Abstract: A numerical controller includes a control section for controlling operation of a machine, an application section which is separated from the control section and adapted to input data into the control section and to monitor a control status, and a communication network for connecting the control section and the application section. This structure makes it possible to reduce the overall size of the numerical controller. A program for a new function or an abnormality diagnosis program is also transmitted from the application section to the control section when required.

Abstract: A toner producing system which can efficiently produce toner having a sharp particle size distribution by suppressing the occurrence of microscopic powders and improve energy efficiency in pulverization. The system is furnished with a second pulverizing apparatus having a second colliding plate inclined at an angle in a range between 45.degree. and 90.degree. inclusive with respect to a direction in which a raw material subject to pulverization is introduced into a second pulverizing chamber through a second nozzle, and a third pulverizing apparatus having a third colliding plate with a conical member being placed thereon, so that the raw material introduced into a third pulverizing chamber through a third nozzle collides with an inner surface thereof following the collision with the third colliding plate.

Abstract: A numerical controlled grinding machine for grinding a workpiece, in which a thermal displacement taking place between a wheel head and the workpiece, is detected with the workpiece not being subjected to the bending due to a grinding resistance. The thermal displacement is calculated from the difference between the present position of the wheel head detected by a position detector and the theoretical position thereof converted from the diameter of the workpiece measured by an in-process measuring device. The position data for the wheel head stored in a numerical controller is compensated for the calculated thermal displacement for use in the subsequent control of feed movement between the workpiece and the wheel head.

Abstract: In a grinding method wherein a rotating workpiece and a rotating grinding wheel are relatively moved toward and away from each other and wherein at least three of rough, fine and finish grinding step are performed successively at high, medium and low infeed rates respectively for grinding the workpiece, the grinding wheel is retracted to a back-off position at the end of the rough grinding step.

Abstract: A robot controller for an articulated robot, in which a joint angle vector indicating target joint angles of respective joints of the robot is calculated based on a target position matrix indicating a desired target position, and the robot is controlled ill accordance with the joint angle vector. The robot controller is further provided with a neural network for compensating the target position so as to reduce the positioning error. The learning operation of the neural network is repeatedly carried out at predetermined intervals during the operation of the robot. The target position may be preliminarily compensated using a mathematical model.

Abstract: A numerical controller for a grinding machine, wherein one of plural reference sizing points is selected according to the contents of a numerical control program. Measured analog data indicating the diameter of a workpiece is received continuously to determine if the size of the machined workpiece coincides with the selected reference sizing point. Upon the coincidence of the size of the machined workpiece with the reference sizing point, a sizing signal is provided, and then machining control is changed in response to the sizing signal. An analog signal provided by a measuring device is sampled at a predetermined interval in a predetermined time. The analog signal is tested to see if the analog signal is in a predetermined range, which is decided based upon the temperature variation or vibrations of the grinding machine. And the result of the test is displayed to facilitate checking the output characteristics of the measuring device.

Abstract: An intelligent machining system employs a neural network for calculating machining conditions on the basis of attribute data or a workpiece and a grinding machine. The system comprises a reference machining condition calculating unit, a neural network which receives the attribute data and provides corrections, and a correcting unit for correcting the reference machining conditions by using the corrections. Corrections which cannot be determined by means of empirical expressions or theoretical expressions are determined appropriately by the neural network previously learned. The system determines corrections for the machining conditions on the basis of machining errors decided by a neural network. The system also detects time-series machining phenomena by sensors, processes the output detection signals of the sensors by a neural network to obtain machining circumstance data. The feed rate of the tool is controlled by a fuzzy inference on the basis of the machining circumstance data.

Abstract: An apparatus for carrying out learning operation of a neural network which has an input layer, an intermediate layer and an output layer. Plural nodes of the input layer are related to plural nodes of the intermediate layer with plural connection weights, while the plural nodes of the intermediate layer are also related to plural nodes of the output layer with plural connection weights. Although input data composed of plural components and teaching data composed of plural components are used in learning operation, some of the components are ineffective for the purpose of learning operation. During error calculation between output data from the neural network and the teaching data, the apparatus judges whether each of the components of the teaching data is effective or ineffective, and output errors corresponding to the ineffective components are regarded as zero. The connection weights are thereafter corrected based upon the calculated errors.

Abstract: An apparatus for checking the input-output characteristic of a neural network which has an input layer, an intermediate layer and an output layer. Plural nodes of the input layer are related to plural nodes of the intermediate layer with plural connection weights while the plural nodes of the intermediate layer are also related to plural nodes of the output layer with plural connection weights. One of the nodes of the input layer is selected as a variable input element while the rest of the nodes are regarded as fixed input elements. A variable data input to the variable input element is varied within a predetermined variation range, while data input to the fixed input elements are fixed, so as to detect how the components of output data from the output layer change. The detected changes of the components of the output data are displayed as the input-output characteristic of the neural network.

Abstract: Disclosed is a processing apparatus capable of optimizing its rule base comprising a plurality of rules having an antecedent and a consequent each. The antecedent contains input conditions of machining, and the consequent describes the result of machining. The antecedents are applied to input condition data. The consequents of the applied rules yield machining result data that are evaluated for rule fitness. When the rule base is updated, some rules are deleted and some preserved depending on their degrees of fitness. Between given two rules having the same consequent, any number of corresponding conditional elements in their antecedents are exchanged so as to generate new rules. The process is repeated until the rule base is optimized. With the antecedents of rules applied to input condition data and with the consequents of the applied rules yielding machining result data, those data may be modified according to modification request data.

Abstract: A digital servo-control apparatus which controls the rotation of a servomotor on the basis of a digital position command value representative of a target position and a digital position feedback value output from a position detecting device. The apparatus comprises a device for calculating a feedforward value at intervals of a predetermined period on the basis of the amount of change of the position command value, a device for delaying the position command value by a period of time corresponding to an operation delay in the feedforward value calculating device, a device for calculating a velocity command value by adding the feedforward value to a deviation of the position feedback value from the position command value delayed by the delay device, and a device for driving the servomotor according to the velocity command value determined by the calculating device.

Abstract: An apparatus capable of automatically determining grinding wheel dressing timing for dressing a grinding wheel. The apparatus estimates the abrasion of the grinding wheel in a grinding cycle on the basis of machining data and grinding conditions, and divides the grinding cycle into a plurality of stages according to the estimated abrasion to carry out grinding wheel dressing after the completion of every stage of the grinding cycle. In grinding a workpiece having a plurality of ground sections, the abrasion of the grinding wheel in grinding each ground section is estimated, and the abrasion is accumulated in accordance with grinding sequence. A ground section after grinding which grinding wheel dressing is to be carried out is determined on the basis of the cumulative abrasion. Similarly, the abrasions are accumulated for each of workpieces. A grinding wheel dressing is carried out after the completion of grinding a workpiece so that the cumulative abrasion may not exceed a predetermined value.

Abstract: An apparatus for displaying an operation sequence of a machine tool such as a grinding machine which is controlled by a numerical controller. During operation, successive operations instructed by a machine operator are stored in the memory of the numerical controller along with successive numerical commands which are executed during the successive operations. When a malfunction occurs in the machine tool, the storing operation is stopped, and the successive operations and the successive numerical commands executed before the occurrence of the malfunction are displayed on a display device for analyzing the cause of the malfunction.

Abstract: A synchronizing control apparatus for synchronously rotating master and slave main spindles of a pin grinder, wherein a servomotor for the slave main spindle is rotated at a speed corresponding to a compensated command value while the master main spindle is rotated at a speed corresponding to a noncompensated command value. The compensated command value is calculated based on a synchronizing error between the master and slave main spindles at a predetermined interval longer than the length of instable condition of a servo loop for the slave main spindle. When the synchronizing error is larger than a predetermined limit value, the command value for the slave main spindle is gradually compensated in order to prevent the compensated command value from changing too abruptly.

Abstract: An apparatus for measuring groove positions of a workpiece includes a sensor for detecting grooves formed on the workpiece and a position sensor for detecting angular position of the workpiece with respect to a predetermined standard position, a measuring cycle memory means for storing several predetermined measuring cycles, a data input means for imputting and storing groove data indicating groove shape, a measuring control means for selecting a specific measurement cycle from the measurement cycle memory means based on the groove data to execute selected measurement cycle, a calculation processing means for executing calculation processing for determining the center positions of grooves, and a data output means for outputting and displaying the results of the calculations in order to inform an operator of the center positions of the grooves.

Abstract: When machining cams with the same profile data, finished shape errors tend to increase as the diameter of a grinding wheel decreases. In order to keep the finished shape errors within a tolerance, the profile data used for machining must be renewed with new profile data corresponding to the present diameter of the grinding wheel. In the disclosed numerically controlled cam grinding machine, optimum wheel diameters, at which new profile data must be calculated, are decided automatically. The numerical controller calculates the marginal diameters which require renewal of profile data based upon the machining tolerance when a new grinding wheel is attached to the wheel head. After that, the numerical controller calculates new profile data from the marginal wheel diameter and lift data, when the present wheel diameter reaches into one of the marginal wheel diameters. The old profile data is renewed with the newly calculated profile data corresponding to the marginal wheel diameter.

Abstract: A numerical control apparatus for machining non-circular workpieces such as a cam and the like is disclosed. In the present invention, roughing profile data and finishing profile data are generated from lift data regulating the shape of non-circular workpiece. The roughing profile data are obtained from roughing lift data. The roughing lift data are generated as changing smoothly such that the deviation from the lift data regulating the finished shape presents within the tolerance of allowance at finishing, and quadratic differential components related to the rotational angle are smaller than the predetermined value. Machinings are performed by the roughing profile data at roughing and by the finishing profile data at finishing. As a result, the high-speed machinings are possible and the machining cycle time can be shortened.

Abstract: A synchronous control system for a pair of spindles of a machine tool including a master spindle and a slave spindle. Current positions of the main spindles are detected, and a deviation between the detected current positions is calculated. In case the deviation is within 180 degrees, the current position of one of the main spindles which precedes in the forward direction of rotation is determined as a target position for positioning. In case the deviation is greater than 180 degrees, the detected current position of the master spindle or the slave spindle is offset by an amount equal to an integral number of times 180 degrees so that the deviation between current positions of the main spindles after such offset is within 180 degrees. Then, that one of the current position of the main spindle thus offset and the current position of the other main spindle not offset which precedes in the forward direction of rotation is determined as a common target position for positioning.

Abstract: A numerical control apparatus for machining non-circular workpieces such as a cam and the like has been disclosed. The cam and the like are used in changing the operation from rotational to linear motion. In designing the shape of the cam and the like, lift data prescribing the relationship between the rotational and linear motions is used. The lift data is given by the position sequence on the linear motion corresponding to a number of discrete rotational angles. Also, the tolerance of the positions is given from a functional aspect. The lift data is converted into profile data prescribing the shape of the cam and the like after being smoothed within the tolerance by a regression analysis, and machining of the non-circular workpieces is effected according to the profile data.

Abstract: A data input-output device for an interactive numerical controller includes a key board having a set of numerical keys arranged to input data used for machining operations of a machine tool into a memory device, a first group of selection keys in the form of normal operation keys arranged to correct the input data in accordance with a workpiece to be machined, a second group of selection keys in the form of set-up change keys arranged to change process management data of the machining operations, a mode switch arranged to instruct the operation of the numerical controller, and a permission switch arranged to be turned on only by using an authorized key, and a central processing unit programmed to disable data input by manipulation of the second group of selection keys in a condition where the first group of selection keys is being manipulated and to permit the data input by manipulation of the second group of selection keys in a condition where the permission switch is turned on after the mode switch has been