Abstract: A method is disclosed for the reduction of vibrations in a system using a stepping motor, driving parts at a constant velocity. On a test rig, the dynamic behaviour of the stepping motor in micro stepping mode is measured by a system comprising a rotation encoder. The measured data are filtered and used to compensate the unwanted speed fluctuations. In a first method, compensation is done by modification of the theoretical current-vector angles of basic micro stepping, while keeping the current-vector length constant. In a second method, first the current-vector angles are optimized, where after the current-vector lengths are optimized to correct the stepping motor for a wide range of speeds and load torques. In both methods, the stepping frequency is constant over all steps and determined by the desired angular speed of the stepping motor.

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: Method and system are provided for controllably driving a rotary drive of a rotary index table assembly utilizing a PLC which receives various sensor signals including a feedback signal from a resolver to generate a reference central signal which, in turn, is used by a positioning drive including an electric servomotor to drive the rotary drive. The positioning drive includes a servoamplifier and a microprocessor for generating commands for controlling the servoamplifier in response to the reference central signal. The PLC also controls a hydraulic control unit which controls the axial position of the index table relative to a base of the assembly.

Abstract: An apparatus for preparing NC data is used in machining an involute curve on a workpiece by relatively moving a tool and the workpiece along mutually perpendicular first and second axes encompassed within a plane while relatively rotating the tool and the workpiece about a third axis which is perpendicular to the plane. In the apparatus, there is provided involute curve definition devie defines the involute curve based upon input parameters, machining point calculation means calculates a series of machining points on the involute curve, and tangential line calculation device calculates a tangential line which connects the involute curve at each of the machining points.

Abstract: A method of speed optimization of a spindle component of a machine having multiple synchronized components moving along multiple axes over a motion profile.

Abstract: An acceleration/deceleration control apparatus for a numerical control apparatus which controls a tool in a vicinity of a stroke end by making maximum use of a stroke. The tool moves along a locus in an in-stroke region surrounded by a stroke end and carries out machining of a workpiece such as cutting and the like. The tool, which is moved by the numerical control apparatus according to a machining program, starts from a start point and moves up to an end point in accordance with preread machining blocks. The tool moves in response to usual feed speed control except that tool feed speed is decelerated in sections of the machining blocks when the tool approaches the stroke end. The tool feed speed is controlled to a minute speed just before the tool reaches the boundary of the stroke end and maintains the minute speed while moving along the stroke end. The tool is then accelerated after moving from the stroke end and returns to usual feed speed control.

Abstract: It is an object to obtain a press apparatus and a press controlling method which apply press working to a processed object with accurate press load and is capable of press working with accurate press load without affected by variations in thickness of the processed objects and variations in shut height of molds. A servo motor (51) is connected concentrically to a rotation transmitter (52), and a screw shaft (53) is provided passing through the center of the rotation transmitter (52). The driving force of the servo motor (51) is converted into a thrusting force of a press ram (54) by combining the rotation transmitter (52) and the screw shaft (53). Correct press load is applied to the processed objects and troubles in the press processing caused by variations in thickness of the processed objects can be prevented.

Abstract: A numerical control apparatus allows a portion of a prototype or the like to be easily machined without an operator being concerned with a coordinate system, origins, and other data. A guidance function executing unit displays guidance information on a display unit. According to the displayed guidance information, the operator enters machining commands using a keyboard, etc. A pulse distributing unit sends present positions from present position registers to the guidance function executing unit. The guidance function executing unit calculates a movement command from command values commanded by the operator and the present positions, and sends the calculated movement command to the pulse distributing unit, which outputs distributed pulses to drive the machine tool.

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 method and an apparatus for controlling the motors for moving a tool, comprising a control cycle with the steps of calculating first and second parameters indicating the speed to be imparted to the motors to travel at a pre-established nominal speed along first and second segments sequential to each other, and of calculating the absolute value of the difference between first and second parameters. If the difference is less than a pre-established maximum value, the motors are commanded to travel along the first segment at the pre-established nominal speed and are then commanded to travel along the second segment at the pre-established nominal speed.

Abstract: The invention relates to a method for verifying the performance accuracy of an NC machine by comparing a desired circular path with the actual circular path describing the actual movement of the machine and used in an NC machine having at least two servo control loops each of which is provided with an axis actuator for guiding a carrier in accordance with a position reference signal describing the desired movement path, and a path measuring system to record and feed back the position of the carrier. In this case, the actual circular path R.sub.M is formed from the position signals (x.sub.M) supplied by the path measuring system (33, 43) and, preferably, each of the position signals (x.sub.M) measured by the path measuring system (33, 43) is compared with the associated position reference signal (w.sub.NC).

Abstract: A stepping motor control device for an automobile air-conditioning system has a key-off home-position setting unit of a stepping motor for driving an air-conditioning door in response to switching of a key switch of the automobile off. The key-off home-position setting unit, responsive to switch of the key switch off, drives the stepping motor so that the air-conditioning door comes to a full-close position or a full-open position, stores data indicative of the full-close or full-open positions, as a current position of the air-conditioning door in a memory, and thereby finishes a home-position setting of the stepping motor. The key-off home-position setting unit is supplied with power from a power source under control of a timer for a prescribed time within which a home-position setting can be finished.

Abstract: A reference machining speed and an offset value for each machining cycle are specified with reference to a machining condition table of a nonvolatile memory in accordance with a set workpiece material, workpiece thickness, wire electrode diameter, and machining frequency. An overall machining path length for each machining cycle is obtained in accordance with a machining movement command given by a machining program, the wire electrode diameter, and the offset value. A machining time required for executing an entire machining operation is obtained by integrating all the required machining times for the individual machining cycles that is obtained by dividing the overall machining path lengths for the individual machining cycles by the reference machining speed for the individual machining cycles, and an operator is informed of an expected machining termination time as the sum of a current time read from a clock device and the required machining time that is displayed on a CRT screen of a CRT/MDI.

Abstract: An operation command process for selecting and setting operation commands, such as frequency and voltage, for operating an inverter to control an induction motor. Multiple operation commands are individually defined. Then, the multiple operation commands are stored as a group in memory. The defining of the operation commands and storing them as an operation command group is repeated, each group corresponding to different application and load conditions of the induction motor, so that a plurality of operation command groups are stored in memory. One of the groups is selected and read from memory, and then used to operate the inverter to control the induction motor.

Abstract: The accuracy of an apparatus for the movement of an object is increased by means of compensating for geometric errors and load and temperature induced deformations. The effects of the errors and deformations are stored in regularly updated compensation tables or parameterisations from which the error values as a function of position are available. The appropriate error values are selected while the complete momentary state of the apparatus can be taken into account. The derived error values can be used to correct the measured position in a feedback loop or to modify the steering signals for driving means without use of a feedback loop.

Abstract: A positioning rule stopper apparatus used use in a numerical control router, includes a supporting bed; first and second rails mounted on the bed at right angles to each other; a head structure including a process head having a motor with a rotary shaft on which a tool can be fixed; a suction table with short and long outer sides, mounted on the second rail for holding a sacrifice board and a process board thereon; a first stopper holder fixed to the bed at one short outer side of the suction table; first rule stoppers for the sacrifice and process boards in common; first cylinders mounted on the first stopper holder for moving the rule stoppers to position short sides of the sacrifice and process boards with respect to the suction table; first confirming contact limit switches for confirming the position of the short sides of the boards; a second stopper holder fixed to the bed at one longer outer side of the suction table; second and third rule stoppers for the sacrifice board and process board, respectivel

Abstract: A general purpose or universal motor control is constructed as integrated circuit using a plurality of state machines and memories. The specific characteristics of a motor are programmed into a programmable "features" memory. A lookup table contains parameters for operating the motor that are accessed as a function of the features. The features memory and the lookup table may be programmed and tested through a communications state machine. External and internal pulse width modulation is provided along with dynamic braking as options that are utilized by the state machines depending upon the features. A multiplexer acts a switch between the state machines, the memories and the motor drive.

Abstract: A position command method and apparatus for shortening the acceleration and deceleration times of a servo controlled apparatus by effectively utilizing the torque of the controlled apparatus. A value of speed per unit time is developed on the basis of speed and position data, and a constant speed or an acceleration or deceleration function processing may be selectably performed. In the position commanding method and its unit of the present invention, the deceleration stop distance of output speed is computed at all times or is held as a list data as described above and moreover is compared with a residual distance XR. Consequently, the deceleration stop distance does not have to coincide with the residual portion from the acceleration command, and the acceleration/deceleration curve alone can be realized in an independent form. Also, the speed change can be made smoother by correcting the cross point of independently formed acceleration and/or deceleration curves defining a corner section.

Abstract: A numerical controller for a grinding machine, wherein one of plural reference sizing points is selected according to the contents of a numerical control program. Measured analog data indicating the diameter of a workpiece is received continuously to determine if the size of the machined workpiece coincides with the selected reference sizing point. Upon the coincidence of the size of the machined workpiece with the reference sizing point, a sizing signal is provided, and then machining control is changed in response to the sizing signal. An analog signal provided by a measuring device is sampled at a predetermined interval in a predetermined time. The analog signal is tested to see if the analog signal is in a predetermined range, which is decided based upon the temperature variation or vibrations of the grinding machine. And the result of the test is displayed to facilitate checking the output characteristics of the measuring device.

Abstract: High-speed, high-precision course control can be performed without increasing the loop gain of each control system. A target value for moving a controlled object as a reality axis by a desired amount is produced. A virtual target value for moving a virtual controlled object as a virtual axis based on the reality axis is also produced. A control input and a virtual control input which optimize a predetermined first evaluation function are calculated upon reception of the produced virtual target value, the produced target value, a virtual state amount from the virtual controlled object, a state amount from the controlled object, a first disturbance signal with respect to the virtual controlled object, and a second disturbance signal with respect to the controlled object. The calculated control input and the calculated virtual control input are input to the virtual controlled object and the controlled object, respectively.

Abstract: A numerical control system for readily finding machining programs containing desired machining steps and displaying the programs at a display device. A storage device stores machining programs and an internal table. A setting/registering unit creates the machining programs interactively in accordance with commands entered by an operator through an input device such as a keyboard, and registers the machining programs in the storage device with internal codes corresponding to the machining steps affixed thereto. When a command to perform a search for a specific machining step is entered by the operator, a command input unit requests the operator to enter a search start program number, a search end program number, etc., through the input device. On receiving the entered start program number, etc., a searching unit searches the machining programs, stored in the storage device, for the specific machining step, and outputs search data, whereupon a display control unit displays the search data at the display device.

Abstract: A numerical control apparatus in which tool feed can be stopped at the same time as machining is completed. An interpolating device in a numerical control apparatus interpolates a pulse signal HP supplied from a manual pulse generator and outputs an interpolated pulse signal CP so that the tool is moved along a designated shape prestored in a graphic data memory device. An axis control circuit generates speed commands for respective axes in response to the interpolated pulse signal CP and sends the generated commands to a servo amplifier. The servo amplifier delivers a drive current I to energize servomotors mounted on a machine tool. A load determination device detects the drive current I from the servo amplifier and determines whether the detected current I decreases at a given ratio. When the drive current I decreases, for example, by 5%, a drive stop signal S is supplied.

Abstract: The present invention features a manually operated apparatus for working flat stock. The system has a mechanism for automatically positioning a mechanically adjustable back gauge to a predetermined position. The automatic positioning is accomplished by means of a programmable microcontroller that controls the movement of a worm drive through a stepper motor. The worm drive is used to move the back gauge with respect to a working tool. The operator of the system sets a desired position of the back gauge relative to the work tool via input thumbwheel switches mounted on a control panel. The panel is connected to the microcontroller, and feeds the information thereto. The program of the microcontroller uses the thumbwheel switch input to drive the stepper motor in a fast drive mode until the back gauge comes into approximate vicinity of a starting position. Thereafter, the worm drive is driven at a slower speed to reach the start position.

Abstract: A numerical controller for an industrial machine such as a robot and an assembling system utilizing plural robots. The numerical controller controls movements of plural movable portions of the industrial machine by a synchronous control in which plural movable portions are moved in a synchronized manner. Based on an operational program, the numerical controller identifies a movable portion or movable portions which must be moved independently from other movable portion. The identified movable portion or portions are moved by an independent control. On the other hand, movable portions which are not designated are moved by synchronous control. Further, plural groups of movable portions may be formed for the synchronous control. In this case, movable portions in each group are controlled in a synchronized manner independently from other groups.

Abstract: An automatic honing apparatus for honing the internal surface of a cylindrical member has a wheel member for tightening the honing stones against the internal surface. A brake assembly is associated with the wheel member, and when activated contacts the wheel member and when de-activated releases the wheel member. A sensing device detects the load on a first motor and activates or de-activates the brake assembly in response to preset motor load values. As the load on the first motor increases and decreases, the sensing device cycles the brake on and off to tighten the honing stones. A second motor drives a carriage assembly forward and backward to run the honing stones in and out of the cylindrical member to hone the entire internal surface of the cylindrical member.

Abstract: A data drawing method which facilitates the checking of numerical control data for a polyhedron machining and is carried out by, for example, an automatic programming system. If a drawing mode is selected in which machining profiles and tool paths related to individual machining surfaces of a polyhedral material are displayed separately on a display screen according to the machining surfaces, and if a processor of the programming system determines that NC data obtained by executing a program statement read from a part program is related to any one of the machining surfaces, drawing areas corresponding in number to the faces of the polyhedral workpiece on the display screen are displayed, and a character string representing the machining surface and a material profile in a drawing area corresponding to the machining surface are displayed. Then, machining profiles and tool paths specified by the produced NC data are displayed in the drawing area to permit the operator's visual checking.

Abstract: An apparatus and a method for discriminating position information in a position control system. The apparatus includes a position detector for detecting information regarding a current position of a motor, a position counter for counting the motor current position information from the position detector at a fixed period, a central processing unit for reading a counted value from the position counter, comparing the read value with a normal position command value stored therein, compensating for a difference value as a result of the comparison and outputting a position control value based on the compensated value, and a digital/analog converter for converting the position control value from the central processing unit into an analog signal and outputting the analog signal as a position control signal for the motor.

Abstract: In a motor driving circuit for generating sine wave signals for driving a focusing step motor in a video camera or the like, sine wave data stored in a ROM are accessed in response to an address signal generated by an address generator. A desired sine wave frequency is set by bit-shifting the address signal supplied from the address generator. The address generator counts horizontal sync pulses in which, prior to counting, a predetermined number of the sync pulses are removed at substantially equal intervals so that the counted number of pulses per frame is equal to a power product of 2. The order in which the sine wave data are accessed is inverted every quarter frame period, and the sine wave data read out of the ROM in a vertical period in the order established by the inverter device are processed so as to form sine wave signals having respective phases for supply to the step motor.

Abstract: The present invention relates to a motor control method and apparatus therefor in a numerical control system of using an exclusive computer equipped with a built-in program, where an administration computer calculates an initial value corresponding to a displacement amount to be driven by each axis of a motor, and where a motor control computer controls a driving of the motor in accordance with the displacement amount of the motor corresponding to the initial value calculated from the administration computer, thereby enabling to perform the numerical control function by sharing the same between computers, so that an execution velocity needed for the numerical control can be reduced and an adaptive control can be swiftly performed to meet instantly-changing situations as well.

Abstract: A numerical controller permits real-time manual control of the rough cutting of material from a workpiece by a machine tool via a manual input device controlled by a human operator. Overcutting is prevented by repeated recalculation of the intersection of the tool path with the surface limits stored in numeric form within the controller and stopping of the tool at those limits. The manual input device may provide a signal indicating both direction and magnitude with the magnitude controlling the cutting rate of the tool.

Abstract: A method for controlling a servomotor, in which the differences in dynamic characteristics among machines are absorbed by the controller so as to substantially equalize the response characteristics of the machines. An advance smoothing processing is executed before each position-speed loop processing cycle. The position feedforward amount FFp is calculated according to the following equation:FFp=.alpha.{(1-K) SMD.sub.0 +kSMD.sub.1 }.Where, SMD.sub.0 represents a smoothing data of the present cycle; SMD.sub.1, a smoothing data of the preceding cycle; and .alpha., a position feedback coefficient. The parameter k given in the above equation is adjusted to adjust the response characteristics of the individual machines, as well as the response characteristic of the mechanical system including controller with respect to an operation command. With this adjustment, the dynamic characteristics can be equalized between two or more machines even when such machines are simultaneously interpolated.

Abstract: A numerical control system for controlling a machine tool including a control device for controlling the machine tool; external portable storage device for storing data; a disabling device for disabling the control device; a read/write device, operable when the external portable storage device is manually coupled thereto, for reading data from the external portable storage device and for writing data to the external portable storage device; and a determining device for determining whether the external portable storage device is coupled to the read/write device.

Abstract: In an numerical control machining system, a plurality of parts on a work are cut into predetermined shapes with one cutting tool by moving back and forth the cutting tool a plurality of times for each part to be cut. When determining a tool running path, a cutting trajectory of the cutting tool for each of the parts is obtained, all the end points of the cutting trajectory which can be a tool inlet end or a tool outlet end for each of the parts are stored, the part the cutting trajectory for which has an end point which is the nearest to the tool outlet end of the cutting trajectory for one of the parts as measured along the path of movement of the tool is determined to be the part to be cut next, and said nearest end point is determined to be the tool inlet end of the cutting trajectory for the part to be cut next.

Abstract: A method for moving with at least three degrees of freedom, particularly in theatre area on or below a stage, a complex three-dimensional structure, which is borne by several lifting machines or the like to be driven independently, is described. Three virtual parallel reference axes are installed in the space on which, as a function of one positioning signal in each case per point of application up or down movements are made. A virtual surface is drawn by these points of application. Several independent lifting machines or the like are installed above or below this surface. A weighting is determined for each lifting machine as a function of their position compared to each reference axis, which weighting is a measure of the amount by which the running of the relevant machine is influenced by the movement of the points of application on the reference axes. The movement and speed of movement of the points of application on the reference axes are predefined as positioning signals.

Abstract: A voice coil motor ("VCM") control circuit controls operation of a VCM which positions a disk drive head/actuator arm assembly. A data processor is continuously updated with the current position and relative radial velocity of the disk drive head/actuator arm assembly. The data processor provides signals to a digital-to-analog converter ("DAC") of the VCM control circuit representative of the amount of energy necessary to move the head/actuator arm assembly to a parking position from a current position. The DAC generates an analog signal which is applied to a capacitor. When an undervoltage condition occurs, the signal stored in the capacitor is applied to amplifier circuitry to be used as an initial condition reference signal from which signals are generated to park the head/actuator arm assembly in a desired parking position.

Abstract: In a system including clock pulse data such as a network for sequencing music or multi-media data, a man/machine interface is provided which can be driven either by the operator or by a motor and transmission system. The man/machine interface contains encoders for producing tempo clock data which can be varied by the operator. Based on the comparison of the output signals of the encoders, the motor is accelerated or decelerated to eliminate the difference between the outputs of the encoders. The man/machine interface can be operated in the slave mode in which tempo clock data generated in the network is used to control the speed of operation of the man/machine interface or in the master mode when the man/machine interface determines the timing. The man/machine interface is preferably a foot-pedal.

Abstract: A numerical control device for driving at least two mechanical axes which are not orthogonal to each other, including an inclination ratio setting device for setting an inclination ratio (angle) between actual mechanical axes corresponding to axes of a pseudo-set orthogonal coordinate system; an orthogonal axis direction mechanical error storage device for storing a mechanical error measured in the axial direction of the virtual orthogonal coordinate system; and an error converting device for obtaining a mechanical error in the actual mechanical axis direction from the orthogonal axis direction mechanical error and the set inclination of the mechanical axis.

Abstract: In a method of operating a numerically controlled machine tool having tools for processing workpieces, the paths to be calculated for the movements of axes of the tools are not calculated in real time on the processing of a workpiece, but are calculated previously by a programming unit before the processing of the workpiece, and are stored by a compiler into an object file for each axis the movement of which is to be controlled. All the object files run in synchronism on the processing of the workpiece under the timing of a central clock.

Abstract: A numerical control system controls a plurality of axes with a plurality of channels (10.about.40). A plurality of spindles (61.about.64) or automatic tool changer controllers (51, 52) are selected and controlled by the channels (10.about.40) according to machining programs. The numerical control system efficiently controls a machine tool having a number of spindles and automatic tool changer controllers.

Abstract: A coordinate data converter converts plural shape data of the movable parts from a direction and of the parts that may interfere with the movable parts into the shape data of the three-dimensional coordinate system unique to the machining system, the number of structural shape elements of those parts being different from one another. A generator projects thus converted shape data on the three planes of said three-dimensional coordinate system; an arithmetic operator determines whether or not projected data overlap each other in each of the three planes, and a detector determines that an interference has occurred if the projection data on respective planes overlap and if projected data based on the shape data overlap in all of the three planes.

Abstract: A remote diagnosis system for a numerical control apparatus for diagnosing the operation state of the numerical control apparatus by means of a terminal unit disposed away from the numerical control apparatus by transmitting image data of the numerical control apparatus from a diagnosis data transmitting unit attached thereto to the numerical control apparatus includes: an image data read out unit for reading out an image data corresponding to one character in character representation from an image storage unit bearing the image data; and a character coding unit for transforming the image data into a character code if a character code exists corresponding to the image data read out by the image data read out unit.

Abstract: An actual operating time indicator includes: a lifting motor for lifting a load up/down; a power detection unit for detecting an input power based on a current and a voltage supplied to the motor, and converting the input power into a first voltage proportional to the input power; a voltage-to-periodic pulse conversion unit connected to the power detection unit for receiving the first voltage and converting the first voltage into the periodic pulse proportional to the first voltage; a counter unit connected to the voltage-to-periodic pulse conversion unit for counting and integrating the periodic pulse to obtain an integrated power; and a display operatively connected to the counter unit for indicating the integrated power as an actual operating time of the motor.

Abstract: A digital servo-control apparatus which controls the rotation of a servomotor on the basis of a digital position command value representative of a target position and a digital position feedback value output from a position detecting device. The apparatus comprises a device for calculating a feedforward value at intervals of a predetermined period on the basis of the amount of change of the position command value, a device for delaying the position command value by a period of time corresponding to an operation delay in the feedforward value calculating device, a device for calculating a velocity command value by adding the feedforward value to a deviation of the position feedback value from the position command value delayed by the delay device, and a device for driving the servomotor according to the velocity command value determined by the calculating device.

Abstract: The present invention allows easy restarting of a multiple product machining function in interrupted punch press work. An interrupted machining position is identified with a product number set on a work and a product number of a product for which machine operation is stopped or a product number of a product to be next machined is entered. When this product number is entered, a command program is modified according to a product number entered. The modified program gives machining commands from a work position for a product other than the product for which machine operation is interrupted to a punch press machine.

Abstract: A program reviewing device in a numerical control processing apparatus such as a punch press machine for effecting processing in accordance with an NC program. The device includes a display unit; a shape display control unit for displaying a work shape obtained in accordance with an NC program on the display unit; an indication element for indicating a reviewing portion in the display unit on which the work shape is displayed; and a step display control unit for displaying a step of the NC program corresponding to the portion indicated by the indication element on the display unit.

Abstract: A positional control apparatus capable of readily moving a movable part of an NC device in any desired direction by using a particular handle. The handle is mounted on the movable part by a holding part. When an operator gripping the handle wishes to move the movable part in the desired direction, a strength and a direction of force given to the handle are detected by force sensors, and an axial moving amount calculation means calculates the moving amount of each control axis in consideration of the strength and the direction of the force given to the handle, detected by the force sensors as a strength and a direction of an acceleration given to the movable part. By the moving amount of each control axis, obtained by the axial moving amount calculation means, the positional control of the movable part is performed.

Abstract: A tool path drawing method which facilitates confirmation of the movement of a tool associated with three-dimensional machining, comprising steps of drawing, for example, a cylindrical workpiece figure (1) in a perspective view on a display screen (25a), in accordance with workpiece configuration data originated on the basis of an input part program statement as a figure definition statement, and displaying a YZ coordinate system, drawing a tool path (7) associated with machining on the workpiece peripheral surface on the display screen in accordance with NC data originated on the basis of an input part program statement as a motion definition statement, and at the same time, drawing another tool path (8), obtained by developing the foregoing tool path on the YZ plane, on the same display screen. An operator can easily confirm the movement of the tool with reference to both the tool path (7) based on the machining conditions and the tool path (8) based on a machining drawing.

Abstract: A robot route interpolation method for interpolation a polygonal route of a robot which is defined by the predetermined three or more points, wherein the acceleration at the time when a first velocity on the above polygonal route before a turning point is changed into a second velocity on the above polygonal route after the turning point is obtained based on the above first and second velocities so that, based on the above first velocity and the above acceleration, the above robot is moved toward the turning point at an uniform velocity of the first velocity and is also moved at an uniform acceleration in the direction of the above acceleration.

Abstract: A machine tool control system in which a programmable controller operates a machine to carry out a plurality of programmable functions. The controller includes a plurality of processor means, a first one of the processor means capable of pre-processing and forwarding control information to a second of said processor means, wherein said second processor means provides control information to control machine movement. Advantageously, the second processor means operates on a periodic time based interrupt method which greatly increases the accuracy of the machine.