Abstract: A jog-feed operation is set to enable rotation and movement of a coordinate system. During the jog-feed of the coordinate system, a robot is moved equivalently to the jog-feed steps. A tool distal end point of the robot is initially moved to the origin of a user coordinate system serving as a moving target. A jog-feed mode is set to a coordinate system jog-feed mode in conformity to the coordinate system itself. A translating jog-feed operation is carried out until the tool distal end point of the robot reaches a vertex of a workpiece. The tool distal end point of the robot is subsequently moved to a point on an axis of the coordinate system. A rotational jog-feed operation is carried out until the tool distal end point of the robot reaches an edge line of the workpiece. According to the above jog-feed operation, a robot control device calculates an amount of movement of the coordinate system.

Abstract: The service life of a cutter is determined with high accuracy by determining a corrective coefficient from a material coefficient determined by a material to be machined by the cutter and a machining condition coefficient determined by machining conditions, multiplying a period of usage of the cutter by said corrective coefficient thereby to correct the period of usage, accumulating corrected periods of usage, and judging the cutter as having ended its service life if the accumulated value exceeds a predetermined reference value.

Abstract: An average is obtained between output readings of a pressure sensor obtained when forward and reverse thrusts are applied to an injection screw by positively driving a servomotor for injection. The average value is used as a correction value for a reading deviation of the pressure sensor. The injection servomotor is positively driven to apply a thrust to the screw. This known thrust and the actual reading of the sensor are compared. A deviation between these values is used as the correction value for the reading deviation of the sensor.

Abstract: A three-dimensional cutter compensation system provides cutter compensation for machining a workpiece with a cutter having a round edge and an axis which is tiltable in any optional direction in three-dimensional space. The three-dimensional cutter compensation system includes a cutter direction vector calculating unit for calculating a cutter direction vector from present position control axes. The control axes control the tilt of the cutter. A cutter offset memory stores a radius of the cutter and a radius of an arc of the edge of the cutter while a programmed path calculating unit calculates a programmed path commanded by a machining program. A cutter compensation vector calculating unit calculates a cutter compensation vector from the cutter direction vector, the radius of the cutter and the radius of the arc of the edge of the cutter, and the programmed path. The cutter is then shifted in response to the cutter compensation vector.

Abstract: The present invention relates to a digitizing control apparatus for outputting smooth data along an original tracing path by correcting digitized data. Coordinate data of a digitized model surface is calculated by adding coordinate data commanding a tracing path on a model surface to the measuring displacements at trace measuring points of a sensor. Coordinate data of the respective trace measuring points is corrected to digitized data approximated by a new coordinate point on a tracing plane containing the tracing path. Corrected coordinate data is output as smooth digitizing data along the original trace path.

Abstract: An injection molding apparatus which enables easier monitoring of the nozzle touch condition from the outside of a clamping unit (70). A stationary platen (10) of the clamping unit (70) is furnished with monitoring holes (16a, 16b). The monitoring holes (16a, 16b) extend from at least either of the front and rear sides of the clamping unit (70) toward a locating hole (12) into which a sprue bush (51) of dies is located. The monitoring holes (16a, 16b) may be interlocked with shutters (22a, 22b) which are opened or closed in response to open or close motion of the purge shield (20). Furthermore, it is possible to provide windows (34a, 34b) in a purge shield (30) so as to allow an operator to look into the monitoring holes (16a, 16b) therethrough.

Abstract: The present invention provides an injection unit having a structure designed for easier machining of a resin guiding hole located in a front plate constituting the injection unit in tile injection molding machine, as well as for reducing tile thermal influence of the heating cylinder and tile plate body on the resin guiding hole. The front plate of the injection unit has a nose member (5), in which a hopper (6) and the heating cylinder (7) are attached, and the plate body (4) linked to a tie bar (10), which are components separated from each other. The injection unit is constructed by joining the heating cylinder (7), the nose member (5) and the plate body (4) to one another through air gaps (23, 24, 28, 29) formed between these components.

Abstract: Before executing a spot welding by a robot, a pressurization command is issued to a welding gun to measure the time required before receiving a pressurization completion signal from a welding gun. Thus measured value is set and stored as a time (T0) required for pressurization. Then, in executing a spot welding, the time in second (T) required to complete the positioning of the robot after the start thereof is calculated. Thus, based on these calculations, a time to start the pressurization of the welding gun is determined so that the time of completing the pressurization of the welding gun coincides with the time of completing the positioning of robot. As a result, no waiting time is required after the completion of positioning, thereby reducing the operating time.

Abstract: Liquid cooled stator jacket and a method for extruding a billet of aluminum alloy to form a stator jacket. The billet of aluminum alloy is extruded to form a plurality of conduits along the longitudinal direction of the billet and to form a plurality of thickness lightening holes along the longitudinal direction of the billet. The thickness lightening holes are equally spaced in a circumferential direction of the billet and the conduits are arranged on both sides of each of the thickness lightening holes.

Abstract: A maintenance schedule monitoring device is provided for a laser beam machine system, which is designed to monitor the maintenance schedule of the laser beam machine system. A time measuring unit (A) measures the time for which an object requiring maintenance is operating, according to information on the operation of the object requiring maintenance in the laser beam machine system. A time alarm unit (B) detects that the measured time has reached a preset time, and causes a maintenance schedule display control unit (C) to display an instruction that it is time to carry out a maintenance of the object, on a display unit (D). Thus, the maintenance and inspection schedule of the object requiring maintenance is automatically managed by automatic chronological time measurement, and when it is time to carry out the maintenance and inspection, an indication that it is time to carry out the maintenance of the object requiring maintenance is automatically shown on the display unit (D).

Abstract: To reduce torque ripples appearing in an output torque of an electric synchronous motor, the rotor (10) is divided into 2.sup.n rotor elements (101, 102, 103, and 104) the rotor elements of each of 2.sup.n-1 pairs of rotor elements (101, 102; 103, 104) being circumferentially shifted from one another around an axis of the rotor by an angle corresponding to a half of the wavelength (.lambda.) of a first (A) of "n" kinds of cyclic torque ripples (A and B) to cancel the first kind of torque ripple, and the 2.sup.n-1 pairs of rotor elements (101, 102; 103, 104) being arranged to be grouped in 2.sup.n.sup.-2 sections of rotor elements, each section including two pairs of rotor elements, and the 2.sup.n-2 sections of rotor elements being circumferentially shifted from one another around the axis of the rotor by an angle corresponding to a half of a wavelength (.lambda.

Abstract: A loaded condition plotting method capable of simultaneously and promptly recognizing a motor loaded current value and a point being machined with accuracy is provided. During the cutting operation using a spindle motor controllable by a numeric control system executing a machining program, there is decided one region under which a spindle motor load current value periodically detected falls, among four regions consisting of a first region where the spindle motor load current value is less than 80% of the spindle motor rated current, a second region of 80% or more and less than 100%, a third region of 100% or more and less than 130%, and a fourth region of 130% or more.

Abstract: A gear pitch error correcting system for a numerical control apparatus used for a machine tool including at least one pair of gears provided in a transmission line through which the rotating force of a servomotor is transmitted to a driven member. Gear pitch error correction values for the respective gears, which each correspond to a predetermined gear angle and collectively cover one gear rotation, are stored in a nonvolatile memory. A pitch error computing means (E) refers to a current position register (D), reads out pitch error correction data (14b) corresponding to the current position from the nonvolatile memory, and adds up the data to obtain a superimposed pitch error correction value. The superimposed pitch error correction value and an interpolation pulse from an interpolating means (B) are added together by an adder (C), to obtain a pitch error-corrected output pulse, which is then supplied to an axis control circuit (18).

Abstract: An industrial robot provided with a cable arrangement system in which a hollow shaft (3) is arranged to extend vertically from a robot base (1) into a rotational trunk (2) about a rotational axis thereof, and a plurality of cables (7) are arranged to be spaced from one another around the outer periphery of the hollow shaft (3) by cable clamps (4) mounted on the outer periphery of the hollow shaft (3) and having a plurality of cable receiving grooves (41).

Abstract: A collision detection/drive stoppage method capable of promptly detecting a collision of machine operating parts driven by servomotors with a foreign object, and of promptly stopping drive of the machine operating parts upon detection of a collision, thereby preventing or lessening damage to a machine, etc., caused by the collision. A digital signal processor of an axis controller, forming a software servo system, periodically calculates a velocity deviation (.epsilon.v) in accordance with a command velocity (Vc) calculated based on a command from a main computer and an actual motor velocity (V) from a pulse coder of the servomotor (S2), determines whether the absolute value (.vertline..epsilon.v-.epsilon.v'.vertline.

Abstract: A method of preparing a mirror image program and for providing mirror image drive of a robot. The method according to the present invention is capable of determining a mirror image attitude which is symmetrical with a tool attitude with respect to a mirror plane.On the basis of a teaching program prepared by a first robot, which responds to an operator's input of teaching points and the operator's setting of a mirror coordinate system, a second robot effects a coordinate transformation by calculating the product (M.sup.-1 P) of an inverse matrix M.sup.-1) of a matrix (M) representing the mirror coordinate system and a matrix (P) representing a teaching point in a fixed coordinate system, and inverts respective sign of components, perpendicular to the mirror plane, of an attitude vector and a position vector in the product (M.sup.-1 P) in order to obtain a matrix ((M.sup.-1 P)'), and further obtains and stores the product ((M(M.sup.-1 P)') of the matrix ((M.sup.-1 P)') and the matrix (M).

Abstract: An output circuit provided with a photo coupler for transmitting a control signal from a control circuit to an output side in an electrically isolated condition, a load driving transistor (15), and a power supply stabilizing circuit (15) for supplying an electric power for driving the load driving transistor (13) from a load side power supply (13). The power supply stabilizing circuit includes a low voltage detection circuit and an input/output short-circuiting circuit, and the input/output short-circuiting circuit is made conductive when an input voltage to the power supply stabilizing circuit is determined to be lower than a predetermined voltage. As a result, even if the load side power supply has a low voltage, it can drive the load driving transistor, and thus the load side power supply can be used over a wide range of voltages.

Abstract: An injection/hold pressure control apparatus which permits the production of high-quality molded articles without the need of using an expensive internal mold pressure sensor. When a plurality of points specifying a target injection/hold pressure curve represented as a function of the time period elapsed after the start of injection are manually input in succession, a processor (109) of a numerical control unit (100) calculates a group of target injection/hold pressure data on the basis of the target pressure curve drawn on a screen of a display unit (113), and stores them in a lookup table in a shared memory (102). Upon start of the injection, a comparator (11), connected to a pressure sensor (4) mounted on an injection screw (1) for detecting an actual injection/hold pressure, is connected to the numerical control unit through a first changeover switch (6).

Abstract: A system for reloading pitch error correction data at the time of replacing a movable part constituting part of a mechanical system of a numerically controlled machine tool. A command to reload the pitch error correction data is preset in a machining program at the time of replacing the movable part. A numerical control device reads this command. If a parameter reload command is given (S1), and if it is the pitch error correction data (S2), it is determined whether the movable part is situated at the original position (S3), and the pitch error correction data is automatically reloaded (S4). Accordingly, the operator is not required to carry out any operation related to the reloading of the pitch error correction data, and thus the machining can be effected with the use of correct pitch error correction data.

Abstract: A computerized numerical control system controls the axes of a computerized numerical control apparatus (20) from a programmable machine controller (10) coupled to the computerized numerical control apparatus (20). Command values for the axes, information with respect to the grouping of the axes, and execution times for the axes in respective groups are sent from the programmable machine controller (10) to the computerized numerical control apparatus (20). When all commands for the axes in the respective groups are received by the computerized numerical control apparatus (20), pulses start to be distributed to the axes, and the pulses are distributed within the execution times. Linear interpolation can be performed on any desired combination of axes of the computerized numerical control apparatus (20) for preventing physical interference which could otherwise occur between axes when an automatic tool changing (ATC) mode is controlled by the programmable machine controller (10).