WO2023139763A1 - Dispositif de commande - Google Patents

Dispositif de commande Download PDF

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Publication number
WO2023139763A1
WO2023139763A1 PCT/JP2022/002257 JP2022002257W WO2023139763A1 WO 2023139763 A1 WO2023139763 A1 WO 2023139763A1 JP 2022002257 W JP2022002257 W JP 2022002257W WO 2023139763 A1 WO2023139763 A1 WO 2023139763A1
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WO
WIPO (PCT)
Prior art keywords
buffer motor
speed
unit
emergency stop
command
Prior art date
Application number
PCT/JP2022/002257
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English (en)
Japanese (ja)
Inventor
大亮 小林
敬介 辻川
Original Assignee
ファナック株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ファナック株式会社 filed Critical ファナック株式会社
Priority to PCT/JP2022/002257 priority Critical patent/WO2023139763A1/fr
Publication of WO2023139763A1 publication Critical patent/WO2023139763A1/fr

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    • G—PHYSICS
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]

Definitions

  • the present invention relates to a control device.
  • a mechanism that uses the regenerated power of the motor to reduce power consumption For example, as shown in FIG. 5, a motor different from the driving motor of the industrial machine is previously driven at a predetermined speed (hereinafter referred to as base speed). Then, other motors are decelerated in accordance with the timing at which power is consumed in the industrial machine. Then, regenerative electric power is generated from other motors, and by using this, power consumption can be suppressed.
  • Other motors installed for such purposes are referred to herein as buffer motors.
  • the buffer motor accelerates and decelerates based on the base speed so as to reduce the peak power according to the operation of the drive motor.
  • DBM dynamic brake module
  • the DBM is a mechanism that causes rotational energy to be consumed by heat by short-circuiting terminals of a servomotor via a resistor.
  • the motor can be quickly stopped without coasting during an emergency stop.
  • the emergency stop is applied frequently, the DBM becomes hot and cannot be used. Therefore, in some cases, buffer motors that do not pose a serious danger even if they are not stopped quickly in an emergency are used without incorporating a DBM.
  • FIG. 6 is a graph illustrating changes in speed, power consumption, and command speed of the buffer motor when the emergency stop is canceled while the buffer motor is coasting.
  • an emergency stop is applied at time t1, and then the cause of the emergency stop is resolved and the emergency stop is canceled at time t2.
  • the buffer motor is driven to maintain a predetermined base speed Vb.
  • the control device solves the above problems by applying a torque limit value to the buffer motor that is within the permissible power consumption from the time the emergency stop is canceled until the base speed is restored.
  • One aspect of the present disclosure is a control device that controls a buffer motor supplied with power from a common power source with a drive motor that drives an industrial machine, comprising: an emergency stop detection unit that detects an emergency stop state; a buffer motor command generation unit that outputs a command to return to a base speed that is a reference rotation speed for supplying power; a command speed maintaining unit for commanding the buffer motor command generation unit; a base speed reach determination unit for determining whether the buffer motor has reached a base speed; a torque limit command unit for commanding a torque limit of the buffer motor during returning to the base speed after the emergency stop detection unit detects the emergency stop until the base speed arrival determination unit determines that the buffer motor has reached the base speed; and a buffer motor control unit for controlling a torque in the buffer motor when returning to the base speed after canceling the emergency stop.
  • FIG. 1 is a schematic hardware configuration diagram of a control device according to an embodiment of the present invention
  • FIG. 3 is a block diagram showing schematic functions of a control device according to the first embodiment of the present invention
  • FIG. 10 is a diagram illustrating speed detection delay
  • FIG. 4 is a diagram for explaining how the control device according to the first embodiment reduces regenerative power and power consumption of a buffer motor when emergency stop is canceled
  • FIG. 5 is a diagram for explaining reduction of power consumption peaks using regenerative power of a buffer motor
  • 7 is a graph illustrating changes in speed, power consumption, and command speed of the buffer motor when an emergency stop is canceled while the buffer motor is coasting;
  • FIG. 1 is a schematic hardware configuration diagram showing essential parts of a control device according to a first embodiment of the present invention.
  • the control device 1 of the present invention can be implemented, for example, as a control device that controls industrial machines such as machine tools and robots based on control programs.
  • the CPU 11 included in the control device 1 is a processor that controls the control device 1 as a whole.
  • the CPU 11 reads a system program stored in the ROM 12 via the bus 22 and controls the entire control device 1 according to the system program.
  • the RAM 13 temporarily stores calculation data, display data, various data input from the outside, and the like.
  • the non-volatile memory 14 is composed of, for example, a memory backed up by a battery (not shown) or an SSD (Solid State Drive), and retains the stored state even when the control device 1 is powered off.
  • the nonvolatile memory 14 stores data obtained from the industrial machine 2, control programs and data read from the external device 72 via the interface 15, control programs and data input via the input device 71, control programs and data obtained from other devices via the network 5, and the like.
  • the control program and data stored in the nonvolatile memory 14 may be developed in the RAM 13 at the time of execution/use.
  • Various system programs such as a well-known analysis program are pre-written in the ROM 12 .
  • the interface 15 is an interface for connecting the CPU 11 of the control device 1 and an external device 72 such as a USB device. From the external device 72 side, for example, control programs and setting data used for controlling the industrial machine 2 are read. Control programs and setting data edited in the control device 1 can be stored in the external storage means via the external device 72 .
  • a PLC (programmable logic controller) 16 executes a ladder program to output and control signals to the industrial machine 2 and peripheral devices of the industrial machine 2 (for example, a tool changer, an actuator such as a robot, and a plurality of sensors 3 such as a temperature sensor and a humidity sensor attached to the industrial machine 2) via an I/O unit 19. It also receives signals from various switches on an operation panel provided on the main body of the industrial machine 2 and signals from peripheral devices, and passes the signals to the CPU 11 after performing necessary signal processing.
  • the interface 20 is an interface for connecting the CPU of the control device 1 and the wired or wireless network 5 .
  • Other industrial machines 4 such as machine tools and electrical discharge machines, fog computers 6, cloud servers 7, and the like are connected to the network 5 to exchange data with the control device 1 .
  • each data read into the memory, data obtained as a result of executing the program, etc. are output via the interface 17 and displayed.
  • An input device 71 composed of a keyboard, a pointing device, etc., transfers commands, data, etc. based on operations by an operator to the CPU 11 via the interface 18 .
  • the axis control circuit 30 for controlling the axes provided in the industrial machine 2 receives the axis movement command amount from the CPU 11 and outputs the axis command to the servo amplifier 40 .
  • the servo amplifier 40 receives this command and drives the servo motor 50 that moves the axis of the machine tool.
  • the axis servomotor 50 incorporates a position/velocity detector, and feeds back a position/velocity feedback signal from this position/velocity detector to the axis control circuit 30 to perform position/velocity feedback control.
  • Only one axis control circuit 30, one servo amplifier 40, and one servo motor 50 are shown in the hardware configuration diagram of FIG.
  • the axis control circuit 35 for controlling the buffer motor 55 receives a rotation command amount for the buffer motor 55 from the CPU 11 and outputs a command to drive the buffer motor 55 to the servo amplifier 45 .
  • the servo amplifier 45 receives this command and drives the buffer motor 55 .
  • the buffer motor 55 also incorporates a position/velocity detector, and feeds back a position/velocity feedback signal from this position/velocity detector to the axis control circuit 35 to perform position/velocity feedback control.
  • the servo amplifiers 40 and 45 are supplied with power from the common power supply 9 via the power supply path 8 .
  • FIG. 2 is a schematic block diagram showing the functions of the control device 1 according to the first embodiment of the present invention. Each function provided in the control device 1 according to the present embodiment is realized by the CPU 11 provided in the control device 1 shown in FIG.
  • the control device 1 of the present embodiment includes a command generation unit 100, a control unit 110, a power consumption calculation unit 120, a power supply calculation unit 130, a buffer motor command generation unit 140, a buffer motor control unit 150, a motor speed identification unit 155, an emergency stop detection unit 160, a command speed maintenance unit 170, a base speed attainment determination unit 180, and a torque limit command unit 190.
  • a control program 200 for controlling the operation of the industrial machine 2 is stored in advance in the RAM 13 to the nonvolatile memory 14 of the control device 1, and a setting storage section 210, which is an area for storing settings related to control of the buffer motor 55, is prepared in advance.
  • the command generation unit 100 analyzes the blocks of the control program 200 and generates commands for controlling each part of the industrial machine 2 based on the analysis results. For example, when a block of the control program 200 commands to drive each axis of the industrial machine 2, the command generated by the command generation unit 100 generates a movement command for commanding movement of the servomotor 50 according to the command of the block. Further, for example, when a block of the control program 200 commands to control a peripheral device of the industrial machine 2, a command to operate the peripheral device is generated. A command generated by the command generation unit 100 is output to the control unit 110 .
  • the command generating unit 100 temporarily stops generating commands related to the control of the industrial machine 2 when receiving notification of detection of an emergency stop from the emergency stop detecting unit 160 . Further, when receiving a notification of the detection of emergency stop cancellation from the emergency stop detection unit 160, it restarts the generation of the command related to the control of the industrial machine 2 that has been temporarily stopped.
  • the control unit 110 is realized by executing a system program read from the ROM 12 by the CPU 11 of the control device 1 shown in FIG.
  • the control unit 110 controls each part of the industrial machine 2 based on commands input from the command generation unit 100 .
  • the control unit 110 when the command input from the command generation unit 100 commands movement of the servomotor 50 of the industrial machine 2, the control unit 110 generates movement command data according to the command and outputs it to the servomotor 50.
  • the command input from the command generation unit 100 is a command to operate a peripheral device attached to the industrial machine 2, the control unit 110 generates a predetermined signal for operating the peripheral device and outputs it to the PLC 16.
  • the control unit 110 acquires position feedback, speed feedback, and torque feedback of the servomotor 50 and data detected by peripheral devices such as a temperature sensor and a humidity sensor, and uses them for controlling the industrial machine 2 .
  • the power consumption calculator 120 calculates the power consumed in driving the servomotor 50 that drives the industrial machine 2 based on the operating state and control details of the servomotor 50 that drives the industrial machine 2 by the controller 110 .
  • the power consumed in driving the servo motor 50 can be calculated, for example, based on the output V d ⁇ T d of the servo motor 50 calculated based on the rotation speed V d and the torque T d of the servo motor 50, the loss L d generated in the servo motor 50, the servo amplifier 40, and the like.
  • the loss Ld generated by the servomotor 50 and the servo amplifier 40 is sufficiently small compared to the output (absolute value) of the servomotor 50, so the power consumption may be calculated based on the output of the servomotor 50.
  • the power consumption calculator 120 may calculate the power consumed in driving the servomotor 50 at the present point in time, for example, using speed feedback and torque feedback fed back from the servomotor 50 .
  • a method for calculating power consumption is already known in, for example, Japanese Patent Application Laid-Open No. 2019-075864 and Japanese Patent Application Laid-Open No. 2019-092239, and therefore detailed description thereof will be omitted in this specification.
  • the power supply calculator 130 calculates the amount of regenerative power to be supplied from the buffer motor 55 based on the amount of power consumed in driving the servo motor 50 calculated by the power consumption calculator 120 .
  • the power supply calculation unit 130 calculates, for example, a value obtained by subtracting the power consumption calculated by the power consumption calculation unit 120 from the preset maximum available power of the common power supply 9 . If the calculated value falls below a predetermined threshold value Th d that has been set in advance, the amount of the lower value is calculated as the amount of regenerative electric power to be supplied from the buffer motor 55 .
  • the threshold Th d may be set as a positive value with a predetermined margin for safety.
  • the buffer motor command generation unit 140 When the buffer motor command generation unit 140 receives notification from the emergency stop detection unit 160 that the emergency stop has been canceled, it generates a command to control the speed of the buffer motor 55 so that it accelerates to the base speed Vb at the acceleration Ab. The command generated by the buffer motor command generator 140 is output to the buffer motor controller 150 .
  • the buffer motor control unit 150 controls the buffer motor 55 .
  • the buffer motor control unit 150 controls the buffer motor 55 so that the speed of the buffer motor 55 becomes the base speed Vb based on the base speed Vb of the buffer motor 55 and the acceleration Ab when accelerating the buffer motor to the base speed Vb, which are stored in advance in the setting storage unit 210.
  • the buffer motor control unit 150 controls the buffer motor 55 to decelerate so that regenerative power corresponding to the amount of regenerative power to be supplied from the buffer motor 55 is generated. Conversely, when the amount of regenerative power to be supplied from the buffer motor 55 input from the supply power calculation unit 130 takes a negative value, the buffer motor control unit 150 controls acceleration of the buffer motor 55 so that power consumption corresponding to the amount of regenerative power to be supplied from the buffer motor 55 is generated.
  • the buffer motor control unit 150 controls the buffer motor 55 based on the command generated by the buffer motor command generation unit 140 .
  • the buffer motor control unit 150 may control the torque of the buffer motor 55 to be equal to or less than a predetermined threshold value Tth when the buffer motor 55 is accelerated when the emergency stop is cancelled.
  • the predetermined threshold value T th is a torque value that does not consume a large amount of electric power when accelerating the buffer motor to the base speed Vb with the acceleration Ab.
  • the predetermined threshold value T th may be obtained in advance by performing experiments or the like for each type of buffer motor. Further, when instructed to maintain the command speed from the command speed maintaining unit 170, the buffer motor control unit 150 corrects the command speed from the buffer motor command generation unit 140 in accordance with the maintenance command.
  • the buffer motor control unit 150 limits the speed of the buffer motor 55 so that the torque value of the buffer motor 55 does not exceed the value commanded by the torque limit command.
  • the buffer motor control unit 150 may monitor the torque value of the buffer motor and perform feedback control to reduce the speed when the torque value exceeds the value commanded by the torque limit command.
  • the torque Ta generated during acceleration or deceleration may be calculated using the following formula (1), and the speed may be controlled so that the torque Ta can be suppressed to a value specified by the torque limit command or less.
  • Equation 1 J0 is the moment of inertia of the rotor, JL is the moment of inertia of the full load, i is the speed reduction ratio, and a is the acceleration/deceleration.
  • the motor speed identification unit 155 identifies the speed of the buffer motor 55 and outputs the identified speed of the buffer motor 55 to the buffer motor command generation unit 140 .
  • the motor speed identification unit 155 may identify the speed of the buffer motor 55 based on an input from a sensor (not shown) that detects the speed of the buffer motor 55 .
  • the speed of the buffer motor 55 it may be predicted from the past speed of the buffer motor 55 detected by a sensor. Similarly, the history of sensor detection of the speed of the buffer motor 55 may be stored, and the current speed of the buffer motor 55 may be predicted from the stored speed history. A certain amount of delay occurs between the detection of the speed of the motor by the sensor and the acquisition of the detected speed by the motor speed identification unit 155 .
  • FIG. 3 is an example in which the speed of the buffer motor 55 and the speed of the buffer motor 55 detected by the sensor of the motor speed specifying unit 155 are shown on the same graph. In FIG. 3, the solid line represents the buffer motor 55 at that time. Also, the dotted line represents the speed of the buffer motor 55 acquired by the motor speed identification unit 155 at that time.
  • the speed of the buffer motor 55 acquired by the motor speed identification unit 155 is a larger value than the actual speed of the buffer motor 55 at the same time. Therefore, if the speed of the buffer motor 55 acquired by the motor speed specifying unit 155 is used as the current speed of the buffer motor 55 when the emergency stop is canceled, sudden acceleration occurs immediately after the start of control, increasing power consumption. In order to avoid this, the motor speed specifying unit 155 calculates the past speed transition of the buffer motor 55 during the emergency stop of the buffer motor 55 acquired and the trend of change from the speed history, and predicts what value the speed of the buffer motor 55 will be after the delay time measured in advance by experiments or the like. Then, the predicted speed is output as the current speed of the buffer motor 55 .
  • the current speed of the buffer motor 55 may be predicted based on the speed of the buffer motor 55 at the time when the emergency stop was applied and the time taken from the emergency stop to the present.
  • the rate at which the motor slows down while it is coasting depends on parameters such as inertia and friction. Therefore, an experiment is performed in advance using the buffer motor 55, and the change in speed with respect to time after the emergency stop is plotted. Then, by performing regression analysis on the plotted data to create a regression equation, and using the created regression equation, the current speed of the buffer motor 55 may be predicted from the speed of the buffer motor 55 at the time when the emergency stop is applied and the time taken from the emergency stop to the present.
  • the explanatory variables of the regression equation should be the speed of the buffer motor 55 at the start of the emergency stop and the time taken from the start of the emergency stop to the present time, and the current time should be used as the objective variable.
  • machine learning using a neural network or the like as a model may be performed based on the plotted data, and the current speed of the buffer motor 55 may be predicted using the created model.
  • the speed of the buffer motor 55 at the start of the emergency stop and the time taken from the start of the emergency stop to the present time should be used as the input data of the machine learning device, and the current time should be used as the objective variable for the output data (label data).
  • Parameters such as inertia and friction of the buffer motor 55 may be used as explanatory variables of the regression equation and input data of the machine learning device.
  • data such as temperature and humidity may be added. This is because temperature and humidity affect parameters such as friction.
  • the emergency stop detection unit 160 detects an emergency stop and cancellation of the emergency stop of the industrial machine 2, and outputs the detection results to the command generation unit 100, the buffer motor command generation unit 140, the command speed maintenance unit 170, and the torque limit command unit 190.
  • the emergency stop detection unit 160 may detect an emergency stop and cancellation of the emergency stop by detecting ON/OFF of the excitation state of the servo amplifiers 40 and 45, for example. Further, emergency stop and cancellation of emergency stop may be detected by detecting, for example, a change in the state of an emergency stop signal input from the outside or an operation state of an emergency stop button or an emergency stop release button by an operator.
  • the command speed maintaining unit 170 acquires the speed of the buffer motor 55 at that time from the motor speed specifying unit 155 at the timing of the emergency stop. Then, during the period from when the emergency stop detection notification is input from the emergency stop detection part 160 until the speed of the buffer motor 55 returns to the base speed, the buffer motor control part 150 is commanded to maintain the command speed for the buffer motor 55 within the range from the emergency stop speed to the base speed.
  • the command speed maintaining unit 170 may simply command to maintain the command speed at the base speed Vb.
  • the base speed attainment determination unit 180 determines whether the buffer motor has reached the base speed Vb. Then, when it is determined that the base speed Vb has been reached, the torque limit command section 190 is notified to that effect.
  • the torque limit command unit 190 commands the buffer motor control unit 150 to limit the torque of the buffer motor 55 based on the torque limit information stored in the setting storage unit 210 .
  • the setting storage unit 210 stores in advance, for example, a torque limit value during the return of the buffer motor 55 to the base speed.
  • the torque limit command unit 190 commands the buffer motor control unit 150 to limit the torque of the buffer motor 55 to the torque limit value during the period after the emergency stop detection unit 160 notifies that the emergency stop has been canceled until the base speed attainment determination unit 180 notifies that the buffer motor 55 has reached the base speed Vb.
  • the torque limit value Tb during the return to the base speed can be calculated by the following equation (2) if the influence of iron loss and the like is ignored.
  • Vb is the base speed of the buffer motor 55
  • Wb is the allowable power consumption of the buffer motor 55.
  • This allowable power consumption Wb may be, for example, a value obtained by subtracting the allowable power value of the servomotor 50 from the allowable power value allowed in the industrial machine 2, or may be a value obtained by subtracting the instantaneous value of the power generated by the servomotor 50 from the allowable power value allowed in the industrial machine 2.
  • FIG. 4 is a graph illustrating changes in speed, power consumption, command speed, and torque limit value of the buffer motor 55 when the controller 1 according to the present embodiment controls the buffer motor 55 when the emergency stop is cancelled.
  • an emergency stop occurs at time t1, the cause of the emergency stop is resolved, the emergency stop is canceled at time t2, and the buffer motor 55 returns to the base speed Vb at time t3.
  • the buffer motor is driven to maintain a predetermined base speed Vb.
  • the buffer motor is in a coasting state from the time t1 when the emergency stop is applied to the time t2 when the emergency stop is released.
  • the command speed maintaining unit 170 maintains the command speed for the buffer motor 55 (symbol A).
  • the control device 1 starts controlling the buffer motor 55 . Since the commanded speed is maintained, the commanded speed is maintained at the base speed Vb. Therefore, sudden deceleration does not occur (symbol B). Also, although the speed of the buffer motor 55 has decreased to some extent, since the torque is limited by the torque limit command section 190, the acceleration is limited and rapid acceleration is not performed (symbol B). As a result, neither large regenerative power nor large peak power is generated in the buffer motor 55 (symbol C).
  • the control device 1 having the above configuration can cancel the emergency stop without suddenly stopping the coasting buffer motor 55, so that the buffer motor 55 does not generate a large amount of regenerative power or peak power, and the operation of the industrial machine can be restarted in a short time.
  • the torque limit command unit 190 may limit the torque of the buffer motor 55 by commanding the buffer motor control unit 150 to limit the acceleration of the buffer motor 55 instead of the torque limit value.
  • the acceleration limit value ⁇ b may be calculated from the torque limit value Tb using Equation 3 below.
  • the acceleration limit value ⁇ b may be calculated from the allowable power consumption Wb using the following equation (4). Note that J in Equations 3 and 4 is the moment of inertia.
  • Control Device 2 4 Industrial Machine 5 Network 6 Fog Computer 7 Cloud Server 8 Power Supply Path 9 Common Power Source 11

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

Selon la présente divulgation, un dispositif de commande comprend : une unité de détection d'arrêt d'urgence qui détecte l'état d'un arrêt d'urgence ; une unité de génération d'instructions de moteur tampon qui délivre une instruction de retour à une vitesse de base qui est une vitesse de rotation servant de base lors de l'alimentation en énergie ; une unité de maintien de vitesse ordonnée qui émet une instruction pour, pendant la période commençant au moment où l'arrêt d'urgence se produit lorsque la vitesse d'un moteur tampon revient à la vitesse de base, maintenir une vitesse ordonnée pour le moteur tampon dans une plage comprise entre la vitesse au moment de l'arrêt d'urgence et la vitesse de base ; une unité de détermination d'atteinte de de vitesse de base qui détermine si le moteur tampon a atteint la vitesse de base ; une unité d'instruction de limite de couple qui émet une instruction de limitation de couple du moteur tampon pendant la période commençant au moment où l'arrêt d'urgence est détecté lorsque le moteur tampon revient à la vitesse de base ; et une unité de commande de moteur tampon qui commande le moteur tampon en fonction de l'instruction générée par l'unité de génération d'instructions de moteur tampon et de l'instruction fournie par l'unité d'instruction de limite de couple.
PCT/JP2022/002257 2022-01-21 2022-01-21 Dispositif de commande WO2023139763A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009525877A (ja) * 2006-02-06 2009-07-16 エー ビー ビー リサーチ リミテッド 機械プレス機駆動システム及び方法
JP2017005913A (ja) * 2015-06-12 2017-01-05 ファナック株式会社 非常停止時にサーボモータを制御して停止させるサーボモータ停止制御装置
JP2019075864A (ja) * 2017-10-13 2019-05-16 ファナック株式会社 蓄電装置を有するモータ駆動システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009525877A (ja) * 2006-02-06 2009-07-16 エー ビー ビー リサーチ リミテッド 機械プレス機駆動システム及び方法
JP2017005913A (ja) * 2015-06-12 2017-01-05 ファナック株式会社 非常停止時にサーボモータを制御して停止させるサーボモータ停止制御装置
JP2019075864A (ja) * 2017-10-13 2019-05-16 ファナック株式会社 蓄電装置を有するモータ駆動システム

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