Abstract: A machine motion trajectory measuring device for measuring the motion trajectory of a machine used in an apparatus which controls the position of the machine by feeding back a detected position obtained by converting the rotation angles of motors for a plurality of movable axes and then driving the motors such that the detected position follows a commanded position is provided. The machine motion trajectory measuring device includes accelerometers for measuring the acceleration of the machine; and a motion trajectory measuring unit that measures the motion trajectory of the machine by obtaining the position of the machine by integrating the acceleration twice and correcting the position of the machine such that the profile of the position of the machine coincides with the profile of the detected position or the profile of an estimated position estimated using a model for simulating the response of the position of the machine to the commanded position.

Abstract: A CPU 41 reads a next block (S1), and then determines whether the read block is a TCP (tool center point) control finish command “G49” or not (S2). If it is determined to be the TCP control finish command “G49”, the TCP control is finished. If it is determined not to be the TCP control finish command “G49”, whether the read block is a coordinate-system transformation command “P1” or not is determined (S3). Next, if it is determined not to be the coordinate-system transformation command “P1”, the TCP control is performed, without transforming the coordinate system, in accordance with a command of the block (S11). Next, the process returns to S1, and then the process after S1 is executed.

Abstract: A servo controller includes a mechanical characteristic compensation unit for attenuating components having predetermined frequencies and corresponding to characteristics of a machine, which are included in a position instruction signal corrected by a finite impulse response (FIR) filter, and computing feed-forward signals respectively associated with position, speed, and torque of the machine, and a feedback compensation unit for driving the machine according to the feed-forward signals. Therefore, the servo controller can reduce vibrations that originate from the characteristics of the machine. In addition, because the FIR filter can easily make the response path with respect to a symmetrical instructed path, become symmetrical, when the machine is made to travel between two positions along the same path, the two response paths of the round trip match each other, so machined surfaces having no irregularities can be provided when performing reciprocating machining.

Abstract: A servo controller includes a mechanical characteristic compensation unit for attenuating components having predetermined frequencies and corresponding to characteristics of a machine, which are included in a position instruction signal corrected by an FIR filter, so as to compute feed-forward signals respectively associated with the position, speed and torque of the machine, and a feedback compensation unit for driving the machine according to the feed-forward signals. Therefore, the servo controller can reduce vibrations that originate from the characteristics of the machine 2. In addition, because the FIR filter can easily make the response path with respect to a symmetric instructed path become symmetric, and, when the machine is made to travel between two positions along the same path, can make the two response paths of the round trip match each other, machined surfaces having no irregularities can be provided when performing reciprocating machining.