Abstract: A control device has first and second control units. The first unit includes a timing unit which measures elapsed time and instructs the start of a first safety signal circuit test based on the time, and a first circuit test control unit which, when a safety signal circuit output signal has been output to a first circuit, or output thereof has stopped, detects whether a safety signal circuit input signal is input, and executes the first safety signal circuit test. The second unit is provided with an implementation verifying unit which verifies whether the first safety signal circuit test is complete, and a second circuit test control unit which, after verification, when a safety signal circuit output signal is output to a second circuit, or when output thereof has stopped, detects whether a safety signal circuit input signal is input, and executes a second safety signal circuit test.

Abstract: Provided are: a position command calculation unit which calculates a position command specifying a target position of a driven body driven by a servomotor; a counterforce command.

Abstract: A numerical controller, which reciprocates a parent axis and a child axis according to a predetermined synchronization ratio by multi-axis synchronization control, is provided with a command decoding unit configured to decode a command including a plurality of command blocks, a distribution processing unit configured to generate a distribution movement amount, which is an amount of movement for each control period of a motor, based on the command blocks, an end-point correction unit configured to perform first correction processing for correcting the distribution movement amount so that a feedback position of the child axis reaches an end point, which is a turning point of the reciprocating motion, and second correction processing for recovering synchronization destroyed by the first correction processing, and a motor control unit configured to drivingly control the motor based on the corrected distribution movement amount.

Abstract: Provided is a numerical controller capable of easily controlling a pressure without a pressure sensor. The numerical controller estimates a pressure based on at least one of a command value and a feedback value. A machine learning device for learning the pressure corresponding to the at least one of the command value and the feedback value is included. The machine learning device includes a state observation unit for observing the at least one of the command value and the feedback value as a state variable, a label data acquisition unit for acquiring label data indicating the pressure, and a learning unit for associating and learning the state variable with the label data.

Abstract: Provided are: a position command calculation unit which calculates a position command specifying a target position of a driven body driven by a servomotor; a counterforce comm and.

Abstract: A numerical controller, which reciprocates a parent axis and a child axis according to a predetermined synchronization ratio by multi-axis synchronization control, is provided with a command decoding unit configured to decode a command including a plurality of command blocks, a distribution processing unit configured to generate a distribution movement amount, which is an amount of movement for each control period of a motor, based on the command blocks, an end-point correction unit configured to perform first correction processing for correcting the distribution movement amount so that a feedback position of the child axis reaches an end point, which is a turning point of the reciprocating motion, and second correction processing for recovering synchronization destroyed by the first correction processing, and a motor control unit configured to drivingly control the motor based on the corrected distribution movement amount.

Abstract: A controller outputs a first detection signal indicative of the position of a control shaft, and by forwardly converting a motor position signal indicative of the position of a motor through use of a motion conversion characteristic of a power transmission unit, outputs a second detection signal corresponding to the position of the control shaft. Then using the respectively output first detection signal and second detection signal, the controller doubly determines whether or not the state of the control shaft is abnormal.

Abstract: In a synchronization operation instruction of a synchronization control of moving a slave axis at a certain ratio with respect to a master axis movement amount, a master axis movement amount before start of change of a synchronization magnification, used in an operation based on a synchronization magnification changing instruction, is determined by referring to a parameter of the synchronization operation instruction so that the operation based on the synchronization magnification changing instruction ends at a set synchronization start master axis position. With such a configuration, the synchronization control is started based on the synchronization operation instruction from the synchronization start master axis position set in the synchronization operation instruction.

Abstract: Provided is a numerical controller capable of easily controlling a pressure without a pressure sensor. The numerical controller estimates a pressure based on at least one of a command value and a feedback value. A machine learning device for learning the pressure corresponding to the at least one of the command value and the feedback value is included. The machine learning device includes a state observation unit for observing the at least one of the command value and the feedback value as a state variable, a label data acquisition unit for acquiring label data indicating the pressure, and a learning unit for associating and learning the state variable with the label data.

Abstract: A controller outputs a first detection signal indicative of the position of a control shaft, and by forwardly converting a motor position signal indicative of the position of a motor through use of a motion conversion characteristic of a power transmission unit, outputs a second detection signal corresponding to the position of the control shaft. Then using the respectively output first detection signal and second detection signal, the controller doubly determines whether or not the state of the control shaft is abnormal.

Abstract: In a synchronization operation instruction of a synchronization control of moving a slave axis at a certain ratio with respect to a master axis movement amount, a master axis movement amount before start of change of a synchronization magnification, used in an operation based on a synchronization magnification changing instruction, is determined by referring to a parameter of the synchronization operation instruction so that the operation based on the synchronization magnification changing instruction ends at a set synchronization start master axis position. With such a configuration, the synchronization control is started based on the synchronization operation instruction from the synchronization start master axis position set in the synchronization operation instruction.

Abstract: In a synchronization operation instruction of a synchronization control of moving a slave axis at a certain ratio with respect to a master axis movement amount, a master axis movement amount before start of change of a synchronization magnification, used in an operation based on a synchronization magnification changing instruction, is determined by referring to a parameter of the synchronization operation instruction so that the operation based on the synchronization magnification changing instruction ends at a set synchronization start master axis position. With such a configuration, the synchronization control is started based on the synchronization operation instruction from the synchronization start master axis position set in the synchronization operation instruction.

Abstract: A reference value generating unit (14b) generates a reference value which is equal to a speed command value taken when an override value is 1. A speed command value generating unit (14c) generates a speed command value taken when an override value is a set value. A position control gain generating unit (14d) generates a position control gain to be used by a motor controller (12) on the basis of the ratio of the speed command value to the reference value and a gain-related value relating to a gain which is set in accordance with an upper die (9a), and outputs the generated position control gain to a memory (11).

Abstract: A reference value generating unit (14b) generates a reference value which is equal to a speed command value taken when an override value is 1. A speed command value generating unit (14c) generates a speed command value taken when an override value is a set value. A position control gain generating unit (14d) generates a position control gain to be used by a motor controller (12) on the basis of the ratio of the speed command value to the reference value and a gain-related value relating to a gain which is set in accordance with an upper die (9a), and outputs the generated position control gain to a memory (11).

Abstract: A conveyer for transporting a box and a conveyer for transporting a bottle are driven along a follow-up target axis and a follow-up axis, respectively. The follow-up axis is accelerated from a synchronization start position, and, when the follow-up axis velocity catches up with the conveyer, performs the constant velocity operation. An advanced operation, performed by an asynchronous axis (moving the bottle closer to the box), is started before synchronization completes, and is completed when synchronization completes, then immediately an operation by a synchronous axis (follow-up target axis or follow-up axis) is started (insertion operation). The point of time when the advanced operation is started is determined by processing of the numerical controller, as a point of time when the time required for the follow-up axis in the current status to reach the synchronization completion status becomes the same as the time required for the advanced operation (preset).

Abstract: A conveyer 1 for transporting a box and a conveyer 2 for transporting a bottle are driven along a follow-up target axis and a follow-up axis respectively. The follow-up axis is accelerated from a synchronization start position, and when the follow-up axis velocity catches up with the conveyer 1, the follow-up axis performs the constant velocity operation. An advanced operation, performed by an asynchronous axis (moving the bottle closer to the box), is started before synchronization completes, and is completed when synchronization completes, then immediately an operation by a synchronous axis (follow-up target axis or follow-up axis) is started (insertion operation). The point of time when the advanced operation is started is determined by processing of the numerical controller, as a point of time when the time required for the follow-up axis in the current status to reach the synchronization completion status becomes the same as the time required for the advanced operation (preset).

Abstract: A die cushion controller uses position control to position die cushion members for placement of a metal sheet. A pressing process starts and the upper die is lowered. When a position detector detects a position at which the upper die touches the sheet metal, the die cushion controller switches over from position control to pressure control and applies a preset pressure to the sheet metal. When the position detector detects that the upper die has risen to a preset position, the die cushion controller clears the positional deviation accumulated in position control to zero, then moves the die cushion members to preset positions and holds them there.

Abstract: Die cushion control device that implements die cushion control while making a switch between position control and pressure control by using servomotors, and reduces the impact caused by a collision between a press axis and a die cushion axis during position control. Die cushion members are controlled by servomotors Md. The changeover switch is connected to the “a”-side, to thereby control the position (velocity) of the servomotors Md by commands from a numerical controller and control the position of the die cushion members. During position control, the output torque of the servomotors Md is limited by torque limit means. During position control, even if the press axis hits the die cushion members due to erroneous setting, wrong operation or the like, the servomotors Md merely output only a limited torque or less, so that impact force is reduced, which prevents damage to the die cushion members and the press axis.

Abstract: A die cushion controller uses position control to position die cushion members for placement of a metal sheet. A pressing process starts and the upper die is lowered. When a position detector detects a position at which the upper die touches the sheet metal, the die cushion controller switches over from position control to pressure control and applies a preset pressure to the sheet metal. When the position detector detects that the upper die has risen to a preset position, the die cushion controller clears the positional deviation accumulated in position control to zero, then moves the die cushion members to preset positions and holds them there.

Abstract: When machining of a workpiece mounted on a first pallet by a machine tool is ended, power of a driving motor is transmitted through a cylindrical cam and a cam follower to a clamp member to unclamp a first pallet clamped on a table of the machine tool by the clamp member. Then, the power is transmitted to a swing arm to unload the first pallet from the table to a stand-by position and a second pallet, mounting thereon a workpiece to be machined, is loaded from the stand-by position to the table by the swing arm. The second pallet is the clamped on the table by the clamp member and the pallet exchange operation is complete.