Abstract: A MEMS (micro electro mechanical system) actuator with discretely controlled multiple motions comprises bottom layer, stepper plate, support, and motion plate. The multiple motion of the motion plate is generated by the electrostatically actuated stepper plates and geometrically predetermined supports. By introducing the MEMS actuator with discretely controlled multiple motions, simple motion control can be achieved by digital controlling and only single voltage is needed for motion control of the motion plate.

Abstract: A rotating stage assembly performs high precision rotational angle and position error correction by continuous sensing and correcting motor stage assembly errors. It performs these corrections, to adjust for motor environmental and operational errors by sensing and correcting using five sensors placed to measure the adjustments of five corresponding actuators, which adjust the entire motor rotating stage and rotary motor assembly relative to a reference frame.

Abstract: When a servomotor (control axis) is coasting and rotating in a servo-off state in which no current is applied to the servomotor, this servo-off state is switched over to a servo-on state in which current is applied to the servomotor, and a position control and a speed control are started. An actual speed in servo-on state is obtained in speed obtaining means by a position/speed detector. Position command means obtains a command movement amount using the actual speed as an initial speed. A position deviation amount corresponding to the actual speed is calculated, a command movement amount, a position deviation amount, and a position deviation amount remaining in a position deviation counter in servo-on state with the sign thereof reversed are added to each other as a command amount to the position deviation counter.

Abstract: A conveyer 1 for transporting a box and a conveyer 2 for transporting a bottle are driven along a follow-up target axis and a follow-up axis respectively. The follow-up axis is accelerated from a synchronization start position, and when the follow-up axis velocity catches up with the conveyer 1, the follow-up axis performs the constant velocity operation. An advanced operation, performed by an asynchronous axis (moving the bottle closer to the box), is started before synchronization completes, and is completed when synchronization completes, then immediately an operation by a synchronous axis (follow-up target axis or follow-up axis) is started (insertion operation). The point of time when the advanced operation is started is determined by processing of the numerical controller, as a point of time when the time required for the follow-up axis in the current status to reach the synchronization completion status becomes the same as the time required for the advanced operation (preset).

Abstract: A method for machining workpieces by means of a multiaxial manipulator, such as an industrial robot, with a tool moved proportionally by a control unit of the manipulator and which can perform characteristic movements with several degrees of freedom is characterized in that the degrees of freedom of the tool are evaluated together with the degrees of freedom of axes of the manipulator in real time for moving a tool tip (TCP) in accordance with a predetermined, continuous machining path or a portionwise continuous machining geometry (step function) and for determining a movement of the manipulator. The invention also proposes a device suitable for performing the aforementioned method, in which the tool and a tool tip, during workpiece machining, are movement-controllable by the manipulator control unit. In this way it is possible to drastically reduce the overall machining time.

Abstract: In rotating systems with angular references, angular- and/or time-based pulses must be generated which can be described in a generic manner to meet various requirements. The parameters for definition of the pulse are assigned as a value pair to permit more flexibility on definition of a pulse for generation, one value of which defines the type of the parameter, in other words, whether an angle, a time, or some other parameter is being defined. A calculation device can correctly assign the size value of the parameter using the additional value, interpret and carry out suitable subroutines to calculate the control values for controlling the relevant pulse generation circuits.

Abstract: A method for an industrial robot to increase accuracy in movements of the robot. A first path is formed by bringing a tool supported by the robot to adopt a plurality of generated positions. A plurality of observed positions of the tool moving along the first path are determined. A second path is formed of the determined tool positions. A correction is determined by a path deviation between geometrically determined positions in the first path and the second path.

Abstract: A numerical control apparatus for machine tool, including: an NC program storage portion; an electronic cam data transformation unit which transforms an NC program into electronic cam data; a constant circumferential velocity control command detection unit which detects whether a command for executing constant circumferential velocity control is present or not in the NC program; a reference axis pitch setting unit which sets the pitch for generating data; a main shaft rotational velocity calculation unit which calculates the rotational velocity of a main shaft on the basis of parameters corresponding to the position of a cutting edge of a tool; an axial feed velocity calculation unit which calculates axial feed velocity on the basis of the calculated rotational velocity of the main shaft; and an axial position data computing unit which calculates axial position on the basis of the axial feed velocity obtained at intervals of the set pitch.

Abstract: For outputting an amount of backlash compensation according to the direction of reversal in the reversal motion of the moving axis, three output modes are prepared: (a) a mode in which a preset backlash compensation is outputted all at once, (b) a mode in which backlash compensation is outputted according to distance traveled, and (c) a mode in which backlash compensation is outputted according to time elapsed. It is determined whether the motion of the moving axis has been changed from positive to negative directions or from negative to positive directions, and with this determination result, any one of the above three output modes (a) to (c) is selected.

Abstract: The invention regards a method for co-ordinating and synchronizing the movement of servo-assisted axes in machines and apparatuses which execute various industrial applications. The method in object is applied in the programming of electronic control systems using specific commands collected in a particular table subdivided into sectors and known as a “CAM TABLE”, according to a programming technique known as “CAMMING”. The fundamental characteristic of the devised method is given by the fact that inside the aforementioned sectors of the CAM TABLE are described, through the use of a special operating code comprising a plurality of operating instructions, both the position relationships and the virtual laws of motion which bind a first reference axis known as the “MASTER axis”, and each of the other axes known as “SLAVE axes” together.

Abstract: A numerically controlled curved-surface machining unit equipped with three linearly moving axes and, at least, one rotary axis, including a simultaneous multiple-axis control NC machine numerically controlled by a numerical control unit with a numerical control NURBS interpolation function. The unit enables reading, as CL (cutter location) data, tool control point vector data and tool axis vector data, along a machining direction on a workpiece coordinate system for a curved surface, obtaining feed rates therefor, and calculation by conversion of the CL data into position vectors of three linear axes on a machine coordinate system, rotation angles and feed rates on the machine coordinate system so as to operate the simultaneous multiple-axis control NC machine on the basis of a machine configuration of the simultaneous multiple-axis control NC machine.

Abstract: In order to produce a monitoring device for checking for a predefined position of a body or checking for the presence of a body, comprising a pivotal check element, a motor for driving the checking element and a housing for accommodating the motor, which will be universally employable especially in difficult working surroundings, it is proposed that a seal be arrangement between the checking element and the housing around a shaft by means of which the checking element is driven.

Abstract: A numerically controlled curved-surface machining unit comprises a component converting matrix·angle-addition value forming function of converting CL (cutter location) data into components on a normal coordinate system on the basis of the machine configuration of the simultaneous multiple-axis control NC machine, a component converting function of converting from the workpiece coordinate system to the normal coordinate system, a function of forming second angles of a second rotary axis on the normal coordinate system, a compensating function of forming a continuous angle distribution from a distribution of the second angles, a function of forming first angles of a first rotary axis on a coordinate system rotated by the second angles at the second rotary axis, a compensating function of forming a continuous angle distribution from a distribution of the first angles, a machine coordinate transformation matrix forming function of obtaining a matrix for converting the tool control point vectors on the workpiece c

Abstract: A plug and play electric machine interfaces with a plug and play controller. A memory device stores configuration parameters for operating an electric machine that are accessed by the plug and play controller. A plug and play connector connects to the plug and play controller. A sensor monitors a property of the electric machine. A sensor connector communicates with the sensor and the plug and play controller. The configuration parameters are transmitted to the plug and play controller during a power-up sequence of the electric machine. The plug and play electric machine connects to different plug and play controllers. A power connector is associated with the electric machine and communicates with a power driver included in the plug and play controller. The plug and play connector, sensor connector, and power connector form an integrated connector. The plug and play controller updates the configuration parameters based on feedback from the sensor.

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: An electric discharge machining apparatus is provided with an electrode mounting section which mounts a tool electrode, and an electrode driving section which has a radial driving section which supports and drives the electrode mounting section in a non-contact manner in a radial direction and a thrust driving section which supports and drives the electrode mounting section in a non-contact manner in a thrust direction, and a machining state is controlled by adjusting a position of the tool electrode by the electrode driving section. Because of such a structure, a mass increase of a section which should be driven together with the electrode is restricted, and high response in X-axis, Y-axis and Z-axis directions are achieved, whereby an electric discharge machining apparatus capable of improving a machining speed and a machining accuracy is achieved.

Abstract: An arrangement for generating command variables for control loops of a numerically controlled machine that includes an interpolator unit for providing position set points with a defined interpolator scanning rate and a precision interpolator unit. The precision interpolator unit includes a scanning rate converter and a downstream-connected low-pass filter, wherein the precision interpolator unit is arranged downstream of the interpolator unit, which generates command variables at an output side from position set points at an input side for one or several downstream-connected control loops, wherein the precision interpolator unit generates command variables in a time pattern of the control loops with a control loop scanning rate.

Abstract: The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive.

Abstract: A method and apparatus for monitoring the useful life of machine tools. A controller continuously monitors the amount of time a particular tool has been used as well as the materials the tool has been used to machine. A useful lifetime of the tool is estimated based on the characteristics of the tool. When the amount of time the tool has been used, adjusted based on the materials used, reaches the useful life span of the tool, the controller directs the machine to remove the tool from service and retrieve a duplicate tool for further machine operations.

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: Apparatus for teaching robot station location relative to a work piece apparatus includes an attachment that can be temporarily coupled to the apparatus and positioned in known relationship to the robot station location. A plurality of positional sensors are mounted on the attachment ring, the sensors each configured to produce a signal when a work piece carried by a robot arm is positioned a predetermined distance from the sensor. A signal receiver is configured to receive signals from the sensors and to indicate which of the sensors has produced the signal. The indication may be the activation of an LED display that indicates to an operator what the next movement of the robot arm should be in order to center the work piece with respect to the robot station location.

Abstract: There is provided an apparatus for, and a method of, driving a plurality of uniaxial positioning elements of positioning stages to perform an automated search to find a signal in a multi-dimensional search space having a dimensionality equal to the number of alignment axes. The automated signal location is achieved by scanning over a search pattern defined by a succession of n−1 dimensional closed hyper-surfaces in an n-dimensional search-space, where n is the number of positioning axes involved in the alignment process. In an embodiment of the invention hyper-cubes are used as the hyper-surfaces and the search path follows a hyper-spiral track over hyper-surfaces of incrementally increasing size.

Abstract: A numerical control system includes a curved-surface state evaluating unit 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 the shape of the curved surface, a command speed deciding unit 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 for calculating quickly a succeeding tool position by utilizing the evaluation data. The operations are performed in real time.

Abstract: A numerical controlling device and a tooling apparatus having thereof, in which performance required for the machining is greatly improved correspondingly to a degree of importance according to a type of the machining and thus high efficiency and high accuracy in the machining can be obtained, by referring a database based on a type of a specified cutting tool and workpiece, and of a machining mode including an operating path of a movement of the cutting tool and workpiece, and by selecting a control parameter which relates to an adequate operating speed and operating position in the entire operating path during machining and non-machining.

Abstract: A machine tool includes a tool (a drill or the like having a diameter of 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 computer-implemented method and system is disclosed for controlling a cutting tool of a high speed cutting machine. The method and system provides an effective tool path for controlling a cutting machine under a constant rate of material removal in a high speed cutting machine in order to get away with the extreme cutting forces. The tool path also allows to better transfer the heat generated between the cutting tool and the workpiece through the chip. The method and system can be applied to any geometry of final shape of a workpiece.

Abstract: A method adapted to achieve a high rate of material removal when, for example, milling a cavity into a work piece. The method includes providing for a cutter path in which the angular engagement between the cutter and the work piece is maintained below a predetermined value to prevent premature wear of the tool, providing for a cutter path which permits a constant cutter feed rate including during directional changes in the path, and machining a series of nested pockets into the work piece utilizing cutter paths as provided for above.

Abstract: A structure comprising firstly a differential sensor of linear displacement comprising a body and a core slidably mounted relative to said body, and secondly a rod of a servo-control actuator in which the core is mounted, said rod terminating in an endpiece which has a bore in which the core is received close to its end, said bore and the core having complementary threads which co-operate to hold said core relative to said bore, and means enabling the engagement of the core in said bore to be adjusted, wherein said means comprise an adjustment screw extending through the actuator rod and whose thread co-operates with complementary means carried by the core so that turning movement applied to the adjustment screw by an operator gives rise to axial displacement of the core in the bore of the endpiece.

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 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: A wafer handling apparatus having input and output robotic systems directed by a programmed controller. Each system has components including a robot, a twist and rotate, and a carrier and automated carrier rail. The input system is for removing wafers from their wafer pod, placing them in the carrier and transporting them via the rail to a wafer processing area. The output system performs the reverse operation, taking wafers from a carrier following processing and placing them in a pod. Each robot includes a plurality of interconnected, articulated cantilevered arms. The last one of the arms has a wand on one end and a laser emitter detector on the other end, and operates in cooperation with the controller to provide location detection of system components. The controller also includes circuitry for sensing contact of the wand with an object by measuring the increased robot motor torque occurring upon contact.

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: Briefly, a preferred embodiment of the present invention includes a wafer carrier buffer for storage of a plurality of carriers containing wafers either waiting to be taken for processing in an adjacent wafer processing system, or waiting to be taken from the buffer following the processing. The buffer has a sliding carrier first input apparatus for taking a carrier from outside the buffer through a buffer input door and into the buffer interior. A buffer controller is included for directing robotic apparatus to take the carrier from the input apparatus and place it on a selected one of a plurality of carrier storage locations, and from a carrier storage location to a first output for delivery of wafers to processing. The robotic apparatus also delivers an empty carrier to a second input apparatus for receiving wafers from the processing area, and for delivery of a carrier with processed wafers to a second sliding output apparatus for removal from the buffer through a buffer output door.

Abstract: A robot controller is provided which can smoothly switch the mode between a position control in a free space and a position or force control to a contact surface, so that even if the contact surface has an unknown geometric error, the control system mode can be switched without the damage of a contact object and a workpiece and the out-of-control of the robot. The workpiece is moved to approach an estimated contact surface within the free space under a position control. Next, a groping motion is carried out under a position control from the estimated contact surface to an actual contact surface, and switched to a contact motion under a force control at the time point when the detected force value exceeds a certain threshold value. Then, a leaving motion is carried out.

Abstract: Numeric controller (3) for controlling a rotating mechanism (1) having a rotor rotated by a linearly moving driving source has a rotating position command means (311) for transmitting angular position commanding value (&thgr;), a radius setting means (312) for setting rotation radius (R) of the rotor, and a linear position operation means (313) for operating linear position command value (L) of the driving source based on the angular position command value (&thgr;) and the rotation radius (R). Since the linear position operation means (313) is provided, the linear position command value (L) can be calculated to drive the driving source only by commanding angular position command value (&thgr;), thereby facilitating to construct programs inputted to the numeric controller.

Abstract: Described are a process and a device for monitoring objects, such as tools or process areas. A feeler pin (34) can be pivoted by means of an electric motor (20) in both directions of rotation, starting from a zero position, so that two objects or process areas can be monitored. The zero position of the feeler pin (34) is determined by means of the microcomputer in a teach-in cycle, starting from the desired angular value of a reference stop.

Abstract: A motion controller and a method of controlling the motion of a plurality of axes which prevents a discontinuous position command being generated to a follower axis. A follower mode transfer function circuit or routine generates a position command in response to a master axis position. This function can be in the form of electronic gearing or camming. A bias latch is utilized to offset any change in position resulting from a change in mode, such as changing from electronic gearing to electronic camming, changing cam profiles or gearing ratios, or changing the master axis. The latch is summed with the transfer function position command and a standard move command profile generator position command to provide the follower axis position command. The latch is recalculated each time the follower mode is changed.

Abstract: A system for automatically calibrating a semiconductor wafer handling robot so that the robot will move wafers into and out of precise locations within enclosures that form process stations or storage cassettes is disclosed. The system comprises a controller having memory and logic sections connected to a robot having an articulated arm that is movable in vertical (Z), horizontal (.theta.), and radial (R) directions and having a wafer retaining wand at the end of the arm. Dimensional characteristics of the robot wand and the enclosures are stored in the controller memory. Sensors are provided at each enclosure and/or the robot wand which are activated and provide signals to the controller that are relative to the wand position. The robot is programmed to execute a series of progressive movements at each enclosure location which are controlled by a combination of sensor response signals and the appropriate dimensional characteristics.

Abstract: A positioning control method (80) has a setting section (81) for setting a comparison reference value in accordance with a machine tool in advance, a detecting section (82) for detecting a command value by the rapid traverse command G00, a comparing section (83) for comparing the comparison reference value and the command value, and a determining section (84) for changing the rapid traverse command G00 to a linear interpolation command G01 when the command value is smaller than the comparison reference value, executing the rapid traverse value G00 when the command value is larger than the comparison reference value, and selecting either one of the rapid traverse command G00 or the linear interpolation command G01 when the comparison reference value is equal to the command value. Less effective short-distance rapid traverse command is converted to the linear interpolation command, thus speeding up positioning control to make an entire processing of the workpiece faster.

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

Abstract: A machine tool has a spindle with a tooling body mounted thereon, a detector for detecting an acceleration time for the tooling body to reach from a rotation start to a predetermined rpm, a controller for controlling an rpm of the spindle under a lowered limit when the acceleration time is longer than a reference time. Another detector detects an asymmetricity of radial forces acting on the spindle, and the controller controls the rpm of the spindle under a lowered limit when the asymmetricity of radial forces exceeds a reference degree.

Abstract: The present invention relates to an automatically reconfigurable contour checking fixture for comparing a component to a programmed contour. The fixture comprises a horizontal support table, having a length and width, wherein a drive rack runs along its length. The fixture also includes a plurality of stations positioned at intervals along the length of the support table, each of the stations including an artificial template member, and a multi-service drive assembly which drives the artificial template member of each of the plurality of stations to a respective designated point along the programmed contour. A computer is in communication with the multi-service drive assembly, communicating positional instructions such that the artificial template member of each of the plurality of stations conforms to the programmed contour.

Abstract: A spindle acceleration/deceleration controlling method in a numerical control unit comprising a spindle control section for controlling a spindle motor and a servo axis controlling section for controlling a servo axis motor, and for synchronously controlling the spindle and servo axis; wherein a spindle motor in the position loop control state is controlled with an acceleration/deceleration pattern similar to that of the spindle motor in the velocity loop control state.

Abstract: A database, in which information an NC apparatus needs in machining products is accumulated for each product, is set in a hard disk connected to the NC apparatus. In this database, products are represented by numbers assigned to them. When an operator specifies a product number, information required for machining of the product corresponding to that number is retrieved and extracted from the database to be automatically transferred to a predetermined memory of the NC apparatus.

Abstract: A motion controller includes an input for receiving data corresponding to moves in a cycle of a multi-axis machine. The controller controls electric motors of the machine in accordance with positions set forth in a path planning table. The path planning table is generated from the data by applying a curve defining equation and integrating an alpha variable therein. The alpha variable corresponds to a velocity to acceleration ratio and is adjustable to allow the calculation of a new path planning table having a velocity and acceleration profile shifted from an initial velocity and acceleration profile to allow for optimization of motor performance. A method of path planning having user tunable parameters is also provided.

Abstract: A tracing control method includes the steps of (a) controlling a movement direction of a move point to a tangential direction of an objective locus at a present position of the move point and (b) moving the move point in the movement direction at a non-controlled speed. A tracing control apparatus includes (a) a direction control actuator for controlling a movement direction of a move point and (b) a drive actuator for driving the move point at a non-controlled speed.

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 method and apparatus for controlling, in power failure, such a machine that a workpiece and a tool are required to be always synchronized in their motion. The method and apparatus allow the tool and workpiece to move back and stop at a safe area without causing any damage to them when the main power source is lost. When a power failure has happened in the middle of a synchronous operation of the motors (S1), a power regeneration function is first disabled (S2). Then a braking control command is issued so as to decelerate the tool drive motor and the workpiece drive motor while maintaining their synchronization (S3). In this step S3, the deceleration rate is controlled so that the motors regenerates energy just enough for driving the tool feed motor. The tool retracts back to an area where it is no longer engaged with the workpiece, by driving the tool feed motor with the regenerative energy produced by the deceleration of the tool drive motor and the workpiece drive motor (S4).

Abstract: A motor load switching system in which a single motor with a single control circuit drives a plurality of different-sized loads by sequentially switching from one load to another. A parameter storage device stores a plurality of parameter sets which are optimized for respective loads. In response to a load switching command, motor control device selects a corresponding parameter set from the parameter storage device and controls the motor according to the selected parameter set. Simultaneously, a load switching device couples the motor with a new load selected from the plurality of the loads.