Abstract: The present disclosure relates to a control management device including a job input unit into which a job is input, a controller exclusive determination unit configured to determine whether or not the controller which is a target of an instruction included in the job is locked due to an ongoing exclusive process by another job, a parameter value storage configured to, when an instruction to be executed next is writing of an exclusive process, store a value of writing target in the controller as an original data value and lock the controller, an instruction execution unit configured to notify the controller of the instruction to be executed next in the job, a job completion determination unit configured to determine whether or not all instructions in the job have been completed, and a parameter value restoration unit configured to restore the original data value to the controller.

Abstract: Control of a facility is performed in accordance with a common action plan. Further, a plurality of controllers provided in the facility are caused to control the facility in coordination. A control coordination apparatus includes a control information generation unit and a control information transmission unit. The control information generation unit generates control data which include information for specifying a control content of the facility to be controlled by the plurality of controllers and are received by each of the controllers, from an action plan file which includes an action plan made by an action plan generation apparatus and is generated by the action plan generation apparatus. The control information transmission unit transmits the control data to each of the controllers on the basis of facility design information including information on connection with the facility.

Abstract: An apparatus including a combination possibility calculation unit to calculate a stable orientation in which, from three-dimensional shape data of a part, the part is stabilized on a flat surface, to calculate a grasping method for grasping the part with a hand, and to calculate a combination in which the hand does not interfere from system configuration data including information on a connection destination of the hand and a combination group of the grasping method and the stable orientation; a regrasping path calculation unit to calculate a regrasping path of the part by using the calculated combination; a path group calculation unit to calculate a path having the minimum number of teaching points from the regrasping path as a path group based on orientation data for designating an input orientation and an alignment orientation of the part; and a program generation unit to generate a program of a robot based on the path group.

Abstract: An apparatus including a combination possibility calculation unit to calculate a stable orientation in which, from three-dimensional shape data of a part, the part is stabilized on a flat surface, to calculate a grasping method for grasping the part with a hand, and to calculate a combination in which the hand does not interfere from system configuration data including information on a connection destination of the hand and a combination group of the grasping method and the stable orientation; a regrasping path calculation unit to calculate a regrasping path of the part by using the calculated combination; a path group calculation unit to calculate a path having the minimum number of teaching points from the regrasping path as a path group based on orientation data for designating an input orientation and an alignment orientation of the part; and a program generation unit to generate a program of a robot based on the path group.

Abstract: A workpiece simulation part estimates the amount of movement of the workpiece from drive information and estimates the current position of the workpiece by adding the amount of movement to the previous position of the workpiece, the drive information being generated for, among at least one actuator, an actuator that is assumed to constrain the workpiece under the constraint conditions. A sensor simulation part uses the current position of the workpiece to generate sensor simulation information. An input/output switching part transmits the drive information to the workpiece simulation part and transmits the sensor simulation information as alternate information of the sensor information to the control-program execution part.

Abstract: A workpiece simulation part estimates the amount of movement of the workpiece from drive information and estimates the current position of the workpiece by adding the amount of movement to the previous position of the workpiece, the drive information being generated for, among at least one actuator, an actuator that is assumed to constrain the workpiece under the constraint conditions. A sensor simulation part uses the current position of the workpiece to generate sensor simulation information. An input/output switching part transmits the drive information to the workpiece simulation part and transmits the sensor simulation information as alternate information of the sensor information to the control-program execution part.

Abstract: A technique for enabling reduction in user operations. A program generating apparatus includes a control distribution unit and a communication function adding unit. The control distribution unit allocates respective control blocks of a control model to controllers, based on the control model received by a control model input unit, and setting information and connection information received by a setting information input unit. The communication function adding unit adds, when first and second ones of the control blocks are connected to each other, a communication control block to a connected part between the first and second control blocks, the first and second control blocks being allocated to different ones of the controllers in the allocated control model.

Abstract: A technique for enabling reduction in user operations. A program generating apparatus includes a control distribution unit and a communication function adding unit. The control distribution unit allocates respective control blocks of a control model to controllers, based on the control model received by a control model input unit, and setting information and connection information received by a setting information input unit. The communication function adding unit adds, when first and second ones of the control blocks are connected to each other, a communication control block to a connected part between the first and second control blocks, the first and second control blocks being allocated to different ones of the controllers in the allocated control model.

Abstract: When change amount information calculated by a change amount information calculating unit satisfies a start condition and a signal condition is true for an operation instruction the start condition and the signal condition of which are defined, an operation instruction execution control unit determines a start of the corresponding operation instruction and determines operation completion based on a completion condition determined in advance of the operation instruction. An operation instruction executing unit executes the operation instruction the start of which is determined by the operation instruction execution control unit and stops the operation instruction when the operation completion is determined by the operation instruction execution control unit.

Abstract: A component supply apparatus capable of aligning components of various shapes, which are supplied in bulk, within a short period of time with general means. The apparatus includes a three-dimensional vision sensor measuring a depth map, a bulk component box, a robot picking up a component from the bulk component box, a temporary placing table onto which components are rolled, a two-dimensional vision sensor measuring a profile of the components, a robot group picking up the component rolled on the temporary placing table, and changing a position and orientation of the component into a position and orientation that involve an error of a certain level or less with respect to a position and orientation that are specified in advance, while changing the position and orientation of the component, and a control device controlling those portions.

Abstract: A program creation device includes a processing unit that displays, on a display device, an edit screen on which respective timing charts of controlled units are arrayed in the vertical direction. Upon reception of a first input for designating an arrangement position of a display object on the timing charts to arrange the display object at the arrangement position, the processing unit displays the display object at the arrangement position designated by the first input on the timing charts. After displaying the display object, the processing unit receives a second input including a designation of a type and an input of a parameter. The processing unit then generates an operation program for executing an operation command of the type designated by the second input, to which the parameter input by the second input is applied, at an execution timing according to the arrangement position designated by the first input.

Abstract: When change amount information calculated by a change amount information calculating unit satisfies a start condition and a signal condition is true for an operation instruction the start condition and the signal condition of which are defined, an operation instruction execution control unit determines a start of the corresponding operation instruction and determines operation completion based on a completion condition determined in advance of the operation instruction. An operation instruction executing unit executes the operation instruction the start of which is determined by the operation instruction execution control unit and stops the operation instruction when the operation completion is determined by the operation instruction execution control unit.

Abstract: A component supply apparatus capable of aligning components of various shapes, which are supplied in bulk, within a short period of time with general means. The apparatus includes a three-dimensional vision sensor measuring a depth map, a bulk component box, a robot picking up a component from the bulk component box, a temporary placing table onto which components are rolled, a two-dimensional vision sensor measuring a profile of the components, a robot group picking up the component rolled on the temporary placing table, and changing a position and orientation of the component into a position and orientation that involve an error of a certain level or less with respect to a position and orientation that are specified in advance, while changing the position and orientation of the component, and a control device controlling those portions.

Abstract: Present invention provides an optical encoder capable of improving the precision of an interpolation angle in a single signal track, in an encoder of sine-wave angle interpolation type. The optical encoder includes a waveform, in which a phase-modulated wave is superimposed in a predetermined period over a sine-wave of a fundamental period, as a signal track (103), and an optical detector (104) for extracting the sine signal and the cosine signal of the phase-modulated wave. An operation unit (106) operates electric angles individually from the output signals of a first optical detector pair and a second optical detector pair belonging to the optical detector, and determines the sum and difference of the electric angles, thereby acquiring the electric angle and the phase-modulated wave of the fundamental period.

Abstract: Present invention provides an optical encoder capable of improving the precision of an interpolation angle in a single signal track, in an encoder of sine-wave angle interpolation type. The optical encoder includes a waveform, in which a phase-modulated wave is superimposed in a predetermined period over a sine-wave of a fundamental period, as a signal track (103), and an optical detector (104) for extracting the sine signal and the cosine signal of the phase-modulated wave. An operation unit (106) operates electric angles individually from the output signals of a first optical detector pair and a second optical detector pair belonging to the optical detector, and determines the sum and difference of the electric angles, thereby acquiring the electric angle and the phase-modulated wave of the fundamental period.