Abstract: The present invention is a control method and numerical control for the vibration-reduced acceleration of a movable machine element of a numerically controlled industrial processing machine, in which a path of movement of the machine or machine element is broken down into directly successive interpolatable movement sections In the interpolation, resultant acceleration profiles which lie in a range close to a critical natural frequency of the machine or machine element are carried out with a reduced acceleration. By this method, intervention is made only in critical ranges of the acceleration profile, uncritical ranges remain uninfluenced, as a result of which drastic time losses during positioning can be avoided.

Abstract: A force feedback manual pulse generator, comprising a driver and a motor, driving a saddle of a machine tool along an axis for advancing a cutting tool, a CNC controlling device, issuing commands for controlling the driver to drive the motor, a manual pulse generator, and, as the main characteristic, a braking system and a force feedback unit. The manual pulse generator has a handwheel, operated by a user, and an encoder, generating a signal according to a turning movement of the handwheel for controlling the driver to drive the motor. The braking system is mounted on the manual pulse generator, creating a braking force and thus increasing resistance to the turning movement of the handwheel. The force feedback unit senses load experienced by the motor when driving the saddle and controlling the braking system. This is done in a way that upon increasing load of the motor the braking force is increased, so that the user, when turning the handwheel, feels resistance to cutting.

Abstract: A control method for an NC machine tool is provided which ensures a high precision of the contouring control, and allows for extension of the drill life, and reduction in machining time.

Abstract: There is provided an external watchdog timer 30 for detecting a temporary runaway of the microcomputer body 20 and resetting it according to a pulse output of the microcomputer body 20. Further, an internal watchdog timer 70 operated independently from a control section of CPU of the microcomputer body 20 is incorporated as a program. When a pulse signal is not outputted from the microcomputer body 20 exceeding a predetermined period of time, the external watchdog timer 30 is disabled, and impedance of the output terminal 32 is made high and the backup circuit 60 is set in an operating condition, so that the windowpane can be opened and closed by a manual operation switch 11.

Abstract: When a system is activated, a host computer reads modules from an external nonvolatile memory, reconstructs control software for a machine in accordance with a system configuration information storage file, and transfers the control software to a volatile memory of each numerical control device. Various types of modules are stored collectively in the external nonvolatile memory without duplication. In updating the control software, it is necessary only that data be updated for the software modules in the external nonvolatile memory alone.

Abstract: The present invention preferably employs non-contact, small-displacement, capacitive sensors to determine Abbe errors due to the pitch, yaw, or roll of a near linear mechanical stage that are not indicated by an on-axis position indicator, such as a linear scale encoder or laser interferometer. The system is calibrated against a precise reference standard so the corrections depend only on sensing small changes in the sensor readings and not on absolute accuracy of the sensor readings. Although the present invention is preferred for use in split-axis positioning systems with inertially separated stages, the invention can be employed in typical split-axis or stacked stage systems to reduce their manufacturing costs.

Abstract: A motor controller circuit for controlling an electric motor in response to motor commands from a host controller. The controller circuit includes a motor driver circuit for providing motor driver signals to the motor in response to motor driver commands. A control logic circuit is responsive to command words from the host controller for generating motor drive control signals, the controller has an associated motor identification, each command word having associated therewith a motor identification portion and a motor command portion. The control logic compares the motor identification portion of the command word to the motor identification, and converting the motor command portion into motor driver control signals if the motor identification portion corresponds to the motor identification. Multiple motors can be interfaced to a host controller, either in parallel or in a cascaded manner. Each motor has an unique address, and can interpret a command word and execute a command addressed to the motor.

Abstract: An apparatus for setting control parameters of a machining apparatus. The setting apparatus includes a storage unit for storing a set of control parameters for each of a plurality of machining modes; an input device for selecting one of the plurality of machining modes; and a control unit for selecting a set of control parameters corresponding the selected machining mode and setting the set of control parameters as control parameters to be used for controlling the machining apparatus.

Abstract: For automatically freeing an axis which, after running over a safe end position (E+), is monitored to ascertain when it is at a standstill (3), monitoring for overshooting the safe end positions (E+, E−) is switched off and a freeing range (4) is defined by a limit value (G1), in the traversing direction of the axis which led to the overshooting of the safe end position (E+), with the value of the greater limit (S1) in absolute terms of the monitored standstill range (3), and by a limit value (G2), in the other traversing direction of the axis, with the value of the corresponding safe end position (E1). After deactivating the monitoring for a standstill of the axis, the axis can then be moved automatically back into the normal traversing range (1) within the safe end positions (E+, E−), while monitoring for overshooting of this freeing range (4).

Abstract: A device for analyzing NC program is provided with a machining method analyzing means (34) which extracts machining conditions for every machining work element by analyzing an actual NC machining program, and data base creating means (35). The device extracts necessary machining information from the actual NC machining program and allows the data bases (21, 22, 23 and 24) to reflect the information.

Abstract: A method and apparatus for NC machining management based on a measurement program, wherein a machining shape at an arbitrary machining stage is determined by an NC program, a geometric element or a geometric model is generated, and a measurement program is generated on the basis of the geometric model. The measurement program is executed when at least one of the steps of the NC program is completed, and the results of measurement are used as control information for machining measurement.

Abstract: A scanner motor acceleration method that uses a software driver and a flexible process method to enable a scanner to perform fast scanning operation without increasing motor cost or complex hardware design. Motor acceleration and deceleration may be done through software control on existing scanner hardware which do not support acceleration and deceleration function. Through positioning and speeding mechanisms of existing scanner hardware, and software which may be changed flexibly, scanner positioning function may be accurately performed without deviations.

Abstract: The load torque applied to the shaft of a synchronous motor is estimated based upon a correlation established between load torque and a calculated integral of a drive current value, utilizing the measured current that is applied to drive the motor. The estimated load torque is used as the basis for controlling the driving current amplitude so as to achieve increased efficiency of energy utilization. Control apparatus embodies the technique, and a synchronous motor system includes such apparatus.

Abstract: When a system is activated, a host computer (2) reads modules from an external nonvolatile memory (3), reconstructs control software for a machine in accordance with a system configuration information storage file (CR), and transfers the control software to a volatile memory (b) of each numerical control device. Various types of modules are stored collectively in the external nonvolatile memory (3) without duplication. In updating the control software, it is necessary only that data be updated for the software modules in the external nonvolatile memory (3) alone.

Abstract: An electronically commutated motor assembly permits a user to select discrete operating speed options to operate an electronically commutated motor. The assembly includes a motor, an input/output unit electrically connected to the motor, a connector and board and a microprocessor. The connector and board includes an electrically erasable programmable read-only memory (EEPROM), a plurality of low voltage signal connections for programming the EEPROM, and a plurality of speed signal connections for selecting an operating speed for the electronically commutated motor. The low voltage signal connections permit the EEPROM to be programmed with speed tables containing schedules of operating speeds.

Abstract: A position encoder and a method for estimating absolute position using two or more diffractive grating tracks of differing periods to generate interference fringe patterns on a multi-track sensor. Detectors, corresponding to the diffractive grating tracks, detect the interference fringes. A first processing circuitry coupled to the detectors extract phase signals from the signals from the detectors. A second processing circuitry then estimates the cycle counts of the track signals based on the phase signals from the first processing circuitry. The absolute position is estimated by combining the cycle count, the fractional fringe value, and the grating period.

Abstract: Disclosed is a system for an operating-cycle synchronized disengagement and re-engagement of groups of servo axles to be synchronized electronically and a method for disengaging and engaging a servo axle group to be synchronized electronically with a master position value sequence where, by correlations of master position value sequences stored in a computer, and servo axle group reference values assigned to these sequences in each case, the servo axle group reference values are determined in such a way that, following engagement, synchronization of the speed and angle of the servo axle group with the master position value sequence is carried out.

Abstract: A method of controlling a dispensing system, having a robot that moves along a motion segment and applies a material to a workpiece, automatically determines a backup distance for the robot after an error has occurred during the dispensing of a first portion of the material. The backup distance is based on an operational speed of the robot. The robot is relocated to a backup position based on this backup distance to ensure that the robot reaches the operational speed at least by a time that the robot reaches a re-application position. The re-application position is at or near where the application of the first portion of the material ended. Therefore, gaps, overlaps, and puddles in the material on the workpiece are prevented.

Abstract: An operating knob device has: a position detection portion for detecting a position of a set numerical value of an object to be set; an operating portion for changing and operating the set numerical value; a drive portion for driving the operating portion; and a control portion for controlling the drive portion on the basis of a detection result of the position detection portion.

Abstract: In a handle feeding control method in a numerical control apparatus in which a control axis can be controlled in response to a pulse signal output from a manual pulse generator for generating the pulse signal according to the turning quantity of a manual handle so as to perform handle feeding, at least one of a movement quantity, a target position and a movement range of the control axis is set and stored; and the movement quantity or position of the control axis at the time of the handle feeding is monitored, and pulse signals from the manual pulse generator thereafter when the movement quantity or position of the control axis at the time of the handle feeding reaches the limit of the set and stored movement quantity, target position or movement range are, invalidated so that the movement quantity or position of the control axis at the time of the handle feeding is prevented from exceeding the set and stored movement quantity, target position or movement range.

Abstract: Device and method for controlling a drain motor, in which a drain valve is driven with reference to a position of drain valve, for optimal control of the drain motor, the device including a drain motor cam connected to a shaft of the drain motor having a detecting point for detecting a bottom dead center of a drain valve marked on one region of a circumference thereof, a switching unit for detecting a position of detecting point of the drain motor cam when the drain motor cam is rotated to provide a position detecting signal, and a microcomputer for receiving the position detecting signal from the switching unit, to identify a position of the drain valve, and controlling operation of the drain motor according to a result of the identification.

Abstract: A numerical control apparatus (1 or 20) comprising pecking operation controlling means (12) which make a feed drive system (14) retracted when a cutting load detected by cutting load detecting means (7) exceeds a reference value during a drilling process, the cutting load detecting means (7) comprise a bite load detecting section (8) to detect the cutting load at a biting stage wherein a tool bites a work piece, and a stationary load detecting section (10) to detect the cutting load after the biting stage. The numerical control apparatus (1 or 20) comprises pecking judgement means (11) to judge that the feed drive system (14) should be retracted when a fluctuation load exceeds a specified reference value wherein the fluctuation load is obtained by reducing the bite load from the detected stationary load. When it is judged that the feed drive system (14) should be retracted, the pecking operation controlling means (12) make the feed drive system (14) retracted.

Abstract: It is provided an automatic MDF control system comprising: a plurality of matrix boards provided with openings in locations where a plurality of first wires and second wires cross without electrical connections; a robot which inserts electrically conductive connecting pins into the openings and connects the first wires with the second wires where the pins are inserted; a path data conversion unit converting connection requests from an operating terminal into path data having a plurality of addresses of the openings; a robot command conversion unit receiving the path data and converting the path data into robot commands for controlling activity of the robot as a distance moved by the robot moving between the plurality of addresses being reduced by a selected sequence of the converted path data; and a robot control unit controlling the activity of the robot based on the robot commands.

Abstract: The machine tool comprises a tool (a drill or the like whose diameter is 2 mm or less), a camera (artificial retina chip or the like) which acquires an image of the tool, and an image processor which determines whether the tool is faulty based on the image acquired by the camera.

Abstract: A control method for dynamically correcting stabilized error of a spindle motor in an optic storage device. The control method comprises the steps of: (a) At first, under the condition that the spindle motor is stable, checking a rotary speed of the spindle motor so that an initial constant offset value is acquired according to said rotary speed, (b) Reading the stabilized error of the system and determining whether the constant offset value should be corrected, (c) Then, using a control mode of section dividing and staged value to modify the constant offset value, and (d) Suppressing the stabilized error to a minimum value.

Abstract: A control apparatus for an automatic lathe includes a numerical controller, and comprises an input device, a readout section, and a machining program storage section. The input device inputs a machining program expressed by a predetermined language. The readout section reads out the machining program from the input device and digitizes it. The machining program storage section stores the digitized machining program into a timing table form in the order of execution. From the machining program storage section, various kinds of data such as the positional data of tools stated in the stored machining program, rotational data and movement data of a workpiece, and the like are sent out to an editing section. In the editing section, these various kinds of data are reedited and stored by a movement data editing portion.

Abstract: The present invention is a control method and numerical control for the vibration-reduced acceleration of a movable machine element of a numerically controlled industrial processing machine, in which a path of movement of the machine or machine element is broken down into directly successive interpolatable movement sections In the interpolation, resultant acceleration profiles which lie in a range close to a critical natural frequency of the machine or machine element are carried out with a reduced acceleration. By this method, intervention is made only in critical ranges of the acceleration profile, uncritical ranges remain uninfluenced, as a result of which drastic time losses during positioning can be avoided.

Abstract: The present invention relates to method and apparatus for finding the digital value requiring to drive a motor of an optical disk device and applying a driving voltage according to the digital value to the motor. The method according to the present invention digitize an analog constant reference voltage using a supplied operating voltage varying within a predetermined range, determines the current value of the supplied operating voltage based upon the digitized value, calculates a digital control voltage for a given driving voltage so that the calculated voltage may have different value according to the determined current value, and applies a driving voltage corresponding to the calculated digital control voltage to a motor for moving an optical pickup.

Abstract: A command trajectory drives a stage to produce a smooth motion while minimizing any vibrations or oscillations of the structure. The command trajectory provides an acceleration and a deceleration that have derivatives, known as the jerk, equal to zero at the beginning and end of the acceleration and deceleration periods. Because the jerk is equal to zero at the beginning and end of acceleration and deceleration, the influence of the reactive forces on the positioning system's structure is reduced, thereby minimizing oscillation of the structure. Moreover, the jerk is continuous throughout the acceleration and deceleration periods, resulting in a smooth continuous motion of the stage. The jerk on the stage during acceleration and deceleration has an adjustable duration to reduce the structural disturbances and decrease settling time.

Abstract: When contents of a program for machining to be executed by a servomotor indicate a cutting mode, a current command is generated by performing speed loop processing by using a speed loop gain for cutting mode, and moreover, a voltage command to a servo amplifier is generated by performing proportional-plus-integral (PI) current loop processing in accordance with the generated current command. On the other hand, when the contents of the machining program indicate a positioning mode, a current command is generated by performing speed loop processing by using a speed loop gain for positioning mode, and moreover, a voltage command to the servo amplifier is generated by performing integral-plus-proportional (I-P) current loop processing in accordance with the generated current command.

Abstract: A power steering system and induction motor load compensation algorithm or processing method for use in a vehicle. The power steering system comprises a power supply, a power steering motor, a steering subsystem, and a power steering controller coupled to the power supply. The controller processes a frequency command input corresponding to the power steering frequency requested by the steering subsystem and data contained in one or more software lookup tables to adjust the output frequency produced by the power supply to control the speed of the power steering, motor. The lookup tables are generated empirically and characterize the output power of the power supply at different system pressures over a range of motor speeds. The software lookup tables provide a power band that implements a power limiting state machine.

Abstract: A DC motor drive circuit includes a switching circuit that drives the coils of a small permanent magnetic DC motor. The drive circuit is preferably implemented in an integrated circuit device, such as a silicon CMOS device. Integrated into the same integrated circuit device is a magnetic sensor arranged to detect the position of the permanent magnet as it passes a defined point, or points, in its revolution, and control circuitry to derive the timing waveforms for driving the coils. The integrated power devices for driving the coils are also arranged to limit the rise and fall times of the applied voltages and currents so as to reduce or eliminate the generation of unwanted RFI. Additional circuitry is also integrated into the same integrated circuit device to derive the necessary power to operate the magnetic sensor, the control circuitry and the switching circuitry from the connections between the switching circuitry and the coils so as to remove the need for a separate power supply connection.

Abstract: A method of controlling a motor comprises providing a motion control system and causing the shaft of the motor to move from an initial state to a new state, such as from an initial position or velocity to a new position or velocity. Coefficients for each of a plurality of polynomial segments of a motion profile are determined. The plurality of polynomial segments and the corresponding coefficients for each respective segment characterize planned movement of the shaft through each respective segment. In a particularly preferred aspect, each segment is defined by a plurality of polynomials, which include a first polynomial that describes shaft position with respect to time, a second polynomial that describes shaft velocity with respect to time, and a third polynomial that describes shaft acceleration with respect to time.

Abstract: Where high control precision is required in contour control or the like, mode B for a short PWM period is selected to assure a high control precision. Where high torque is required in fast feed, high acceleration or deceleration, mode A for long PWM period is selected so as to decrease the rate of the time of dead zone &dgr; where voltage is not applied to the motor.

Abstract: A motion control system includes a signal conduit to which the various devices of the system, such as a motion controller and motor drive modules, are linked. The modules are intertied such that the order of the modules along the signal conduit does not affect system operability. In one embodiment, the signal conduit includes a substantially rigid substrate having a plurality of electrically conductive lines formed in one or more layers of the substrate. The substrate may include a one-piece construction to which the motion controller, drives, and other devices are attached, or the substrate may be in the form of a plurality of couplers joined one to the other by connectors. For the latter, the various modules of the system include a coupler with connectors which allow the various modules to be easily connected without the need for any tools and without concern for the order in which the modules are attached.

Abstract: A numerical control system includes a curved-surface state evaluating unit 20 for forming curved-surface evaluation data of evaluation points by arranging virtually the tool on a given scheduled path locus, that serves as the criterion of movement of a tool, to come into contact with a processed surface of a processing object and by setting a plurality of evaluation points to evaluate a shape of the curved surface, a command speed deciding unit 30 for deciding a command speed appropriately by using a passing speed and other data in the evaluation data, and a tool position data forming unit 40 for calculating quickly a succeeding tool position by utilizing the evaluation data. Above operations are performed in real time.

Abstract: One matrix board aggregate accommodating two matrix boards is made one unit of a switch. Three of the matrix board aggregates are vertically located, groups of such three vertically-located matrix board aggregates are laterally located and robots are provided between the matrix board aggregates. By providing a number of robots, the switch operation speeds up. The robots are controlled by a control circuit/power supply RMC/POW. I/O cables for connecting an MDF apparatus to an exchange or to lines are provided at the back. In a three-stage switching configuration, by devising the location of primary, secondary and tertiary switches, interconnection between matrix board aggregates can be made using BWBs made of a printed wiring board.

Abstract: Systems and methods for reducing unwanted vibration in motion system are provided using a Robust Vibration Suppression (RVS) methodology, in which acceleration frequency spectra are obtained for each of a number of command input functions developed for moving a load a specified distance within a specified move time interval using an actuator. The frequency spectra comprise peaks, with notches defined between adjacent peaks. A desirable command input function is one with a frequency spectra having either a notch with a maximum width or a peak with a minimum magnitude relative to frequency spectra associated with other command input functions, or, alternatively, a peak with a magnitude of less than or equal to a pre-established magnitude or a frequency notch having a width greater than or equal to a pre-established width. A suitable command input function may be characterized by a ramp function, a cosine function, a sine function, or a combination thereof.

Abstract: A method and an apparatus for controlling a numerically controlled machine tool, wherein the heat generation amount and the temperature of a drive unit including a servo amplifier 15b and a feed shaft motor 3 are computed by a drive unit heat generation amount computing unit 31 by simulation, and from the computed heat generation amount and the computed temperature, the total heat generation amount of the drive unit, the cutting feed heat generation amount, the cutting load heat generation amount, etc. are computed by a feed heat generation amount computing unit 39, so that the cutting feed rate override value of the numerically controlled machine tool 1 is computed by a cutting feed rate override computing unit 27 and effectuated by being output to a NC unit. Further, based on the temperature of the drive unit computed by a computing unit 31 or the temperature computed by a temperature data computing unit 47 or the temperature detected by a temperature detection sensor 49, etc.

Abstract: The method for detecting after-running of electrical servomotors with incremental position detection, particularly for servomotors in motor vehicles, includes detecting position signals of position indicators and storing the detected states of the position signals or the states of the position indicators after switching off the motor in a nonvolatile memory. The evaluation electronics can be intermittently disconnected from the supply voltage. They are provided with a buffer that is large enough for position detection and storage after disconnection of the evaluation electronics from the supply voltage. The nonvolatile memory can be an EEPROM in the microcontroller of the evaluation electronics.

Abstract: A motor speed controlling method is provided in a motor speed controlling apparatus including a motor for driving the robot, a position controller for controlling position of a motor and a main controller for producing a speed command profile of a smooth curve to control the motor based on a robot operational command input by a user and transmit the produced speed command profile to the position controller. The motor speed controlling method includes a step of producing a speed command profile having an acceleration profile of a smooth curve within a predetermined robot control interval so that a robot can be controlled on a real-time basis. Accordingly, vibration and noise of the motor are reduced and thus a control reliability is enhanced.

Abstract: An object of the present invention is realizing a highly accurate synchronous control device which does not cause time lag by detecting the rotational frequency and phase simultaneously perpetually by same signal in the synchronous control of plural electric motors. The synchronous control device synchronizes accurately rotational frequency and rotation phase of an electric motor or a machine axis driven by the electric motor. A master section outputs phase signals or frequency signals based on rotational frequency reference.

Abstract: Device for digitally slaving the position of a moving part, including: a digital sensor (20) which is intended to measure the actual position of the moving part (10) and delivers a digital effective position value, drive means comprising an electric motor (30) for driving the moving part into a setpoint position defined by a digital setpoint value, a digital control unit (50) delivering at least one signal for controlling a circuit (40) for supplying the motor as a function of the discrepancy between the said setpoint value and the said actual value, in which the digital sensor having a determined measuring interval, the motor supply circuit comprises timer means for maintaining the supply to the motor for the time which is necessary and sufficient for the sensor to be positioned at the middle of the interval corresponding to the setpoint value.

Abstract: A servo control apparatus for performing a feedback control to an analog controlled system, includes an error generating device that generates a digital error corresponding to a difference between a desired value and a feedback value corresponding to a controlled variable of the analog controlled system, a control device that generates a digital manipulated variable, and a digital-to-analog converting device that converts the digital manipulated variable into an analog manipulated variable for driving the analog controlled system. The control device includes a disturbance estimating device that estimates a disturbance applied to the analog controlled system by carrying out a digital estimating process by using the digital manipulated variable and the digital error and generates a digital compensated variable corresponding to the estimated disturbance, and a manipulated variable generating device that generates the digital manipulated variable by using the digital error and the digital compensated variable.

Abstract: A robot may be taught to perform a task by recording information regarding the positions and attitudes of the joints of the robot body as it performs the task. When this information is subsequently replayed, the robot performs the task in the manner as taught. In particular, the robot may be taught either by an operator situated near the robot body or by an operator situated at a remote location. At the remote location, the robot may be taught by an operator even though the operator cannot see the robot body. More particularly, at the remote location, information regarding the current position and attitude of the joints of the robot body is displayed to the operator, and the operator may adjust this information in order to control the movement of the robot body. As a safety measure, when an operator is located near the robot body, only an operator situated near the robot body can control the robot body.

Abstract: A numerically controlled machine tool which allows the automatic generation of a restoring program for carrying out processing required for the resumption of an NC machining program to resume the execution of the NC machining program after the execution of the NC machining program has been stopped and interrupt processing has been performed. Specifically, even for nesting programs, when the machining program is re-executed from where it had stopped after the execution of the machining program has stopped and the operator has performed optional interrupt processing, the stop-time and re-execution-time machine statuses are compared to automatically generate the restoring program so that the machine status may be returned to the stop-time status, whereby the operator can perform the resumption processing of the machining program without any restrictions.

Abstract: A robot that stops an arm within a limitation position of a predetermined working area when the arm is going to exceed the predetermined working area. ACPU of controller calculates a position and a speed of an arm at a next sampling time when a present sampling time comes. The CPU calculates an operation a mount which is a distance to be moved till the arm stops when the arm would be decelerated with a predetermined deceleration, and a position of the arm when the arm would operate by the operation amount after the position at the next sampling time. When a stop position as a result of the deceleration exceeds a predetermined limitation position, the CPU stops the arm with the predetermined deceleration. In this way, the CPU obtains the operation speed of the arm each time, and change a position to start to deceleration based on the operation speed, the arm can be stopped around the limitation position of the working area without fail.

Abstract: Control system for controlling a dynamic physical system. New, substantially decoupled axes are derived from physical axes of a dynamic system. Closed-loop controllers operate on signals representing the new or synthesized axes to control the coordinate parameters. Control signals are then converted into the original physical axes to generate signals to control the original axes. A preferred embodiment is the application of the control technique to a gantry machine having three degrees of freedom. Actual coordinates are converted to one linear coordinate and one rotational coordinate. The bandwidth of controllers operating on these two coordinates are separated so that crosstalk is diminished and performance improved.

Abstract: For an orbital machining in which a spindle having a cutting tool attached thereto and a work to be machined are moved, by feed shaft control, to make a relative displacement to each other along a plane perpendicular to an axis of rotation of the spindle, such that a mutual interpolation motion is achieved between the spindle and the work, and a rotation angle of the spindle is controlled quantitatively and synchronously to have a predetermined correlation to the shaft control so that, at any angular position in rotation of the spindle, a blade direction of the cutting tool is maintained in a preset direction to thereby achieve a cutting into a configuration to be defined by an interpolation locus based on the mutual interpolation motion, there is effected a combination of feed-forward compensation for a follow-up delay in control of a motor servo system of a respective feed shaft and for a follow-up delay in control of a motor servo system of the spindle.

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.