Abstract: A velocity control apparatus in which velocity of a servomotor (12) is controlled by PWM-control of an inverter is so adapted that the gain (K') of an amplifier section (11) in a current loop is held constant by detecting the power supply voltage of the inverter.

Abstract: A multi-articulation type robot for a laser operation by emitting a beam of laser into a desired position in a three-dimensional space, and provided with a first hollow robot arm (16) swingably pivoted to an upper end of a robot swivel body (14) mounted on a robot base (12), a second hollow robot arm (18) swingably pivoted to a front end of the first robot arm (16) and rotatable about a central axis of the second robot arm per se, and a robot wrist (20) mounted on a front end of the second robot arm (18) and provided with a laser beam collecting unit (22) having a laser beam emitting outlet (22a), the robot wrist (20) being provided with motion transmitting mechanisms for converting first and second rotative inputs transmitted by a first and second hollow rotatable drive shafts (30a and 30b) arranged inside the second robot arm (18) into motions by which the laser beam collecting unit (22) is rotated about an axis orthogonal to an axis along which a laser beam is emitted, and to move the unit (22) forward and

Abstract: When a pulse encoder is attached to a motor, first a stationary coded plate (20) is temporarily held on one end (18) of a motor housing (12) to modify a deviation thereof during a rotation of the motor housing (12) around an output shaft (14) of the motor, then a gauge (50) is interposed between said stationary coded plate (20) and a rotary coded plate (48) to separate them from the other by a prescribed distance, and next the output shaft (14) is rotated relative to the motor housing (12) to modify a deviation of the rotary coded plate (48) temporarily fixed to the sleeve member (42). According to the above method, the pulse encoder is accurately and efficiently attached to the motor.

Abstract: A motor-operated die clamp mechanism produces a great clamping force even with use of small-output motors, and is adapted for use in a motor-operated injection-molding machine. Screw portion (13a, 13b), threaded reversely to each other, are formed on a ball screw (13) which is rotated by a motor (15). Ball nuts (11, 12), which are threadedly engaged with the screw portions (13a, 13b), respectively, and a movable wedge (6) are coupled to one another links (9, 10). As the motor rotates, the links contract or spread, thereby advancing or retreating the movable wedge with a great force. When the movable wedge advances, it is engagedly pressed against a fixed wedge (5) formed on the mold base (4) of a die (3), thereby causing the die to be fixedly mounted on a stationary board (1) or a movable board (2).

Abstract: A matching means (2) is arranged in a power source portion (5) including an RF power source (1), an output impedance (Z.sub.0) of the RF power source (1) is matched by the matching means with a impedance (Z.sub.L) of a laser tube (4) connected through a power transmitting means (3). Therefore, the laser tube (4) arranged in a laser emitting portion (6) is effectually supplied with an RF power generated by the RF power source (1), and a stable laser beam can be emitted from the laser tube (4) with a high efficiency.

Abstract: A device for calculating the moments of image data has a plurality of image frame memories. The device has an image frame memory (12) for storing original image data, an image frame memory (13) for storing processed data, and image frame memories (13, 14) for storing weight data in includes an adder(7) for processing the data stored in these memories, a multiplier (6) for multiplying the data in the image frame memories, and an accumulator (8) for temporarily storing calculating results. These memories and the arithmetic units such as the adder (7) and other serve to calculate the zero-order, primary, and secondary moments of image data.

Abstract: An automatic wire connecting apparatus of a wire cut electric discharge machine performs automatic connection of a wire electrode smoothly and reliably. A wire processing unit (90) integrally rotatably coupled to a rotating shaft (61) of a pneumatic motor (60) has a nozzle forming portion (12) which defines a slit (S) that allows a wire electrode (W) to pass therethrough when it is opened, and which defines a nozzle hole (125) capable of fitting with an upper wire guide (12) when it is closed, and is selectively positioned at a wire insertion position or an escape position by a rotary stopper (150). When the wire electrode is broken, the wire processing unit is rotated from the escape position to the wire insertion position by a motor, and thereafter, the nozzle hole forming portion is closed, thereby holding the wire electrode guided through the slit during a rotating operation in the nozzle hole.

Abstract: An induction motor has a stator formed by inserting and holding piled steel plates (12) between end plates (11a, 11b) and welding support bars (13) consisting of nonmagnetic metal along the external surface of said piled steel plates.

Abstract: A method and apparatus for controlling an electric discharge machine wherein a motor for establishing relative movement between an energized electrode and a workpiece is driven in accordance to with NC command data. The method includes the steps of converting commanded speed information into a speed command value to control the speed of the motor, counting, by using a counter, pulses generated by a sensor each time the motor rotates by a predetermined amount, reading the value of the count in the counter periodically, adding the read values cumulatively to determine the present position of the electrode, and sending a command to the counter each time its counted value is read, to cancel the counted value.

Abstract: A blank profile specifying method in automatic programming for lathes has a step of specifying a finished profile (1), a step of entering a maximum length (L.sub.m) and a maximum diameter (F.sub.m) of a blank profile (2), a step of obtaining the maximum length (L.sub.t) and the maximum diameter (F.sub.t) of the finished profile from entered finished profile data, a step of calculating an uncut thickness (t.sub.z) longitudinally of the blank and an uncut thickness (t.sub.x) diametrically of the blank by using L.sub.m, L.sub.t, F.sub.m, F.sub.t, a step of obtaining the blank profile (2) by enlarging the finished profile by the uncut thicknesses in the respective directions, and displaying the blank profile and the finished profile, a step of entering position data indicative of inflection points (P.sub.1, P.sub.2 . . . P.sub.5) of an actual blank profile, and a step of storing the entered position data indicative of the inflection points and modifying the display of the blank profile by using the position data.

Abstract: A wire-cut electric discharge machining system is provided with a high-current, short-pulse discharge circuit for producing a high-current, short-pulse discharge between a wire and a workpiece, a low-current, pulse discharge circuit for producing a low-current, pulse discharge between the wire and the workpiece, and a control unit to alternately use both discharge circuits and to control the relative movement of the wire with respect to the workpiece. Main cutting along a predetermined path by the high-current, short-pulse discharge circuit is followed by at least one second cutting along a path adjacent the main cutting path by the low-current, pulse discharge circuit for each predetermined section, thereby performing electric discharge machining of the workpiece at an overall reduction of time.

Abstract: A controller, such as a numerical controller, displays the change with time of input/output statuses or an internal status by a timing chart, to facilitate analysis of the cause of interference concerning signal timing. The controller has a status display unit (22) which includes: a keyboard (25) for inputting desired display data, display data input times, and display data input-inhibit conditions; a timer (26) which generates a clock signal at predetermined timing; a memory (27) which inputs desired display data during an interval of a desired input time in accordance with the conditions set through the keyboard; a display (28) which displays the data input to the memory when the input-inhibit conditions are satisfied; and a processor (29) which controls the memory and the display in synchronism with the clock signal.

Abstract: An optical absolute endoder, provided with a rotary code plate and fixed plate, for detecting the angle of rotation and the position of rotation of a motor, etc. The rotary code plate has a plurality of concentric code patterns with light passage portions and light blocking portions alternately arranged and a reference pattern comprised of just a light passage portion sandwiched between adjoining code patterns and arranged concentrically with the code patterns. The fixed plate is provided with first and second code pattern slit groups arranged in the radial direction of the rotary code plate at first predetermined intervals and corresponding to the code patterns and with reference pattern light passage portions provided at positions corresponding to the reference pattern at positions separated by exactly second predetermined intervals from the center line of the code pattern light groups. By this, fluctuations in the voltage level of the reference signals due to light leakage are prevented.

Abstract: A motor-incorporated spindle head unit is provided with a rotatable spindle on which a rotor assembly of the drive motor is fixedly mounted. A stator assembly of the drive motor is arranged around the rotor assembly and is fixed to a housing of the spindle head unit. A heat insulating system for preventing heat transfer from the stator assembly of the drive motor to the spindle as well as the bearings supporting the spindle is arranged between the drive motor and the front part of the spindle. The heat insulating system uses the flow of air for forming a heat insulator during the operation of the spindle head unit. A cooling system for cooling the stator assembly of the drive motor is also incorporated in the housing of the spindle head unit.

Abstract: An AC motor control apparatus having a first arithmetic device (3) which calculates an amplitude command based on a difference between the commanded velocity and the actual velocity of the AC motor (1), and delivers the amplitude command and a current command in at least one phase as outputs. Also included is a second arithmetic device (10) which calculates a pulse width command in each phase from the amplitude command and current command from the first arithmetic device (3) and the actual phase current of the AC motor (1). A timer (11) produces as an output, a pulse-width modulated signal in each phase on the basis of the pulse-width command from the second arithmetic device (10), and an inverter (8) drives the AC motor in accordance with the pulse-width modulated signals from the timer (11).

Abstract: A tracer control method whereby a tracer machining inhibit area is set and tracer machining is performed while skipping the machining inhibit area, the method including presetting a tracer machining inhibit area (TMI) and a safe level (ZL.sub.s) after taking into account the shape of a model (MDL). The method also includes moving a tracer head along the surface of the model to perform tracer machining in an area (TM), inhibiting tracer machining when the tracer head reaches the machining inhibit area (TMI), and raising the tracer head to the safe level (ZL.sub.s). After reaching the safe level the method includes moving the tracer head along the safe level to a boundary of the machining inhibit area after the tracer head reaches the safe level, thereafter performing an approach operation, and resuming tracer machining in an area (TM') after the approach is completed.

Abstract: A system in which the radius of a tool is compensated for in the three-dimensional machining of a workpiece, wherein a tool is offset from a commanded tool path by a distance commensurate with the tool radius.

Abstract: The present invention increases screw cutting accuracy and simplifies the control of a screw cutting control system which performs screw cutting through the use of a numerically-controlled machine tool. A tapper (TPP) connected to a spindle, holds a tap (TAP) in a manner to be movable in the axial direction of the spindle, transmits the rotation of the spindle to the tap (TAP) for a predetermined range of forward axial movement of the tap (TAP) and transmits the rotation of the spindle to the tap (TAP) when the spindle is reversed. During screw cutting, feed by a feed motor (SZ) stops after the tap (TAP) enters a workpiece and the screw cutting is effected by the thrust of the tap itself resulting from the rotation of the spindle. The sequence of screw cutting is commanded by one block of command data.

Abstract: The hand of a robot is moved from an instant position P.sub.1 to a first command position P.sub.2 to grip one of the workpiece W.sub.1,W.sub.2,W.sub.3 placed at the first command position and conveys the same to a second command position P.sub.3. A sensor is contacted by the workpiece when the hand takes an intermediate position Px on its way from the instant position P.sub.1 to the first command position P.sub.2, the robot control system stops the hand without delay or after travel of the hand over a predetermined distance and, after the travel of the hand over a predetermined deceleration distance, stops the hand. The hand is then moved from the stopping position to the second command position P.sub.3 neglecting the remaining stroke or movement between the stopping position and the first command position.

Abstract: A robot hand adapted to be secured to the extremity of a robot arm or a robot wrist of an industrial robot has a finger operating unit provided with a fluid pressure operated piston reciprocating in a cylinder body and a piston rod integral with the piston and having a finger mount, and at least two finger units detachably attached to the finger operating unit. Each finger unit has a fixed finger member and a movable finger member.