Abstract: A motor controller capable of effectively utilizing electrical energy accumulated in a capacitor and achieving a reduction in capacitance of the capacitor. The motor controller includes a converter that receives an input AC voltage and performs AC-to-DC power conversion thereon, an inverter that receives DC power and performs DC-to-AC conversion thereon, and a capacitor and a charging/discharging control circuit connected in parallel with a DC link between the converter and the inverter. Electrical energy is supplied from the capacitor to the DC link via the charging/discharging control circuit. The charging/discharging control circuit has a circuit for discharging electrical energy accumulated in the capacitor and for stepping up a voltage of the capacitor when discharging the electrical energy.

Abstract: A numerical controller having an interference prevention function whereby calculation for preventing interference is reliably performed. The numerical controller has the function of defining interference regions corresponding to multiple machine structural objects, respectively, moving the interference regions in accordance with machine coordinate values of the machine structural objects updated by interpolation, and performing an interference check to determine whether or not the interference regions interfere with each other. Interference check computation period automatic adjusting means automatically adjusts an interference check computation period, based on the value obtained by dividing a computation time required for the interference check by time of occupancy of the interference check within one interpolation period. Interference region expanding means expands the interference regions, based on the highest of feed velocities of respective axes and the interference check computation period.

Abstract: In a simultaneous multi-axis measuring machine tool system including linear drive axes and rotation axes to measure a surface shape of an object to be measured by using an on-board measuring device having a probe mounted, at one end thereof, with a spherical contactor, a numerical controller controls driving of the linear drive axes and the rotation axes so that a central axis of the probe is always oriented in a direction perpendicular to the surface of the object to be measured and that the spherical contactor of the probe comes in contact with and follows a surface of the object to be measured.

Abstract: A parallel robot includes a movable-section drive mechanism, and a wrist-section drive mechanism. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.

Abstract: A gas laser oscillator includes a plurality of discharge tube arrays, each discharge tube array including a plurality of electrical discharge tubes, a support mechanism supporting the plurality of discharge tube arrays, and an optical part optically connecting the plurality of discharge tube arrays. The support mechanism includes a discharge tube linking holder and an elastic member. The elastic member joins the discharge tube linking holder to a first support rod arranged at an upper side as seen in a direction of gravity.

Abstract: A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.

Abstract: A teaching position correcting apparatus corrects plural teaching point positions of a robot in a robot operation program, by sequentially moving the robot to each of the plural teaching points and by sequentially reading a current position of the robot at each of the plural teaching points. The apparatus includes: a position correction amount calculating unit that calculates a position correction amount, based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating unit that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount. At the time of moving the robot to uncorrected teaching points, a moving unit moves the robot to corrected positions of the teaching point positions before correction.

Abstract: A parallel robot including a movable-section drive mechanism having a parallel mechanism configuration and operating to allow a movable section to perform a three-axis translational motion with respect to a base section, and a wrist-section drive mechanism operating to allow a wrist section to perform a three-axis orientation-changing motion with respect to the movable section. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached.

Abstract: An umbilical member motion limiting device is provided on a robot which has a forearm, a wrist portion, an operating tool attached to the end of the wrist portion, and the umbilical member connected to the operating tool through the forearm, for limiting the motion of the umbilical member corresponding to the motion of the robot. The motion limiting device comprises a swing portion attached to the wrist portion so as to swing around a swing axis and a limiting portion arranged on the swing portion for limiting the motion of the umbilical member. Thus, the motion limiting device can minimize interference due to surplus length of the umbilical member and avoid contact of the umbilical member with external equipment.

Abstract: A servomotor control system that includes a numerical control unit and servo control unit enables the use of learning control based on an angle synchronization method in high-speed oscillating motion performed by, for example, a jig grinder. The numerical control unit calculates a reference angle ?(=?t), and also calculates a cyclic oscillation command F(t) according to the reference angle ? and a machining condition (angular velocity ?). The servo control unit calculates a difference between the value in the oscillation command F(t) and the position of the servomotor (positional difference ?) at intervals of a predetermined cycle, and performs learning control according to the reference angle ?, oscillation command F(t), and positional difference ?.

Abstract: A reciprocating linear actuator in which a slide and a counter slide are arranged for linear movement within a hollow guide. The actuator has driving force generating means for generating a driving force between the slide and the counter slide and also has bearing structures formed individually between the guide and the slide and between the guide and the counter slide. If an external force acts on the slide, the external force is transmitted from the slide to the guide through the bearing structure between them.

Abstract: An apparatus for picking up objects including a robot for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection

Abstract: A main body of a machine tool is covered with a cover. A ceiling portion of the cover that is situated over a spindle motor is provided with an opening portion. The cover is provided with hanging portions that hang down from the opening portion with a predetermined clearance from side surfaces of the spindle motor other than the rear surface. Air that is mixed with a misty cutting fluid in a space inside the cover is sucked in through a suction pipe by a mist collector. The outside air flows into the space inside the cover through the clearance. The outside air that passes through the clearance is driven to flow through vents by a built-in cooling fan of the spindle motor, thereby cooling the motor, and is then discharged to the outside. In consequence, the temperature in the space inside the cover can never be increased by heating of the spindle motor.

Abstract: A production control apparatus of a production system provided with a storing means for storing in advance a production system model comprised of workpiece information regarding workpieces and program information regarding a plurality of work programs of robots and a plurality of machining programs of machine tools, an updating means for updating the production system model based on run status signals showing run statuses of the robots and machines tools and workpiece signals from the detectors, and an instructing means for selecting one work program and one machining program based on the updated production system model and instructing running of the selected work program and work program to the robot and machine tool. Due to this, by calling up a work program of the robot etc. in accordance with the state of the production system, it is possible to change the program and restore the system from error.

Abstract: A servomotor controller capable of properly generating reference positions, by which learning control of angle based method may be applied to the periodically reciprocating motion of an object. The learning controller obtains a first positional deviation of a driven object at every predetermined sampling period of time, and the first positional deviation is converted, by a first converting part, to a second positional deviation associated with each reference position in one periodic reciprocating motion of the driven object. After a first correction amount of an immediately previous reciprocating motion of the driven object, stored in a memory, is added to the second positional deviation, the second positional deviation is stored in the memory as a renewed first correction amount. The first correction amount is converted to a second correction amount associated with the sampling period, by a second converting part.

Abstract: A motor control apparatus that can calculate a proper amount of cogging torque compensation even in cases where components due to other factors than cogging torque (for example, components due to gravitational torque, etc.) are superimposed on a torque command being output during constant slow-speed feed operation.

Abstract: An amplifier (unit) linked via a daisy type serial bus sends a transmission start signal SC and then sends the local data DATAn. If data from an amplifier at the downstream side is not received before transmission of the local data DATAn is completed, the delimit of the data from each amplifier is changed by adding an idle time data TIDD.

Abstract: A robot control unit (30) comprises: a setting means (40) for setting operating ranges of each shaft and a working tool of the robot (20); a storage means (33) for storing an inertial running distance of the robot decided by at least one of the operating speed of the robot and the weight of the working tool; and an arriving range calculation means (36) for calculating an arriving range to which the robot arrives according to the operating range, which has been set by the setting means, and the inertial running distance stored by the storage means. Due to the foregoing, while consideration is being given to the inertial running distance of a robot, the arriving range of the robot is made. Further, a display means (41) for displaying the arriving range may be provided. In the case where each shaft of the robot and the working tool deviate from the operating range, a stopping means (34) for stopping the robot may be provided.

Abstract: A managing structure for an umbilical member includes a flexible conduit for leading an umbilical member inserted therein from a front arm of a robot to a working tool mounted on a wrist of the robot, a first conduit mounting portion provided adjacent to the front arm, and a second conduit mounting portion provided adjacent to a point where the umbilical member is connected to the working tool. One end of the conduit is attached to the first conduit mounting portion, while the other end of the conduit is attached to the second conduit mounting portion. The conduit is laid so that a section thereof between the first conduit mounting portion and the second conduit mounting portion does not contact the body of the robot.

Abstract: A table containing correspondence between “n” and “m” is set in a control circuit of a servo control system so that the current command data in the m-th (m=1, 2, 3 . . . ) current command register is assigned to the n-th (n=1, 2, 3 . . . ) servo amplifier. When data is specified in this table to satisfy “n=m”, the current command data in the n-th current command register is passed to the n-th servo amplifier. When “m=1” is set for “n=1” and “m=1” is set for “n=2” in this table, the current command data stored in the first current command register is passed to the first and second servo amplifiers.