Abstract: In a manufacturing method of a resin composite plate for manufacturing a resin composite plate by heating under pressure a resin sheet group having a plurality of fiber-reinforced thermoplastic resin sheets stacked together, and thereby integrating the resin sheet group into one resin composite plate, the fiber-reinforced thermoplastic resin sheets each containing fibers arranged in one direction, the resin composite plate having a desired thickness is manufactured by stacking the plurality of fiber-reinforced thermoplastic resin sheets having different thickness.

Abstract: In a manufacturing method of a resin composite plate for manufacturing a resin composite plate by heating under pressure a resin sheet group having a plurality of fiber-reinforced thermoplastic resin sheets stacked together, and thereby integrating the resin sheet group into one resin composite plate, the fiber-reinforced thermoplastic resin sheets each containing fibers arranged in one direction, the resin composite plate having a desired thickness is manufactured by stacking the plurality of fiber-reinforced thermoplastic resin sheets having different thickness.

Abstract: The present invention relates to a method of generating data indicative of robot control axis position. The method has a step of inputting data specifying the shape of a workpiece (WK) and data (.alpha., .beta., .gamma.) specifying the attitude of a tool (TL) conforming to a task to be executed by a robot, a step of calculating a position (X, Y, Z) of a tip (P) of the tool in the workpiece coordinate system X-Y-Z by using the data specifying the workpiece shape, a step of specifying the position of each axis constituting the robot by using the tool tip position and the tool attitude data, and a step of successively specifying positions of each control axis of the robot along a tool path (PT).

Abstract: A curved surface generation method well-suited for application to the preparation of a numerical control tape used in the numerically controlled machining of a three-dimensional body such as a three-dimensional mold. The surface creation method includes steps of defining, on a first section curve or reference curve of a three-dimensional curved body, a point Pi (i=1,2 . . . ) which corresponds to a point Qi (i=1,2 . . . ) on a second section curve or reference curve, and generating an intermediate section curve in accordance with the established correspondence. A curved surface is created by collecting a plurality of the intermediate section curves together. Accordingly, the invention raises the degree of freedom with which a curved surface is created, and enables the accurate creation of a curved surface featuring subtle changes, allowing the precise machining of a three-dimensional body.

Abstract: According to a path correction method in an automatic welding machine in accordance with the invention, the torch TC of a welding machine is grasped by a robot and welding is performed while the welding torch is weaved to the left and right of a welding line. At such time, an integrated value of welding current of the torch weaved with respect to a given welding line is computed every half cycle, the correction direction is decided, the amount of correction is decided by performing a computation, which is based on the integrated value, in dependence upon the correction direction decided, and the weaving path of the torch is corrected by multiplying the decided amount of correction by a predetermined coefficient.

Abstract: A detection apparatus is provided which is capable of detecting an excessive position error in a servo system in an appropriate manner over a wide servomotor rotational rate region, so as to accurately and immediately determine an overload state of a servomotor and the like. A permissible maximum value of the position error is obtained by first obtaining a product of a proportional coefficient set beforehand and a maximum value of pulse distribution amounts--a number of movement command pulses distributed from a central processing unit of a numerical control unit. The pulse distribution amounts are respectively stored in a table provided in a memory. The product is then, second, divided by a position loop gain. The central processing unit then determine that an excessive position error has occurred when an actual position error read from an axis controller is greater than or equal to the permissible maximum value.

Abstract: A robot control system is provided for teaching the distal end position of a working member mounted on a wrist of a robot and executing a predetermined task. A rotational angle is determined by a calculation control unit (/w) from the projection (/w') of a gripping direction vector of a workpiece. A command for correcting the positional rotation of the tool coordinate system is obtained through simple processing based on information indicative of the position of the workpiece from a sensor. As a result, the position of the tool can be rotatively corrected and controlled, even if the gripping direction vector is not parallel to the surface on which the workpiece is placed.

Abstract: There is provided a numerical control unit having a processor (102a), a control program memory (102b), a memory (102c) for storing files, and input means (102d) for accessing the files. The processor (102a), in accordance with the control program, processes externally entered control data to numerically control a machine connected thereto. The arrangement is such that the name of a file to be protected is stored in the memory (102c) of the numerical control unit and, the name of an object file is compared with the protected file name in the memory (102c), when a modification command and the name of the object file are entered from the input means (102d). Processing for modifying the file is executed, on the condition that there is a processing confirmation input from the input means (102d), when the object is a file protected file.

Abstract: In an apparatus wherein a memory is subdivided into plural storage areas, and predetermined data are adapted to be written into respective ones of the storage areas, a method of reconfiguring the storage areas of the memory. The leading addresses of the respective storage areas and the sizes of blank portions of the respective storage areas are stored while it is discriminated whether a blank portion exists in a predetermined one of the storage areas. When there is no blank portion or substantially no blank portion in the predetermined storage area, the blank portions of the remaining storage areas are reduced in size on the basis of the leading addresses and the sizes of the blank portions. The predetermined storage area is enlarged by an amount equal to the amount of blank portion reduction effected in the remaining areas.

Abstract: A welding control system in an automatic welding machine controls the movement of a torch (TC) such that while the torch is weaving along a welding line (CT), the torch is moved under the control of a control device (3). The amplitudes on the lefthand side (aL) and righthand side (aR) of a welding line are based on independent commands. The welding control system can provide a weaving pattern according to the manner in which a desired workpiece is to be welded.

Abstract: There are provided a tracing control apparatus (1), a numerical control apparatus (2), and switching circuits (3X, 3Y, 3Z) for switching and transmitting selectively control instructions from the tracing control apparatus (1) and the numerical control apparatus (2), to a three-axis driving means for the tracer controlled machining (4) and a three-axis driving means for the numerically controlled machining (5) in accordance with selection signals. A numerically controlled machining and tracer controlled machining selection signal (S.sub.C) is used as one of the selection signals besides a tracer controlled machining selection signal (S.sub.A) and a numerically controlled machining selection signal (S.sub.B). When the numerically controlled machining and tracer controlled machining selection signal (S.sub.

Abstract: A path correction system of an automatic welding machine has means for differentiating welding current values at respective left and right positions of a torch when weaving is performed, and means for sensing welding current when a value obtained from the differentiating means is zero. The difference is found between welding current values when left and right differentiated values are zero, and the position of the center of the weaving pattern along which the torch advances is corrected based on the difference value.

Abstract: The method involves entering section data relating to two sections (11, 12) of a three-dimensional curved body, data relating to first and second section curves (11a, 12a) formed by the two sections (11, 12), and data relating to a three-dimensional curve (31a) which contains points (P.sub.1, P.sub.1 ') on the first and second section curves, and which specifies the external shape of the three-dimensional curved body. An intermediate section (41) is generated for each and every one of partition points (S.sub.i) (i=1, 2, 3 . . . ) that partition the three-dimensional curve (31a) into a multiplicity of line elements, the intermediate section containing the respective partition point. An intermediate section curve (41a) in the intermediate section is calculated by using the data relating to the two section curves (11a, 12a) and position information indicative of the partition points (S.sub.i), and a curved surface of a three-dimensional curved body is created by the intermediate section curves.

Abstract: A method and apparatus for specifying a three-dimensional curve having steps of entering data specifying a first projection curve (CV.sub.1) and a second projection curve (CV.sub.2) is obtained when a three-dimensional curve (31a) is projected onto two adjacent planes (e.g., an XY plane and a YZ plane) in a rectangular coordinate system. The method also includes finding coordinate values (a.sub.i, b.sub.i) of an i-th (i=1, 2 . . . ) partition point P.sub.i from among partition points partitioning the first projection curve (CV.sub.1) into a number of line segments and finding coordinate values (b.sub.i,c.sub.i) of a point Q.sub.i on the second projection curve (CV.sub.2) having a coordinate value b.sub.i on a common axis (Y axis) among coordinate axes of the two adjacent planes. The three-dimensional curve (31a) is specified by a collection of points (R.sub.i) having the three-dimensional coordinate values (a.sub.i, b.sub.i, c.sub.i).

Abstract: A graphic display method for transforming three-dimensional coordinate values (x, y, z) of an object to be displayed into coordinate values (X,Y) of a two-dimensional display coordinate system on a CRT display screen (DPS), and displaying a perspective view of the object on the CRT display screen (DPS) by using two-dimensional coordinate values obtained by the transformation. In the method, .beta. represents an angle between x and y axes among three-dimensional coordinate axes of the perspective view displayed on the CRT screen (where the counter-clockwise direction is taken as positive with the x axis serving as a reference), .alpha. represents the angle between the x axis and an X axis of a display coordinate system (where the counter-clockwise direction is taken as positive with the X axis serving as a reference), and (X.sub.o,Y.sub.o) represent coordinate values of a three-dimensional coordinate origin (DRP) of the perspective view in the display coordinate system.

Abstract: The present invention relates to an area cutting method for cutting an area (AR) delimited by a curve (OLC) of an external shape and a plurality of closed curves (INC.sub.1, INC.sub.2) using a unidirectional cutting method or a back-and-forth cutting method. The area cutting method has a step of calculating first and second offset curves (INF.sub.1, INF.sub.2) obtained by outwardly offsetting respective closed curves by an amount dependent upon tool diameter, a step of calculating points of intersection (R.sub.i -U.sub.i) between each of the offset curves and an i-th cutting path (PT.sub.i), a step of moving a tool (TL), while the tool performs cutting, along the cutting path from a machining starting point (P.sub.i) on the i-th cutting path (PT.sub.i), to a first point of intersection (R.sub.i), of the two points of intersection (R.sub.i, S.sub.i) between the cutting path and the first offset curve (INF.sub.1), a step, executed in a case where a second point of intersection (R.sub.

Abstract: The present invention provides an area cutting method for machining an area (AR) bounded by the curve (OLC) of a predetermined external shape previously using a unidirectional cutting motion. The invention has a step of performing cutting along an i-th cutting path (PT.sub.i), a step, executed after completion of cutting along the cutting path (PT.sub.i), of moving a tool (TL) in a cutting-feed mode along the curve (OLC) of the external shape from a machining end point (Q.sub.i) on the cutting path to a machining end point (Q.sub.i-1) on an (i-1)th cutting path (PT.sub.i-1) previously cut, a step of positioning the tool (TL) from the point (Q.sub.i-1) to a machining starting point (P.sub.i) on the cutting path (PT.sub.i), a step of moving the tool in the cutting-feed mode along the curve of the external shape from the machining starting point (P.sub.i) on the cutting path (PT.sub.i) to a machining starting point (P.sub.i+1) on the next cutting path (PT.sub.

Abstract: A robot path error correction system is provided for driving and controlling a movable element in a designated direction. The system includes a sensing device for sensing a remaining amount of command pulses at deceleration of the movable element; timing deciding device for specifying start timing of a pulse distribution calculation along a subsequent travel path in dependence upon the sensed amount of command pulses remaining; and an adding device for adding command pulses which accelerate the feedrate and command pulses which decelerate the feedrate in accordance with a commanded velocity and commanded position at the specified timing.

Abstract: A machining process determination method in automatic programming for automatically creating NC data for a lathe. The method includes storing machining processes in a memory in a machining sequence, reading the previously stored machining processes out of the memory in order after entry of a blank profile (BP) and part profile (PF); automatically discriminating based on the blank profile and final part profile whether the read machining process is needed to obtain a final part; when it is not required, performing identical discrimination processing upon reading the next machining process out of the memory, and when it is required, determining a cutting domain (A1, A2, A3) and cutting direction of the machining process; and thereafter creating NC data upon reading subsequent machining processes out of the memory and performing identical processing.

Abstract: An input data sign determining method in a method of creating NC machining data by entering a direction (.uparw., , .fwdarw., , .dwnarw., , .rarw., ) for each block (b.sub.1 -b.sub.8) of a part profile through use of a profile symbol key thereby to specify the part profile, followed by entering a dimension for each block of the part profile and using these entered data to create the NC machining data, the method having steps of entering, in the form of an incremental quantity along each axis (x, z), a part profile dimension in a predetermined block, discriminating the direction of the part profile in the block, and determining the sign of an entered incremental quantity on the basis of the direction to convert the incremental quantity into a signed incremental quantity.