or the locked-rotor current and the locked-rotor torque).
The dynamic model of the mechanical part of the servo system is described by a differential equation as follows:
wherein: t ise-is the electromagnetic torque of the motor; omegar-motor rotational speed (rad/s); j. the design is a squarem-the servo motor moment of inertia; j. the design is a squareL-equivalent moment of inertia of the rotor of the motor; t isLThe servo motor is subjected to a load torque.
The inertia identification mainly comprises the steps of utilizing input and output data which can be measured by a system, and the measurable data involved in the inertia identification can be seen to be data such as current, speed and the like according to the formula, and the load inertia is estimated according to a certain criterion.
In off-line identification, T in the differential equation can be eliminated by designing a periodic excitation signalLHowever, during the machining process, the machine tool is operated according to the actual machining program, TLThe term cannot be eliminated and can only be obtained by iterative methods. Firstly, initializing load inertia and load torque, and gradually approaching to an accurate value through an iterative method.
To obtain an estimate of the moment of inertia
Adopting a gradual approximation method, and estimating the value of the object parameter at the k moment according to the k-1 moment
Torque estimation value TL(k-1) and input data
(electromagnetic torque calculated from current), an output estimation value (machine speed) at the present time is calculated:
calculating an estimation error
y (k) is the actual output of the system. Then the output estimation error is fed back to the identification algorithm, and the estimation value of the last moment is obtained through the correction term
Correction is performed to calculate an estimated value at time k. Using estimated value of moment of inertia of load at time k
Estimating the load torque T at time kL(k) Then use
TL(k)、
To estimate the value at time k + 1.
And iterating the loop until the corresponding criterion function takes the minimum value, and estimating the output value
The actual output value y (k) of the system has also been approximated,estimated value of moment of inertia
Also substantially close to the actual parameter value.
Regarding initial values of load inertia and load torque, a range can be estimated according to experience, generally, the minimum equivalent rotational inertia of a system is a factory value of rotor inertia on a motor parameter manual, and the equivalent value of the load inertia does not exceed 10 times of the rotor inertia; the equivalent torque of the motor load is 0 in no-load (non-cutting processing stage), and the maximum equivalent torque does not exceed 3 times of the rated torque of the motor, so that an empirical range [ J ] of load inertia and load torque can be obtainedmin,Jmax]And [ TLmin,TLmax]The initial value may be determined within this range.
And 4, step 4: and matching a proper acceleration and deceleration time constant according to the identified inertia result and the selected acceleration and deceleration control strategy. The initial acceleration and deceleration time parameter set according to the servo parameter of the machine tool and the like is t, and the acceleration and deceleration time parameter after the adjustment according to the identified inertia comprises the following parameters:
wherein t is an initial acceleration and deceleration time parameter as a reference; j is the inertia of the machine tool in a non-processing state; j. the design is a square′Is the load inertia identified during the operation of the machine tool; and m is an adjusting proportion coefficient related to an acceleration and deceleration control strategy, a machining instruction speed and the like, and is obtained according to machining experience.
And generating optimized acceleration and deceleration time parameters and machine tool axis information corresponding to each line of G codes. The generation time sequence of the optimization result of the acceleration and deceleration time constant lags behind a row of G codes of the inertia identification result. Because the load inertia identification result of the row needs to be obtained first to further match and optimize the acceleration and deceleration time constant. The optimization result is shown in fig. 4, and the display of the optimization result lags the recognition result by one G code line in time sequence.
And 5: and modifying the acceleration and deceleration time parameter online. The optimization result generated in the complete machining process of the previous workpiece is stored in a parameter table, and the acceleration and deceleration time parameters are modified according to the machining process when the next workpiece is machined, as shown in fig. 5.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A machine tool acceleration and deceleration time optimization method based on load inertia is characterized by comprising the following steps:
s1, analyzing the processed G code to identify a non-cutting section and a cutting section in the G code;
s2, processing the first workpiece by using the initial acceleration and deceleration time parameter, and acquiring state data in the processing process to identify and obtain the initial load inertia corresponding to each row of G codes;
s3, adjusting acceleration and deceleration time parameters corresponding to each row of G codes based on the initial load inertia and a machine tool motion control strategy to obtain an acceleration and deceleration time parameter table after first optimization; wherein, the acceleration and deceleration time parameter corresponding to the non-cutting interval is not adjusted; the adjusted acceleration and deceleration time parameter is expressed as:
wherein t is a reference initial acceleration and deceleration time parameter; j is the load inertia of the machine tool in a non-processing state; j' is the load inertia identified during the operation of the machine tool; m is a proportional coefficient which is related to a machine tool motion control strategy and a machining instruction;
s4, processing the next workpiece by utilizing the first optimized acceleration and deceleration time parameter table, and repeating the steps S2 and S3 to obtain a second optimized acceleration and deceleration time parameter table; until the last workpiece is machined.
2. The method for optimizing acceleration/deceleration time of a machine tool based on load inertia according to claim 1, wherein the step of identifying the load inertia specifically comprises:
(1) calculating an output estimation value at the k moment:
wherein the content of the first and second substances,
is the machine speed at the moment k,
is the electromagnetic torque at time k, T is the transposed symbol,
the estimated value of the load inertia at the moment k-1 is obtained;
(2) calculating error
Wherein y (k) is the actual output of the system; feeding the error e (k) back to an identification algorithm, and estimating the load inertia value of the last moment by a correction term
Correcting to obtain estimated value of load inertia at time k
(3) Using estimated value of load inertia at time k
Estimating the load torque T at time kL(k) Then use
TL(k)、
Estimating load inertia estimated value at k +1 moment
(4) And circularly iterating until the corresponding criterion function takes the minimum value.
3. The method of claim 1, wherein the in-process state data includes current and speed of the machine tool.
4. The method for optimizing acceleration/deceleration time of a machine tool based on load inertia according to claim 1, wherein a machine tool motion control strategy is selected according to the processing requirement and the processing condition, and the machine tool motion control strategy comprises linear acceleration/deceleration, exponential acceleration/deceleration and S-shaped curve acceleration/deceleration.
5. A machine tool acceleration and deceleration time optimization system based on load inertia is characterized by comprising:
the analysis module is used for identifying a non-cutting interval and a cutting interval in the G code by analyzing the processed G code;
the identification module is used for processing the first workpiece by utilizing the initial acceleration and deceleration time parameter and acquiring state data in the processing process so as to identify and obtain the initial load inertia corresponding to each row of G codes;
the optimization module is used for adjusting acceleration and deceleration time parameters corresponding to each row of G codes based on the initial load inertia and a machine tool motion control strategy to obtain an acceleration and deceleration time parameter table after first optimization; wherein, the acceleration and deceleration time parameter corresponding to the non-cutting interval is not adjusted; the adjusted acceleration and deceleration time parameter is expressed as:
wherein t is a reference initial acceleration and deceleration time parameter; j is the load inertia of the machine tool in a non-processing state; j' is the load inertia identified during the operation of the machine tool; m is a proportional coefficient which is related to a machine tool motion control strategy and a machining instruction;
the iteration module is used for processing the next workpiece by utilizing the first optimized acceleration and deceleration time parameter table, and repeatedly executing the operation of the identification module and the optimization module to obtain a second optimized acceleration and deceleration time parameter table; until the last workpiece is machined.
6. The system of claim 5, wherein the identification module is configured to identify the machine tool acceleration and deceleration time based on the load inertia,
(1) calculating an output estimation value at the k moment:
wherein the content of the first and second substances,
is the machine speed at the moment k,
is the electromagnetic torque at time k, T is the transposed symbol,
the estimated value of the load inertia at the moment k-1 is obtained;
(2) calculating error
Wherein y (k) is the actual output of the system; feeding the error e (k) back to an identification algorithm, and estimating the load inertia value of the last moment by a correction term
Correcting to obtain estimated value of load inertia at time k
(3) Using estimated value of load inertia at time k
Estimating the load torque T at time kL(k) Then use
TL(k)、
Estimating load inertia estimated value at k +1 moment
(4) And circularly iterating until the corresponding criterion function takes the minimum value.
7. The system of claim 5, wherein the in-process state data comprises machine current, speed.
8. The system for optimizing acceleration/deceleration time of a machine tool based on load inertia according to claim 5, wherein the motion control strategy of the machine tool is selected according to the processing requirement and the processing condition, and comprises linear acceleration/deceleration, exponential acceleration/deceleration and S-shaped curve acceleration/deceleration.
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| CN109085801A (en) * | 2017-06-14 | 2018-12-25 | 发那科株式会社 | The control device of motor |
| CN109085802A (en) * | 2017-06-14 | 2018-12-25 | 发那科株式会社 | The control device of motor |
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| CN109085801A (en) * | 2017-06-14 | 2018-12-25 | 发那科株式会社 | The control device of motor |
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