Abstract: A bag supply system supplies a packaging bag to a storing position where a sandwich is stored, the bag supply system which includes an opening forming device configured to form an opening at a bag opening of the packaging bag, and a bag opening device configured to grip each of a first side edge portion and a second side edge portion of the opening in an opening direction, the opening direction being a direction in which the opening is opened, and open the bag opening by widening the opening in the opening direction.

Abstract: A layered food packaging system includes: a carrier device configured to convey a sandwich in a horizontal posture in which a layering direction of the sandwich is substantially vertical; a temporary placement table configured to temporarily place the sandwich thereon in a vertical posture in which the layering direction of the sandwich is substantially horizontal; a first robot and a second robot configured to grip the sandwich that is conveyed by the carrier device, lift the sandwich from the carrier device, change the posture of the sandwich from the horizontal posture to the vertical posture, and temporarily place the sandwich on the temporary placement table; and a third robot configured to grip the sandwich that is temporarily placed on the temporary placement table, and insert the sandwich into a bag for packaging the layered food.

Abstract: An operation command generation device includes movement curve designation circuitry configured to determine a movement curve describing an operation of each of at least one mechanism element included in a virtual mechanism, and operation command generation circuitry configured to generate an operation command to control an actual mechanism based on the movement curve.

Abstract: A bag supply system supplies a packaging bag to a storing position where a sandwich is stored, the bag supply system which includes an opening forming device configured to form an opening at a bag opening of the packaging bag, and a bag opening device configured to grip each of a first side edge portion and a second side edge portion of the opening in an opening direction, the opening direction being a direction in which the opening is opened, and open the bag opening by widening the opening in the opening direction.

Abstract: A food processing system includes a food work device that performs predetermined work on a food, controller circuitry that controls the food work device, a sound input device that receives a sound made by a worker, and sound recognition circuitry that obtains and recognizes the input sound and, based on the recognized input sound, instructs the controller circuitry to control the food work device to perform predetermined processing.

Abstract: A layered food packaging system includes: a carrier device configured to convey a sandwich in a horizontal posture in which a layering direction of the sandwich is substantially vertical; a temporary placement table configured to temporarily place the sandwich thereon in a vertical posture in which the layering direction of the sandwich is substantially horizontal; a first robot and a second robot configured to grip the sandwich that is conveyed by the carrier device, lift the sandwich from the carrier device, change the posture of the sandwich from the horizontal posture to the vertical posture, and temporarily place the sandwich on the temporary placement table; and a third robot configured to grip the sandwich that is temporarily placed on the temporary placement table, and insert the sandwich into a bag for packaging the layered food.

Abstract: A food processing system includes a food work device that performs predetermined work on a food, controller circuitry that controls the food work device, a sound input device that receives a sound made by a worker, and sound recognition circuitry that obtains and recognizes the input sound and, based on the recognized input sound, instructs the controller circuitry to control the food work device to perform predetermined processing.

Abstract: A triangle sandwich packaging machine includes paired grips for holding vicinities of both sides of a bag mouth of a triangle sandwich packaging bag, a mover intermittently moving the paired grips in every one of packaging stations, and a spatula inserting mechanism for forming a crest on the triangle sandwich packaging bag held by the paired grips to shape an opening. Also provided is a triangle sandwich packaging method including a moving step of intermittently moving the paired grips holding the triangle sandwich packaging bag in every one of the packaging stations, an opening step of opening the triangle sandwich packaging bag into a sectorial shape and a spatula inserting step of forming a crest on the triangle sandwich packaging bag held by the paired grips to shape an opening and inserting a spatula for shaping the opening.

Abstract: A motion controller includes a controller configured to output a motor driving command based on a motion-and-sequence time chart used for motion control of a motor, to a motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart, which has been created by a general-purpose PC, from the general-purpose PC via a higher-layer network. The controller is configured to receive the motion-and-sequence time chart including a command data sequence included in the motor driving command for the motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart including a sequence time chart that describes a coordinated relationship between the motion control of the motor and a certain two-level input/output signal relating to the motion control of the motor.

Abstract: An engineering tool includes a function that allows a user to perform, through a selection operation and a geometrical figure input operation, various motion-control-related setting operations for a motion controller configured to perform motion control on a motor via a motor driving apparatus. In response to input of a motion operation chart including a chronological and geometrical description from a user, a motion-and-sequence time chart to be referred to by the motion controller is created so as to allow a motor driving command for the motor driving apparatus to be chronologically output. The motion-and-sequence time chart is created by adding a command data sequence included in the motor driving command for the motor driving apparatus.

Abstract: A motion controller includes a controller configured to output a motor driving command based on a motion-and-sequence time chart used for motion control of a motor, to a motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart, which has been created by a general-purpose PC, from the general-purpose PC via a higher-layer network. The controller is configured to receive the motion-and-sequence time chart including a command data sequence included in the motor driving command for the motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart including a sequence time chart that describes a coordinated relationship between the motion control of the motor and a certain two-level input/output signal relating to the motion control of the motor.

Abstract: A motion data command system for a motion program having a numerical controller for controlling a servo amplifier in accordance with a given motion command. A memory is provided in the numerical controller for storing as variables motion command data. A motion API called by an application program on a personal computer is provided which gives a motion command via a bus to the numerical controller; and indirectly specifying the address of a variable of motion command data present in the memory by way of said motion API.

Abstract: The invention includes: a numerical controller for controlling a servo amplifier in accordance with a given motion command; a memory for storing as variables motion command data such as speeds and positions; a motion API which is called by an application program on a personal computer and which gives a motion command via a bus such as a PCI bus to the numerical controller; and means for indirectly specifying the address of a variable of motion command data present in the memory by way of the motion API.