Abstract: Apparatus for detecting an operating condition of a machine synchronizes sampling instants with the machine condition so that high reliability data are obtained. More particularly, an indication of the operating condition of a rotor of the machine is developed at each sampling instant. The operating condition may be, for example, the position of the rotor, in which case estimates of the rotor position and rotor velocity at each of the sampling instants are developed. Sampling signals are then derived from the rotor position and velocity estimates to synchronize the sampling instants to the rotor position.

Abstract: An element including a first processing circuit conducting a real time processes for controlling a robot body and a man-machine interface element including a second processing circuit for operating the robot body are connected through the common storage device. It enables for application programs that can run with a general OS to easily refer to data relating to the robot. It also enables to easily construct necessary software.

Abstract: A robot controller determines an abnormality in position, velocity or acceleration of an end effector or a rotational axis of a robot. The robot controller includes a servo CPU that periodically writes current position data in a shared RAM with a host CPU. The current position data is obtained from robot position sensors. Using the written position data, the host CPU periodically compares stored data corresponding to position, velocity or acceleration with the newly written data. When an abnormal motion is detected, the robot is immediately stopped.

Abstract: A method and an apparatus for detecting machining flaws of machine tools mechanically removing material from surfaces, especially of grinding machines, with the help of which the occurrence of machining flaws can be determined directly during the machining of the workpiece itself. This is achieved as far as the method is concerned in that the force exerted by the tool bit upon the workpiece during the machining process is measured as an “actual or momentary” value. This value is then fed to an electronic data processing unit and is compared there with a “nominal” value stored there and obtained from the processing of an unflawed workpiece, the thus obtained values can be documented and used to identify a flawed product.

Abstract: A joystick composed of a stator formed by an outer cage forming an inner cubic compartment containing an inner cube oriented with its wall spaced from and substantially parallel corresponding wall of the compartment. Opposed magnets are position in cooperating relationship on opposed walls of the compartment and cube and define a gap therebetween. A floater formed by a plurality of flat actuating coils, one positioned in each gap and each thinner than the width of the gap in which it is received. Preferably the ratio of coil thickness to gap width is at least 1:3. Preferably an optical position sensor is used to monitor the relative position of the flotor and stator and is composed of at least one linear light position sensor mounted on one of the stator and flotor and a plurality of planar light beams arranged at an angle to each other on the other of the stator and flotor and directed to the linear light position sensor(s) so that the light beams traverse the linear light position sensor(s).

Abstract: A robot controller resolving a path deviation caused in relation to override processing or temporary stop. A motion planning section constituting software of the robot controller forms a motion plan of a robot with no consideration of overriding and outputs it to an interpolation processing section. The interpolation processing section carries out interpolation processing at each period of calculation processing, calculates a motion amount at each ITP and outputs it to a filtering section. An output filtered for acceleration or deceleration control at the filtering section is processed by an overriding processing section having an operational shutter. An output after the processing to which an override value .beta. (0.ltoreq..beta..ltoreq.1) common to respective axes has been applied is constituted by velocity and acceleration respectively multiplied by .beta. and .beta..sup.2.

Abstract: A telepresence system includes a camera pair remotely controlled by a control module affixed to an operator. The camera pair provides for three dimensional viewing and the control module, affixed to the operator, affords hands-free operation of the camera pair. In one embodiment, the control module is affixed to the head of the operator and an initial position is established. A triangulating device is provided to track the head movement of the operator relative to the initial position. A processor module receives input from the triangulating device to determine where the operator has moved relative to the initial position and moves the camera pair in response thereto. The movement of the camera pair is predetermined by a software map having a plurality of operation zones. Each zone therein corresponds to unique camera movement parameters such as speed of movement. Speed parameters include constant speed, or increasing or decreasing. Other parameters include pan, tilt, slide, raise or lowering of the cameras.

Abstract: A numeric array of move command data Qi constituting a reference cam diagram F (.theta.) is stored in advance in a data table of a CMOS memory. Alternatively, a shift position of a cam corresponding to a rotational angle .theta. of the cam is stored in advance so that move command data can be generated by obtaining the shift position of the cam from the rotational angle of the cam based on the rotational angle value. In response to the input of a shift Ka in the lift direction, shift Kb in the pitch-circle direction, maximum lift Kc, and data number n as a criterion for extension or compression in the pitch-circle direction, the move command data can be corrected by automatic processing by means of a motion controller. Thus, final move command data Pk can be generated and outputted as position commands.

Abstract: A positioning control unit in which a motion control unit receives a start signal for a motion program outputted from a sequence control section and transmits a drive signal to a servo amplifier according to the operational contents indicated in the motion program. The servo amplifier transmits a control signal to a servo motor according to the drive signal and provides controls over the servo motor. The motion control section stores a start signal in an interface section when it receives a start signal for a motion program to be executed next from the sequence control section during operation of the motion program, and executes the motion program indicated by the start signal after the operation of the motion program in operation is completed.

Abstract: A stitch machining method by an industrial robot capable of performing a teaching operation easily and the stitch machining accurately. Instead of teaching switchover points p1, P2, . . . for application and non-application of sealant in sealing as shown in FIG. 5a, a distance n1 of a machining section (where sealant is applied) and a distance n2 of a non-machining section are set to a robot controller as shown in FIG. 5b. The robot controller monitors a travel distance and switches from machining to non-machining and vice versa each time the robot travels the distance n1 and the distance n2, respectively, to thereby effect the stitch machining. As shown in FIGS. 5c and 5g, it is possible to ensure that a start and an end points of each block are positioned in the machining sections n1. Further, as shown in FIG. 5d, the stitch machining can be performed continuously for a plurality of blocks. As shown in FIG.

Abstract: In a servo system controller comprising a servo control section, a sequence control section, and a dual port memory, an event detecting unit for detecting generation of an event according to input information from an object to be controlled and an event processing program memory are provided in the servo control section, and an event processing program is executed by the event processing program memory upon interruption by the servo control section according to an output signal from the event detecting unit.

Abstract: A control unit for a rotary T.V. antenna which is responsive to a signal representative of a selected T.V. channel to produce a power output adapted to rotate the antenna to a predetermined appropriate position for receiving the selected T.V. channel such control unit can be responsive to the signal from a remote control T.V. channel selector.

Abstract: A substrate handler for use in a chamber in a vacuum processing system has a single motor for controlling the substrate handler's rotation and extension functions. The single motor is connected to an operating assembly that operates in two modes to alternatively rotate or extend the substrate handler. The two modes are defined by the relative rotational motion of two drive mechanisms that are rotated by the single motor. When the relative rotational motion for the two drive mechanisms is in the same axial direction, then the operating assembly operates in the first mode. When the relative rotational motion for the two drive mechanisms is in the opposite axial direction, then the operating assembly operates in the second mode. The single motor operates one of the drive mechanisms and an assembly that alternatively operates the other drive mechanism in either the same or the opposite axial direction as the first drive mechanism.

Abstract: A pair of orthogonally oriented linear member are slidingly linked to a base at their respective ends. A stage, having a pair of orthogonally oriented bores, receives the pair of linear members, thereby permitting the stage to move in any horizontal direction. The stage further has two parallel, vertically oriented bores to receive a pair of parallel, vertically oriented linear members. The adjacent ends of the vertically oriented linear members are connected by upper and lower platforms, each having a cable guide thereat. A motor is mounted to the base and is coupled to a drive shaft. A hangar, fixedly mounted to one of the horizontal linear members, rotationally hold a first drive pulley which is slidably mounted on the drive shaft. Located opposite the drive pulley and also fixedly mounted to the horizontal linear member is a cable hangar. A cable frictionally engages the drive pulley to translate rotational movement of the drive pulley into vertical movement of the platforms.

Abstract: Robust Vibration Suppression methods and systems providing improved robustness range and are effective in single or multiple degree of freedom systems are disclosed. Methods disclosed include providing an output response from a physical system by selecting a command input to be applied to a physical system based on robustness and/or noise generation potential as determined by analyzing the frequency spectra of a derivative of the command inputs.

Abstract: A CNC device 10 and servoamplifiers SA1, SA2 are connected in the manner of a daisy-chain. The positions of the servo motors M1, M2 detected by pulse coders P1, P2 are read in synchronization at the same point in time. In such circumstances, the synchronizing signal for the command to read the positions is propagated from the CNC device 10 to the servoamplifiers SA1, SA2 by means of transmission lines L1, L2. Propagation delay is generated, but synchronization is achieved by correcting this propagation delay time, so that the positions of the servo motors M1, M2 are detected at the same point in time.

Abstract: A control mode changing over method for a servo control system, which is capable of reducing a shock occurring in changing over a control mode from a torque control mode to a position/velocity control mode. In the torque control mode, a value of an integrator in a velocity loop for the position/velocity control mode is rewritten into a torque command value for torque control so that the value of the integrator is always set to the same value as the torque command. When a control mode is changed over from the torque control mode to the position/velocity control mode, a torque command value for a servo motor is obtained based on the value of the integrator rewritten in the torque control mode. Thus, a continuous torque command value is given to the servo motor in changing over the control mode.

Abstract: A CNC apparatus (10), wherein a PC circuit (300) for sequence control of a peripheral device is provided in addition to a PC circuit (200) for sequence control of a machine (60) to be numerical controlled. The sequence programs executed by the respective PC circuits are made capable of independently inputting to and outputting from EEPROMs (240, 340) and also made capable of independently editing and diagnosing. Further, signal transmission and reception between the PC circuits (200 and 300) so that both the sequence programs can be executed coordinately with each other.

Abstract: An all digital control method for motor drivers eliminates physical motor current sensing. The motor and the driver are modeled to estimate the actual current and the estimated current is used to perform motor control. This provides simplified driver circuitry. Driver non-linearity due to driver dead time may be compensated and minimum driver on times are accommodated while providing good waveform fidelity, minimized motor heating and increased motor system damping.

Abstract: An electromagnetic actuating device comprises a solenoid coil to which a control current can be applied and an armature associated with the solenoid coil which is adapted to carry out movements which are dependent upon a control current flowing through the solenoid coil and a spring arrangement for biassing the armature into opposite directions, with a holding position being defined which is assumed by the armature at a holding current through the solenoid coil, with the holding current flowing through the solenoid coil being variable to a higher value or to a lower value with the armature not leaving the holding position, and both the higher and the lower current value being able to be dimensioned in such a manner that interference influences on the magnetic and spring forces which actuate the armature do not bring the armature from its holding position into an actuated position which is different from the holding position.

Abstract: A numerical control apparatus and a numerical control method is provided which permit high-accuracy and high-velocity travel at a joint between paths as well as simple and rapid calculations for this purpose. A path is inserted at the joint between the paths so as to achieve a continuous curvature.

Abstract: A motion controller generates commands to control electric motors of a multi-axis industrial machine in accordance with calculated positions set forth in a path planning table. In a method of generating the path planning table, a series of coordinates are entered into a system that correspond to positions of the machine along a complete cycle of a desired path. The coordinates are proportionally spaced based on distance, maximum speed and maximum acceleration factors. A path planning table is generated by determining the calculated positions based on a predetermined resolution using an S-curve mathematical equation that includes an alpha variable corresponding to an acceleration to jerk ratio. The value of the alpha variable is adjustable by the user during a testing procedure to allow for an optimal setting thereof.

Abstract: Program storage means (1) is stored with a command program (1a) for driving and controlling a servomotor (4) that drives a belt conveyor (2). Acceleration-deceleration control means (7) detects the current position and current speed of the servomotor (4), and referring to the result of detection, executes acceleration-deceleration control in accordance with acceleration-deceleration points commanded by the command program (1a) and a time constant and target speed for each acceleration-deceleration point.

Abstract: An actuator controller using a periodic signal includes: an actuating unit for moving a movable portion with respect to a fixed portion by a predetermined amount; a drive unit for operation the movement; a power supply unit for supplying an electric power to the drive unit; and a periodic signal generating unit, which includes a velocity command signal generating part for generating a velocity command signal on the basis of an output of the movable portion, and a driving frequency calculating part for determining the frequency of the periodic signal in accordance with the velocity command signal.

Abstract: An apparatus for synchronously controlling the actual operation of a machine using one or more motors, such as servo motors, by simulating in program form a combination of selectable machine mechanisms, including drivers, connecting shafts, clutches, gears and cams. Each such machine mechanism is represented by a virtual mechanism, preferably as a software module that contains information uniquely identifying the module, operation information that defines the generation of position information and connection information that defines other modules to which connection is made. The software modules comprise drive modules for generating position information, transmission modules for simulating the transmission mechanisms and output modules for outputting motor commands.

Abstract: A machine tool is controlled in response to a numerical control program that is indicative of tool path data. A user selects a working region on which the machine tool will operate. A portion of the tool path data that corresponds to the selected working region is determined, so that both the selected working region and the portion of the tool path data may be displayed on a display. Such a display may also include a grid so that the user may select grid areas. Grid areas may be selected so that only data associated with the selected grid areas is modified, or to allow the user to modify a visible outline of the area to be worked, or to allow the user to select non-workable regions for which the original tool path data will not be modified. Further magnification may be based upon a predetermined magnification rate or a magnification rate selected by the user.

Abstract: An apparatus and method for interfacing the motion of a user-manipulable object with a computer system includes a user object physically contacted or grasped by a user. A 3-D spatial mechanism is coupled to the user object, such as a stylus or a medical instrument, and provides three degrees of freedom to the user object. Three grounded actuators provide forces in the three degrees of freedom. Two of the degrees of freedom are a planar workspace provided by a closed-loop linkage of members, and the third degree of freedom is rotation of the planar workspace provided by a rotatable carriage. Capstan drive mechanisms transmit forces between actuators and the user object and include drums coupled to the carriage, pulleys coupled to grounded actuators, and flexible cables transmitting force between the pulleys and the drums. The flexibility of the cable allows the drums to rotate with the carriage while the pulleys and actuators remain fixed to ground.

Abstract: A system for driving a hard disk drive spindle motor is disclosed. The system comprises a spindle motor control circuit (120) and a spindle motor power circuit (220). The system also includes at least one disk (22) attached to a rotatable spindle (21) and a spindle motor (400) which receives power signals from the spindle motor power circuit (220) and controls the rotation of the spindle (21). The spindle motor control circuit (120) comprises a multiplexor (127) which transmits either a pulse width modulation signal or a current control signal in response to a mode selection signal, and a spindle predriver (125) which receives the multiplexor output signal and transmits spindle motor control signals to the spindle motor power circuit (220).

Abstract: A numerical control apparatus having command input panels including the number of command keys corresponding to an application program. An application execution unit receives and stores command data output from a machine control console as well as executes an application program generated by the operator and outputs a pulse signal for commanding the operation of a machine tool such as the movement of the machine tool. An interpolation unit receives the pulse signal output from the application execution unit, outputs an interpolation pulse, and supplies the interpolation pulse to an axis control circuit. The axis control circuit receives the interpolation pulse output from the interpolation unit, generates a speed command for each axis and supplies the speed command to a servoamplifier. The servoamplifier controls the machine tool by energizing servomotors mounted thereon.

Abstract: Pre-defined driving profiles for the distinct phase-windings of an electronically controlled brushless motor are continuously reconstructed for each switching phase and forced in the form of a drive current or voltage on the respective windings, in synchronism with a signal indicative of the rotor position, from just a first complete sequence and at least a first sample of the successive sequence of a number of sequences, each of N samples, equal to the number of switching phases of the motor, in which is divided a complete digitized pre-defined profile. The digital samples are stored in a nonvolatile memory and that are scanned at a continuously regulated clock frequency and with varying order and direction of scanning for reconstructing the instantaneous driving profiles for all the windings.

Abstract: An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. An end effector is pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding one or more of a yaw motor, a roll motor and a pitch motor for rotating the wrist of the arm about the respective axes. A sensor array senses the R, .theta., Z and yaw, roll and/or pitch motions and creates and transmits electronic signals representative thereof to a computer controller which monitors and controls the R, .theta., Z and yaw, roll and/or pitch motions.

Abstract: A backlash correction apparatus and method thereof for a numerical controller, which apparatus includes a command direction memory unit for storing a direction value of a position command, a feedback velocity/direction memory unit for storing a present transfer direction value, a previous direction memory unit for storing a previous transfer direction value, a reverse direction detector for operating on the command direction value, the previous transfer direction value and the present transfer direction and outputting therefrom a correction direction value, a backlash data memory unit for storing a backlash error value corresponding to the pitch position of a ball screw for transferring a table, a correction data operator for reading from the backlash data memory unit backlash errors and outputting therefrom backlash correction values by adding to the read backlash errors the correction direction values, and a correction data output unit for outputting the backlash correction values applied thereto from the c

Abstract: An automatic positioning system in which a divider element divides the space between the initial position and the required final position into a predetermined number of well defined measurement positions at predetermined but not necessarily constant intervals, at these positions measurement means determining the effective time, velocity and acceleration values and hence the extent of disturbances as an acceleration difference, while suitable calculation means define the acceleration change to be applied to the drive member to compensate said disturbances and restore the predefined law of motion; two different calculation means are also defined.

Abstract: An appliance which, through motor-driven operation, is movable toward a closing edge, in particular, for use with window regulators and sliding roofs of automotive vehicles. For this purpose, the number of revolutions of the motor is permanently detected, with the number of revolutions of the motor being measured in successive measuring intervals. The number of revolutions is to be a measure of the force acting on the pane. Respectively the last four measured values are detected in a sliding register and are subjected to evaluation. For this purpose, first a start-up value is detected. The start-up value respectively is the third last measured value n.sub.i-3 if the difference D between the current measured value and the third last measured value does not exceed a predetermined differential threshold D.sub.max. For, in that case, the start-up value remains unchanged. Subsequently, the difference A is formed between the start-up value and the current value n.sub.i.

Abstract: A postage meter has a print rotor rotated by a motor and the motor is capable of being started and stopped under processor control. State variables are established within a nonvolatile memory. The rotor begins in its home position. When a mail piece such as a letter is detected by a letter sensor, the processor sets a state variable. At some point (either before loss of power, or after restoration of power) the postage value to be printed is booked into the accounting register. The rotor motor is started. At some point (either before loss of power, or after restoration of power) the rotor reaches its home position again. A state variable is cleared. In this way, it is possible, even after the loss and restoration of power, to distinguish between a rotor that is in its home position because it has not yet printed postage (but needs to do so) and a rotor that is in its home position because the printing of postage has been completed.

Abstract: In a positioning control device of a positioning servo system for which the object of control is both secondary and has observable states and having a servo compensator that inputs position data and compensates, a normalized trajectory generator that generates an arbitrary normalized trajectory based on position data, and an initial value setting device, the initial values of the servo compensator are reset to minimize the square-law integral value used as the cost of the deviation of the position of the object of control from the normalized trajectory of the normalized trajectory generator.

Abstract: A robot teaching pendant having improved operability achieved by being provided with a display function for a personal computer. The robot teaching pendant includes an emergency stop switch and a deadman switch necessary to secure the safety of an operator, and a jog key switch necessary for a teaching operation. The robot teaching pendant further includes a liquid crystal display unit for displaying an image signal supplied from a graphical (CRT) interface of the personal computer, whereby the robot teaching pendant not only serves as a display unit for the personal computer but also realizes an easy to operate display using the graphical user interface of the personal computer when a teaching operation and the like are carried out.

Abstract: In a control apparatus for a pulse motor, both a smooth acceleration property and a stable constant speed operation characteristic are realized in a process wherein the motor starts to run and then is accelerated to enter a constant speed operating state. A target value for the rotor phase, and motor speeds at N different phase switching times during an acceleration period of the pulse motor are determined in advance. Then, phase control values (for conducting respective phase switchings when the rotor phase reaches the target phase of each phase switching) and speed control values (for conducting respective phase switchings so that the motor speed at each phase switching further approaches a target speed) are integrated with each other in accordance with a predetermined weighting function, and then executed. In an early stage of acceleration, the weight of the phase control predominates. As the motor speed increases, the speed control is weighted more and more heavily relative to the phase control.

Abstract: A noise tolerant motor position monitoring circuit having a digital filter section receives and filters noisy hall effect sensor inputs for use in determining rotational motor position. The motor position monitoring circuit exchanges information and instructions with a microprocessor which utilizes the motor position information to calculate motor distance traveled, motor speed, etc. The hall effect sensor signals are noisy due to the particular environment in which the sensed motor is placed, such as in industrial process and automotive applications. Each monitored segment of rotation corresponds to the motor rotational switching sequence of a motor driver circuit, a digital counter generates a running total rotational count and increments or decrements the total count depending upon the direction of motor rotation.

Abstract: A multiple axis machine includes a plurality of servo-motors that produce movement of a member in at least two axes. The servo-motors are controlled by a computer which runs a simulation of a line shaft power train for producing movement of the member. Specifically, characteristics of a line shaft for powering the machine are defined along with characteristics of a pair of mechanical linkages with dynamically variable kinematics that are driven by the line shaft to produce movement along the two axes. The computer simulates a virtual line shaft using the line shaft characteristics and produces an angular acceleration, an angular velocity and an angular position of the virtual line shaft. The computer also simulates a pair of virtual mechanical linkages with dynamically variable kinematics based upon the linkage characteristics, and based on the angular acceleration, angular velocity and angular position of the virtual line shaft.

Abstract: A microcomputer has a timer register 10 for storing period data of a carrier, timer registers 4A and 4B for individually storing positive phase and negative phase time width data of a control signal which is synchronized with the carrier, and an operation unit 13 for subtracting the value of the positive phase time width data of the control signal from a value of the period data. The time width data obtained as a subtraction result is supplied to the timer register 4B. The load on the CPU when the revolution of an induction motor is controlled is reduced.

Abstract: A control method capable of preventing vibration of a control object and making a band sufficiently high in controlling a robot or a machine tool in semi-closed loop. A torque command u" is obtained by executing a feedback-control of the servomotor using the position and speed of a servomotor in the same manner as in the conventional method. A displacement amount d1 between the motor position and the position of the control object and a displacement speed d2 are estimated by an observer. A corrected torque command u is determined by subtracting, from the torque command u", values obtained by multiplying the displacement amount d1 and the displacement speed d2 by the adjustable gains (.alpha.-KpK1) and (.beta.-K1), respectively. The servomotor is driven based on the corrected torque command u thus obtained. There can be obtained effects equivalent to those that would be obtained when a feedback-control is performed using the position and speed of the control object. The adjustment values .alpha. and .beta.

Abstract: A numerical control device can perform machining processes in a short time while maintaining high precision, regardless of the order at which programs are commanded. Consecutive blocks of a numerical control program are retrieved on a block-by-block basis, and a pre-execution in-position value and a post-execution in-position value for each of the blocks of the numerical control program are set and stored in a ROM. The block of the numerical control program is executed in accordance with at least one of the corresponding pre-execution in-position value and the post-execution in-position value.

Abstract: A machining program execution method for an NC device, in which parameter values are automatically modified in accordance with the machining types in continuously executing machining operations of different machining types, such as rough machining, intermediate finish machining, finish machining, etc., by the NC device. A memory in the NC device is previously stored with the parameters to be modified in accordance with the machining types and the parameter values for each machining type, and machining programs and machining types are associated with each other and inputted to the NC device. At the start of execution of the individual machining programs, the machining types of the machining programs as objects of execution are discriminated by the designation of the machining type for the machining program and the parameter values are automatically modified in accordance with the machining type of the machining program.

Abstract: A servo motor includes a motor, a motor driver for driving the motor by outputting pulses to the motor, and a speed detector for calculating speed information. The servo motor further includes a comparator for comparing the speed information with command speed information and calculating deviation information therebetween, a memory for storing pulse correction information for modifying a duty factor of the pulses in accordance with a rotational state of the motor, and a pulse updater for reading the pulse correction information stored in the memory based on the deviation information, modifying the duty factor of the pulses, and outputting the duty factor modified pulses to the motor driver.

Abstract: A voltage mode drive for a servo system builds a drive matrix from an error signal, which is the difference between a measured value for a parameter of the servo system, such as the position of a rotating drum, and a reference signal, a voltage control signal for the servo system, and an estimated set of parameters for the servo system, the parameters including drive current. The outputs from the drive matrix are a new estimated set of parameters for the servo system which are multiplied by appropriate system constants to produce the voltage control signal. The voltage control signal is amplified by a voltage amplifier and applied to drive the servo system.

Abstract: A method for evaluating a coating sag includes the steps of determining a coating thickness on a specific coating surface, evaluating an inclination of the specific coating surface, determining a criticality of a coating sag on a vertical surface at which a coating sag is produced and evaluating whether or not a coating sag is produced on the specific coating surface based on the inclination of the specific coating surface and the coating thickness on the specific coating surface in view of the criticality on the vertical coating surface as a reference. It is possible to determine coating conditions which can effectively prevent a coating sag during the coating action even if it is made on an inclined coating surface.

Abstract: A method is proposed for determining parameters for the auxiliary control of the position guidance variable of an axis of a numerically controlled machine path. If the auxiliary control parameters up to the n.sup.th order are known for the i-th axis, auxiliary control parameter of the order of n+1 can be determined by predetermining a guidance variable signal in the form of a parabola of the order of n+1 for the axis. By including the amplification (K) of the control unit (11) and the n+1-th derivation of the guidance variable signal over time, a auxiliary control parameter of the order of n+1 can be determined from the steady-state error which occurs.

Abstract: A system for controlling motion in machine tools and industrial robots. From the specification of a part to be cut or a path to be followed by a machine tool or a robot, the system calculates, for each axis, for each incremental step along the path, a position command, a time delay between successive position commands, and, optionally, a force command based on a prediction of predicted resistive forces. Calculations are specified for precisely controlling velocity, acceleration, and jerk. The generated data is stored in a memory device and subsequently directed to the machine tool or robot.

Abstract: A robot teaching pendant having improved operability achieved by being provided with a display function for a personal computer. The robot teaching pendant includes an emergency stop switch and a deadman switch necessary to secure the safety of an operator, and a jog key switch necessary for a teaching operation. The robot teaching pendant further includes a liquid crystal display unit for displaying an image signal supplied from a graphical (CRT) interface of the personal computer, whereby the robot teaching pendant not only serves as a display unit for the personal computer but also realizes an easy to operate display using the graphical user interface of the personal computer when a teaching operation and the like are carried out.