Abstract: In a servo control system, a numerical control device and at least one servo amplifier are connected to each other with a serial bus to control a servo motor connected to the servo amplifier. In this system, data transfer systems of at least two types for the serial bus are set, and a data transfer system is selected by a parameter set in the numerical control device.

Abstract: In a press having a plunger supported so as to be movable linearly back and forth by drive means which include at least one servomotor in combination with a rotatably supported inertia structure connected for rotation with the servomotor, the inertia structure has an inertia moment which is small enough to permit reversal of the servomotor within a stroke length of the plunger so that the stroke of the plunger is adjustable under the control of a control device connected to the servomotor for controlling its operation.

Abstract: A numerical controller which, after once stopping a slave axis during superposing control, can easily resume the superposing control. In the superposing control, a motion amount for a master axis and a motion amount for the slave axis are added to a workpiece coordinate value of the master axis and a workpiece coordinate value of the slave axis, respectively, to update their present position data (I2, II2). These motion amounts are supplied also to servo processing (I3, II3) for the master axis and the slave axis, where an amount obtained by superposing a motion amount ?zIm for the master axis ZIm on a motion amount ?zIIs for the slave axis ZIIs is supplied to the servo processing for the slave axis ZIIs. When a slave axis motion stop command is issued, the motion of the slave axis is stopped and a motion amount ?zIm for the master axis ZIm is subtracted from the workpiece coordinate value of the slave axis ZIIs.

Abstract: Method for optimizing the movement performance of an industrial robot for a current movement path with respect to thermal load on the driving system of the robot, wherein the method comprises the following steps: for at least one component in the driving system, the thermal load is calculated for the whole or parts of the movement path if the calculated thermal load is compared with a maximally allowed load for the component; and dependent on said comparison, a course of accelerations and velocities for the current movement path are adjusted.

Abstract: A translatory actuator unit including a translatory actuator module that moves an object straightly, a force sensor that detects a load applied to the translatory actuator module, and a servo control module that controls a speed, a position and/or output power of the translatory actuator module. The translatory actuator module, the force sensor and the servo control module are integrally configured. The servo control module has a two-way network means of receiving a control command concerning the speed, the position and/or the output power from a network, and transmitting information of the speed, the position and/or the output power to the network, a control means of controlling the speed, the position and/or the output power, and a self-diagnosis means of confirming safety and detecting an abnormal state based on detected information of the speed, the position, the load, and/or an electric current of the translatory actuator module.

Abstract: A motor control apparatus, for controlling an electric motor to move a control object from a current position to a target position, estimates a condition of a load currently being applied to the motor (e.g., whether it is a positive or a negative load) based on the current position of the control object and predetermined data that relate positions of the control object to load conditions, and adjusts a target value of motor rotation speed in accordance with the estimation results.

Abstract: An electric motor has a stator and an external rotor (40). Its external rotor (40) has a sensor magnet (54) having a plurality SP of sensor poles (55). The motor also has: at least one rotor position sensor (42, 44) for generating a rotor position signal and a rotor position evaluation arrangement for generating an absolute value for the rotor position, which apparatus comprises an A/D converter (144) having a resolution of at least two bits, the at least one rotor position sensor (42, 44) being connected to the A/D converter. In order to enable obtaining different digital values, even at rotational positions within the angle range of one sensor pole, each analog rotor position sensor signal is converted by the A/D converter into a digital value having at least two bits.

Abstract: A scanning exposure apparatus includes a stage unit which supports and moves a substrate, and a control unit which starts exposing the substrate after a start of a second section in an acceleration section of the stage unit sequentially including a first section in which a jerk is positive, the second section in which a jerk is 0, and a third section in which a jerk is negative.

Abstract: An apparatus for controlling drive of a plurality of actuators is provided. The apparatus comprises a plurality of drive circuits respectively driving the actuators and respectively mounted on a plurality of circuit boards each formed as a module for driving each of the actuators. Each module is detachable to the apparatus. The apparatus comprises a plurality of capacitors each mounted on each of the circuit boards. The capacitors have capacitances different from each other. The apparatus also comprises a charging unit charging the capacitors, a measuring unit measuring a period of time during which a charging potential at each of the capacitors rises up to a predetermined potential, a module type determining unit determining a type of each of the modules in accordance with the period of time for each capacitor measured, and a unit for taking countermeasures depending on a determined result.

Abstract: The numerical control apparatus includes a numerical control part for outputting a move command, one motor control part for generating a PWM signal for a plurality of motors based on the move command from the numerical control part, and a plurality of motor amplfiers for driving the respective motors based on the PWM signal from the motor control part. The motor control part and the plurality of motor amplifiers are placed on a power panel, and the numerical control part and the motor control part are connected by a serial communication line.

Abstract: An image forming apparatus is provided, which is capable of performing phase control of rotation bodies inexpensively and accurately and is capable of reducing time until completion of phase adjustment at the time of a print operation to prevent first print time from becoming long. This image forming apparatus includes a device for detecting a home position of rotation bodies, a motor, and a motor control device for controlling the motor by a software servo, in which said motor control device has a position control function with respect to the motor.

Abstract: A Hard Disk Drive VCM positioning servo loop comprises an oversampling bitstream Digital to Analog converter. The oversampling DAC is a sigma-delta converter which yields higher resolution and lower noise than Nyquist-rate DACs. This allows driving the VCM with finer level of current control for higher track density. This approach can be implemented in the VCM driver chip (“combo chip”) or in the microprocessor device either in hardware or in software, reducing significantly the development and manufacturing cost. Furthermore this approach can be utilized in combination with a VCM actuation method known as “voltage mode drive” wherein the output of the sigma-delta converter represents the voltage to be applied directly to the VCM actuator. Furthermore this approach can be utilized for optical data storage motor positioning servo loops or any other motor positioning servo loops where high dynamic and resolution is needed.

Abstract: A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity loop control. Compensation amount Q1 proportional to command velocity obtained by differentiating a position command and compensation amount Q2 proportional to second-order differentiated command acceleration are obtained. Compensation amounts Q1 and Q2 are added together, thus obtaining a velocity offset amount Vof corresponding to a estimated torsion amount. A differentiated value of the velocity offset amount is multiplied by coefficient ? to obtain a torque offset amount Tof. The velocity offset amount Vof is added to a velocity command Vcs obtained by position loop control 1. The torque offset amount Tof is added to a torque command Tc outputted in velocity loop control 2, and the result is used as a drive command to the motor.

Abstract: A method and a sub-system, henceforth called method DKA, for the determination and control of the activities of an emotional system aS, belonging to the class of autonomous, motivated agents and robots, is described. The method DKA determines the current motivation of the system aS to carry out an activity. Said motivation is determined by stimulus patterns in situation models and the intensities of the satisfactions and the desires with regard to the needs of the system aS. Priorities for the activities of the aS are determined by motivations. DKA controls sub-activities which, at the request of the system aS, are carried out by other agents/robots. The method DKA can assess which objects, situations and activities are presently good and which are bad for the system aS. The applied internal representation of the world of the system aS can include very abstract situation models.

Abstract: A numerical controller which allows easy and inexpensive construction or expansion of a control system and flexible construction of a sequential control section for a variety of system structures. The numerical controller has a numerical control section having multiple control systems. Between the numerical control section and a sequential control section, interfaces are provided for the individual control systems of the numerical control section. The control systems are assigned to the interfaces so that the control systems will be each controlled by an intended one of sequence programs (ladders 1 through 3) installed in the sequential control section, under which signals are sent and received independently. The numerical control section and the sequential control section send and receive signals through the interfaces to which the control systems are assigned. By changing the assignment, the control system can be reconstructed freely, without adding a new programmable controller.

Abstract: In a motor control device controlling a motor by a state feedback control, high control accuracy is maintained regardless of fluctuations in a motor load so as to improve control performance of the state feedback control. A control signal (manipulation amount) outputted from a feedback calculator for controlling the motor is compared to a manipulation threshold set to a manipulation threshold setting register so as to determine the magnitude of a load amount of the motor. The feedback calculator includes an observer and performs the state feedback control of the motor. When the load amount is in normal level, a normal load observer matrix set in an observer table is selected to configure a normal load observer. When the load amount is increased, a high load observer matrix is selected to configure a high load observer.

Abstract: An apparatus to and method of controlling a step motor by checking driving pulses to control the operation of the step motor and resetting the apparatus controlling the step motor when signals indicating an abnormal operation, such as stepping out, of the step motor are detected, thereby preventing a fire or damage to parts caused by the abnormal operation of the step motor.

Abstract: Large machines, especially those having working envelopes in excess of fifteen feet, exhibit unacceptable errors because of thermal expansion and mechanical misalignments between the axes. The errors have traditionally been minimized by enclosing the machine in a thermal enclosure, by careful calibration, or by mounting a laser interferometer on each axis. These solutions are costly, may require frequent recalibration, and do not correct for small rotations of one axis relative to another axis due to wear etc. The present invention uses an interferometric laser tracker or a comparable 3D position sensor to measure the position of a retroreflector attached to the end effector, e.g. a machine head when the machine comes to rest. A computer compares the measured position to the desired position according to the machine media, and adds the appropriate correction with trickle feed media statements to move the machine to the correct position prior to further machining.

Abstract: A programmable high-speed motor torque controller is provided. A current mode PWM controller widely used in the switching power supply is utilized to perform a real-time hardware control on the operating current of a motor. A microprocessor is used as an operating and controlling interface. By means of the output signal from the switching element of the current-limiting switching controller, the gate switch elements (MOSFET/IGBT) are further controlled so as to control the real operating current of the motor. Therefore, at a cost of approximately one tenth of the digital signal processor, the programmable high-speed motor torque controller can achieve the functions similar to the digital signal processor. Furthermore, a set of built-in power loop switch can be provided to interrupt the current loop of the motor upon reverse rotation without the requirement of power output, thereby largely reducing the drag force of motor upon reverse rotation.

Abstract: The invention relates to a computer-controlled electronically commutated motor (ECM) and to an improved method for processing data therein. The computer's program executes the steps of: a) defining, in recurrent steps, the rotor position region in which a current pulse is to flow through the at least one winding phase, and the duration (TCurr) of that current pulse; b) sensing, in recurrent steps, the rotation-speed-dependent time period (TPP) required by the rotor to pass through a predetermined rotation angle range; c) monitoring the ratio between that rotation-speed-dependent time period (TPP) and the duration (Tcurr) of the current pulses; and d) as a function of the magnitude of that ratio, choosing a time to perform, in the computer, at least one predetermined calculation, either during (Flag_Fct_Within=1) the duration (TCurr) of a current pulse or in a time span outside (Flag_Fct_Within=0) a current pulse.

Abstract: A scanning exposure apparatus includes a stage unit which supports and moves a substrate, and a control unit which starts exposing the substrate after a start of a second section in an acceleration section of the stage unit sequentially including a first section in which a jerk is positive, the second section in which a jerk is 0, and a third section in which a jerk is negative.

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: In a motor drive device having a plurality of driver units for driving motors and a command generator for giving a command to the driver units which are connected in serial communication, there is a communication section for setting up the communication formats corresponding to each of the driver units having different communication formats including data transmission speed from one another. Communication among the plurality of driver units with the respective communication formats and the command generator is carried out on a single serial bus.

Abstract: A pulse count motor control device that connects to a central control unit through a first interface and to at least one motor through a second interface. A microprocessor integrated into the motor control device then allows it to directly monitor and drive the motor or motors in accordance with pulse count technology methods.

Abstract: A method and apparatus is provided of detecting tool abnormality in a machine tool. Permissible minimum and maximum values of load current in a real cutting section are determined for a spindle motor and a servomotor during normal operation of the machine tool. The load current of the spindle motor and the servomotor is measured while the machine tool is operated. The load current measured in a real cutting section other than a non-cutting section is extracted by way of filtering the load current measured. A judgment is made as to whether the extracted load current is within a range between the minimum and maximum values. Occurrence of the tool abnormality is confirmed if the extracted load current falls outside the range. This enables the machine tool to detect not only overload condition due to excessive wear of a tool but also non-load condition induced by a tool breakage.

Abstract: Disclosed is a method of driving a servo motor with a built-in drive circuit in which a common rectifying circuit is provided on a distribution board to which a plurality of the servo motors with built-in drive circuits are connected, to thereby achieve a reduction in size of each servo motor. In this method, there is used a common distribution board for distributing power to be supplied to a plurality of servo motors with built-in drive circuits and for distributing a communication line, an external communication signal and external input power are supplied through the distribution board.

Abstract: A motor controller system for operating a plurality of step motors. The step motors are arranged in a number of motor groups each having no more than “N” step motors. A group multiplexer will deliver feed signals to the correct numbered motor of a motor group. There is a single 1 axis motor control and an output drive for each motor number of a group. The 1 axis motor control supplies the group multiplexer with motor group data so that the group multiplexer will supply the correct motor group and the 1 axis motor control also individually enables the motors of that group which are to be operated and conjointly supplies all the output drives with a desired feed signal.

Abstract: A configurable motor controller includes solid state switches for connection between an AC line and motor terminals for controlling application of AC power to the motor. A control circuit controls operation of the solid state switches. The control circuit comprises a programmed processor for commanding operation of the solid state switches. A memory is connected to the programmed processor storing configuration information relating to operation of the solid state switches. A user configuration device selects the values for the stored configuration information. The configuration information comprises adjustable values within a range. The configuration device is adapted to select any adjustable value within the range.

Abstract: One embodiment of the present invention is an apparatus to provide a measure of disk drive head velocity in a disk drive wherein movement is produced by a disk drive motion mechanism that includes a coil, which apparatus includes: (a) a controller that outputs one or more digital signals that are applied as input to a first component, and in response, the first component outputs a reference voltage; (b) a second component, responsive to voltage output across the coil and the reference voltage, outputs a measure of a difference between the coil voltage and the reference voltage; and (c) a third component, responsive to the measure of the difference, outputs a first value if the coil voltage is greater than the reference voltage and a second value if the coil voltage is less than the reference voltage, which third component output is applied as input to the controller; wherein the controller executes a search algorithm that varies the one or more digital signals while observing changes in the third component ou

Abstract: A reference variable having a linear relationship with the angular position of a master axis is set, and a correspondence between this reference variable and the displacement of a slave axis is stored in a data table. One execution stage is specified by setting a starting reference variable and an ending reference variable from this data table. A desired sequence is assigned to a plurality of execution stages thus specified. The reference variable corresponding to the angular position of the master axis is determined, slave axis displacement data corresponding to the reference variable is read out, and the slave axis is positioned in accordance with the position of the master axis on the basis of this displacement data.

Abstract: A system and method to simulate and evaluate management algorithms of a panel or mobile window, activated by an electric motor, with anti-crushing security and a program for its execution. It includes a modular structure integrating a series of models representative of the electric parameters of the electric motor, mobile panel performance, incidence of a possible obstacle and an activation and control methodology implemented by means of a sequential state machine related to starting, stopping and/or motor displacement direction according to position and panel displacement direction and a module to evaluate an algorithm to be validated on introducing the current supplied to the motor and its angular speed and which analyzes said values and its temporary evolution and combinations between some or other values. Said models and modules are implemented in a high level programming language.

Abstract: A non-invasive apparatus and method for measuring the speed of a rotating device that includes a sensor that measures a dynamic characteristic of the rotating device. A sample of the signal is transformed from the time domain into a frequency spectrum. The frequency spectrum is then analyzed to determine the motor speed. The resulting motor speed can be combined with other motor data by an order analysis to identify malfunctioning or improperly installed components.

Abstract: In one embodiment, a method of and apparatus for self-calibrating a motion control system is provided. The method includes the steps of receiving a test parameter, ensuring a reasonable test can be executed based on the test parameter, generating a part program based upon the test parameter, instructing a user of the motion control system regarding set up of a device capable of acquiring data associated with the test, and executing the test, wherein the part program is executed as part of the test.

Abstract: An apparatus and method of controlling an electric motor (26) having a rotor (34) that is formed from a series of laminations (48) and has a plurality of rotor poles (36) and a stator (30) that encircles the rotor (34) and has a plurality of stator poles (32), each with a respective stator winding (38). A first sensor (46) senses actual inductance in the respective stator winding (38). A second sensor (46) senses a position of the rotor (34) relative to the stator (30). A controller (42) determines a reference inductance based on the rotor position signal, determines a difference between the actual inductance and the reference inductance, and prevents further energization of the stator windings (38) when the difference exceeds a predetermined amount.

Abstract: Any commands, selected in a program, are set as a reference time data command, an elapsed time data command and a time data command. The program is read and original processing of the commands is performed, and if the reference time data command is read, a time then is stored as a reference time. If the elapsed time data command is read, elapsed time from the reference time is acquired and stored as execution elapsed time. If the time data command is read, the time then is stored as an execution time. Thus, it is possible to easily check the execution time of any program command.

Abstract: A control method for controlling a speed of a movable machine element of a numerically controlled industrial processing machine with jerk limitation is described. The processing machine can be, for example, a machine tool, a production machine and/or a robot. A travel path of the movable machine element is first decomposed into a plurality of sequentially arranged, interpolatable travel sections. Jerk profiles are then determined for the interpolatable travel sections, which are modified with a parameter-dependent shape function. The modified jerk profiles provide a filter action that can be represented by bandpass filters having blocking frequencies. The blocking frequencies of the bandpass filters are selected so as to substantially correspond to characteristic frequencies of the machine element. The control method significantly improves the machine dynamics without sacrificing accuracy.

Abstract: A longer life, low cost tool and tool holder enabling change of posture with respect to a spindle, having a high machining accuracy of a workpiece, and resistant to generation of vibration or heat, provided with a working tool for processing a workpiece, a motor having an output shaft to which the working tool is connected and rotating the working tool, a first holder for holding the working tool and the motor, a mount attached to the spindle, a generator to which rotational force is transmitted from the spindle through the mount and generating electric power for driving the motor, a second holder for holding the mount rotatably, holding the generator, and engaged with a nonrotating portion of the machine tool, and a posture adjustment mechanism which connects the first holder and the second holder and is able to change the posture of the working tool with respect to the spindle.

Abstract: A motion control system comprises a motion unit having a motor connected to an encoder and an amplifier. The motion control system further comprises a scalable motion controller connected to the motion unit wherein the scalable motion controller receives signals from the encoder and outputs signals to the amplifier. The scalable motion controller comprises a plurality of dip sockets arranged for inserting and removing one or more motion control processors and a connector interface comprising a plurality of male and female connectors arranged for stacking a plurality of motion controllers.

Abstract: A Hard Disk Drive VCM positioning servo loop comprises an oversampling bitstream Digital to Analog converter. The oversampling DAC is a sigma-delta converter which yields higher resolution and lower noise than Nyquist-rate DACs. This allows driving the VCM with finer level of current control for higher track density. This approach can be implemented in the VCM driver chip (“combo chip”) or in the microprocessor device either in hardware or in software, reducing significantly the development and manufacturing cost. Furthermore this approach can be utilized in combination with a VCM actuation method known as “voltage mode drive” wherein the output of the sigma-delta converter represents the voltage to be applied directly to the VCM actuator. Furthermore this approach can be utilized for optical data storage motor positioning servo loops or any other motor positioning servo loops where high dynamic and resolution is needed.

Abstract: A method for controlling an automatically operated lathe provided with at least one spindle and at least one tool rest includes the following steps. First, each of a plurality of transfer position data required in a sequence of machining programs in connection with at least one spindle and at least one tool rest is provided in a form of either one of two types of transfer position data, one of which is cam-reference data directing a transfer position as a function of a cam rotation quantity and the other is time-reference data directing a transfer position as a function of an elapsed time. Next, a time-series allocation of the cam-reference data and the time-reference data is designated in the sequence of machining programs. Then, the cam-reference data and the time-reference data are processed in accordance with the time-series allocation, so as to control a relative feed motion between at least one spindle and at least one tool rest in the sequence of machining programs.

Abstract: A method for controlling an automatically operated lathe, provided with at least one spindle and at least one tool rest, includes the following steps. First, each of a plurality of transfer position data required in a sequence of machining programs in connection with at least one spindle and at least one tool rest is provided in a form of a cam-reference data directing a transfer position as a function of a cam rotation quantity. A plurality of pulse-train generating sources, each of which generates any pulse train, is also provided. Next, with regard to each of the plural transfer position data, a pulse-train generating source for generating a pulse train defining the cam rotation quantity as one component of the cam-reference data is designated, with the pulse-train generating source being selected from the plural pulse-train generating sources.

Abstract: A data table stored in a numerical controller associates motors controlled by the numerical controller with information from sensors used by the motors. When the numerical controller is turned on, the contents of the data table are sent from the numerical control section to the motor control section. The motor control section controls each motor by using information from the sensors associated with the motor in the data table.

Abstract: Parameter set 1: T1a, T2a, Fa, Aa, parameter set 2: T1b, T2b, Fb, Ab, and parameter set 3: T1c, T2c, Fc, Ac, which consist of parameters having discrete values in three stages (large, medium and small) are prepared in the memory for example of the CNC 1 or the personal computer 3. For a given parameter set, the set giving priority to accuracy (S=0) is indicated by P (T1p, T2p, Fp, Ap), while the set giving priority to speed (S=1) is indicated by Q (T1q, T2q, Fq, Ag), and interpolation is performed and the parameter set Y=(1−S)×P+S×Q is obtained. The CNC 2 creates operating commands based on set Y and outputs these to the servo control section 2.

Abstract: In a servomotor drive control system comprising a command unit such as a numerical control unit, a plurality of drive control units for controlling drive of servomotors, a first communication line for transmitting data such as a control command, in a direction of the above-mentioned plurality of drive control units from the above-mentioned command unit, and a second communication line for transmitting data such as detection data, in a direction of the above-mentioned command unit from the above-mentioned plurality of drive control units, wherein data is transferred between the above-mentioned plurality of drive control units using the above-mentioned communication lines, whereby the above-mentioned servomotors are synchronously controlled, the communication period between the above-mentioned drive control units is set to one-nth of the communication period of the above-mentioned command unit (n is an integer).

Abstract: There is provided a serial transmitting section for serially transmitting a command frame 100 which is sent from a host controller 1 to a positioning type servo amplifier 30 and a command follow-up type servo amplifier 50. In the command frame 100, an information section, into which information to be transmitted is inputted, has discrimination data for showing a selection between the positioning type servo amplifier 30 and the command follow-up type servo amplifier 50. In the positioning type servo amplifier 30 and the command follow-up type servo amplifier 50, there is provided information reading section for reading the content of an information section after the discrimination data of the command frame 100 by the discrimination data of the command frame 100.

Abstract: A numerical control unit having a load monitoring function for monitoring a load on a tool drive source during a machining operation. The numerical control unit includes a load monitoring section for monitoring the load on an electric motor; a wear recognizing section for recognizing the current extent of tool wear; a storing section for storing a plurality of preset limit load values corresponding individually to predetermined various extents of tool wear; a calculating section for calculating the current limit load value corresponding to the current extent of tool wear recognized in the wear recognizing section, based on the plurality of preset limit load values stored in the storing section; and a comparing section for comparing the load on the electric motor, monitored in the load monitoring section, to the current limit load value calculated in the calculating section, and for judging on the abnormality of the load.

Abstract: A method of controlling an electronic cam type rotary cutter or sealer driven by a servo motor. The method comprises preparing a correct position pattern for a whole region including cutting or sealing and non-cutting or non-sealing zones. An electronic cam curve of a cubic function is used as a position pattern for the non-cutting or nonsealing zone. An electronic cam curve of a quadratic function is used as a speed pattern. A position loop is formed in the whole region on the basis of the electronic cam curve. A position control is performed at every moment on the basis of said prepared correct position pattern, whereby a control is enabled causing a single algorithm to automatically cope with a long and short cutting or sealing operations and a change of a line speed.

Abstract: In a servo control system, a numerical control device and at least one servo amplifier are connected to each other with a serial bus to control a servo motor connected to the servo amplifier. In this system, data transfer systems of at least two types for the serial bus are set, and a data transfer system is selected by a parameter set in the numerical control device.

Abstract: A clicker-training technique developed for animal training is adapted for training robots, notably autonomous animal-like robots. In this robot-training method, a behaviour (for example, (DIG)) is broken down into smaller achievable responses ((SIT)-(HELLO)-(DIG)) that will eventually lead to the desired final behaviour. The robot is guided progressively to the correct behaviour through the use, normally the repeated use, of a secondary reinforcer. When the correct behaviour has been achieved, a primary reinforcer is applied so that the desired behaviour can be “captured”. This method can be used for training a robot to perform, on command, rare behaviours or a sequence of behaviours (typically actions). This method can also be used to ensure that a robot is focusing its attention upon a desired object.

Abstract: A motor control apparatus has a motor driver for driving a motor in accordance with an input of digital-format drive data of a predetermined length, thereby driving a mechanism using the motor as a power source. The drive data, which has been made to correspond to a plurality of drive patterns, is stored in a memory, part of the drive data, which has been read out from the memory by DMA, is replaced with other data, and the resultant data is output to the motor driver. Thus, different drive data can be generated by replacing a part of the drive data stored in the memory with other data, and the generated data can be transferred to the motor driver. This makes it possible to reduce the memory capacity needed for motor control.