Abstract: An NC statement preparing system of an interactive numerical control device. Whether a tool (2) is a one-way cutting tool or a tool capable of multi-directional cutting is determined, and an NC statement is prepared by choosing between an NC statement composed of a tool passage for the one-way cutting tool and an NC statement composed of a tool passage for the multi-directional cutting. Accordingly, a machining program for a short machining time can be prepared.

Abstract: A reference-point return method for a numerical control system. When a return is made to a reference point, a numerical control unit (21) reads an absolute position of a motor (23) within one revolution thereof from an absolute position detector (24), obtains a distance B from a predetermined motor point (a grid point) to the absolute position that has been read, and initially sets the distance B as a command position REF.sub.n from the grid point. Thereafter, the numerical control unit (21) outputs a move command value .DELTA.R.sub.n to a digital servo-circuit (22) every predetermined time .DELTA.T, updates a commanded position REF.sub.n in accordance with the equationREF.sub.n +.DELTA.R.sub.n .fwdarw.REF.sub.nobtains REF.sub.n after a deceleration limit switch (25) is depressed, and outputs (N-REF.sub.n) to the digital servo-circuit (22) as a final commanded traveling distance .DELTA.R.sub.n to return the movable element to a reference-point position set at a predetermined grid point.

Abstract: A numerical control apparatus for machining non-circular workpieces such as a cam and the like is disclosed. In the present invention, roughing profile data and finishing profile data are generated from lift data regulating the shape of non-circular workpiece. The roughing profile data are obtained from roughing lift data. The roughing lift data are generated as changing smoothly such that the deviation from the lift data regulating the finished shape presents within the tolerance of allowance at finishing, and quadratic differential components related to the rotational angle are smaller than the predetermined value. Machinings are performed by the roughing profile data at roughing and by the finishing profile data at finishing. As a result, the high-speed machinings are possible and the machining cycle time can be shortened.

Abstract: A high-precision pulse interpolation method for interpolating the amount of movement of individual axes of a numerical control apparatus (1) with high precision. An interpolation pulse is output twice or more in one task and is written into a shared RAM (2). A servo control circuit (3) outputs the interpolation pulses in the shared RAM at regular intervals, to control a servometer (5) with a high-precision pulse interpolation.

Abstract: Disclosed is a synchronous control system for effecting a synchronous and superimposed operation among different channels of a multi-channel-control machine tool. A follow-up error amount (.epsilon.3) of a servomotor responsive to a superimposing instruction is simulated, a difference is determined by subtracting the follow-up error amount (.epsilon.3) to the superimposing instruction from a follow-up error amount (.epsilon.2) of a servomotor for a superimposed operation axis (Z2) and the difference is compared with a follow-up error amount (.epsilon.1) of a servomotor for a synchronous operation axis (Z1) to produce an alarm when the comparison indicates the operation of the servomotors is synchronized and superimposed.With this arrangement, a synchronous error can be checked when a superimposed operation of the servomotors is effected.

Abstract: For controlling the rotation angle of a main shaft of a numerical control machine tool in synchronization with the position of a feed shaft, the learning control method according to the present invention comprises steps of reading the positional command value of the feed shaft corresponding to the detected value of the current revolutional angle of said main shaft out of the table which stores in advance the positional instruction values corresponding to the angle equivalent to one rotation of the shaft, subtracting the detected value of the current position of the feed shaft from the read out positional value to obtain the positional deviation table of the shaft, renewing the correction value table of the positional deviation values of the shaft which are stored in advance by using afore-mentioned deviation table, and suspending the renewal operation of the correction table of the positional deviation when the difference between the positional deviation table which has been added with the correction value ta

Abstract: When a spindle (10) of a machine tool is rotated and moved relative to a workpiece linearly along an axis (Z) thereof during a machining process such as screw cutting, a spindle servomotor (12) and a feed servomotor (22), each of which is the primary drive, must be rotated synchronously. In general, the spindle servomotor directly drives the spindle without a reduction gear, and the feed servomotor feeds a spindle head (18) through reduction gears (26, 28). Therefore, in general, the synchronous work is controlled in accordance with an acceleration and deceleration capacity of the spindle servomotor. Consequently, the spindle servomotor is rotated along the torque limit curve line (L1, L2) to drive the spindle, to thereby effect the synchronous work at a high efficiency.

Abstract: A numerical control system controls a plurality of axes with a plurality of channels (10, 20, 30). When a machining program for a first channel (10) is interrupted after a single block in response to a single block signal (6), the feeding of commands of a machining program for other channels (20, 30) is held. The machining programs are thereby executed in synchronism with each other. The machining processes are prevented from being unbalanced, and machining interference is avoided.

Abstract: A method for acceleration and deceleration control of servomotors always brings out the maximum operating capability of a machine equipped with servomotors, such as a robot, NC machine tool, etc. and accurately moves a respective operating section of the machine, e.g., robot work point, tool, etc., along a commanded path. When a command is read from a program, the speed command value is divided by a maximum allowable (Am) of the machine, set previously, to determine a time constant (T) for acceleration and deceleration control (Step S2), and the time constant is divided by a sampling period to obtain a number (n) of times of commanded speed sampling (Step S3). The servomotor is driven at a controlled speed after the acceleration/deceleration process. The controlled speed is obtained by dividing a sum of a commanded speed of the current sampling period and commanded speeds sampled in the previous (n-1) periods preceding the current period, by the number (n) of times of sampling.

Abstract: The invention relates to servo-driven computer-numerically-controlled systems of the type adapted to receive part program instructions defining a desired path of relative movement between a tool and a workpiece, wherein the path may include an interior or exterior curved portion to be effected by coordinated linear movement of machine members along at least two orthogonal linear axes. The invention provides apparati and methods for correcting path radius errors to facilitate rapid and accurate movement along the curve. In a preferred embodiment, such path radius correction is applied to a fixed cycle for machining inside circles preferably incorporating such path radius correction and providing substantially tangential engagement between the tool and a machining locus orbited by the tool to avoid abrupt accelerations or decelerations while the tool is in contact with the workpiece.

Abstract: The present invention discloses a method of loading a control program for a numerical control apparatus, wherein the control program is composed of a plurality of load modules. Each module contains a judgment codes, such as a version number, at the head portion thereof, and is stored in a read/write operation enabling memory, so that each of the judgment codes can be compared with a corresponding judgment code received from an external apparatus by a judgment code comparing means. When the comparison detects different judgment codes, transmission of the new load module corresponding to the discorded judgment codes requested by a modified load module requesting means. Only the substantive portion of the load modules corresponding to the discorded judgment codes received through the comparing means and requesting means need be loaded onto the memory by way of a load means.

Abstract: A digitizing method in which a distance from a model surface is measured and stored at regular intervals of time or distance to obtain digital profile data of the model. A specified profile for correction is provided on a part of the model, and by using the specified mode, correction data such as a distance correction coefficient is obtained before carrying out the digitizing. Digitizing data obtained by carrying out the digitizing is corrected by the correction data. The correction data is obtained based on the material and surface condition of the actual model, and therefore, the digitizing data can be accurately corrected.

Abstract: An adaptive control system, for a plant such as a servo motor, a heat pump and the like where its input distribution matrix is known and the number of effective inputs is the same as the number of independent outputs, comprising: an unknown dynamics value production circuit for producing an unknown dynamics value by adding a derivative value of a detected state output value of said plant, negative quantity of multiplication of an input value of said plant and an input distribution matrix value of said plant, and negative quantity of a known value of said plant; a non-identity filter, except for a time delay element, for producing a filtered unknown dynamics value which is close to but not exactly the same as said unknown dynamics value; a control input value production circuit for producing a control input value to said plant by using said filtered unknown dynamics value.

Abstract: A control device for an industrial machine comprising a numerical control device and a programmable controller, the numerical control device comprising: a data processing section essentially comprising a memory and a central processing unit, for analyzing and operating input numerical data, outputs of the data processing section being used for performing numerical control of a machine to be controlled and of rotation of a spindle of the machine; a gear ratio data memory for storing gear ratio data of gears through which a spindle motor is coupled to a spindle head holding a tool, the gear ratio data being applied to the gear ratio data memory through a bus from the programmable controller adapted to perform sequence control of the machine; and synchronous operation controller for calculating actual speed of rotation of the tool through operation using the gear ratio data and a feedback signal of the spindle motor, and performing synchronous operation control of the tool and a feed shaft.

Abstract: A positioning controlling device for improving the machining accuracy of a work of a non-circular shape. A control axis is driven in accordance with an input function consisting of position instruction data corresponding to a machining shape of a work, and a response function of the position of the control axis is measured actually. Then, a transfer function of the servo system is determined from Fourier transformation of the input function and Fourier transformation of the response function, and a corrected input function with which a response function of the control axis ideally corresponds to the machining shape of the work is obtained from the transfer function. Even if the control axis is driven in accordance with the corrected input function, a response function obtained does not correspond to the ideal machining shape of the work.

Abstract: A method and system (10) for controlling radial movement of a machine tool, such as a turning machine, relative to a workpiece (11), is characterized by a digital filter (70, 72, 74) which produces a filtered final control signal which is a function of both radial position and velocity of a cutting tool (24) of the turning machine. The method and system (10) utilizes a tool position feedback signal which is compared with an initial control signal to produce a signal which is then digitally filtered to, in turn, provide the resulting final control signal. The surface geometry of the workpiece (11), such as a piston, is determined by a data matrix of angular, axial and radial position coordinants of the tool. An angular position signal representative of the angular position of the workpiece (11) and an axial position signal representative of the axial position of the cutting tool (24) relative to the workpiece (11) are both generated.

Abstract: A profiling control system for a multiple-degree-of-freedom working machine having at least two degrees of freedom has at least one force control loop. The control loop has a detector for detecting the force applied to a working tool from a work surface, an error detector for determining the difference between the detected force and a command f.sub.ro of urging force of the working took, a processor for computing a velocity command u.sub.z of the working tool on the basis of the determined error, a drive system for moving the multiple-degree-of-freedom working machine on the basis of the velocity command. Further, the multiple-degree-of-freedom working machine is moved on the basis of a velocity command u.sub.x. The control system provides a moving velocity v.sub.zof in an urging direction of the working tool, which occurs as the result of a gradient tan .alpha. of the work surface with respect to a feed direction when the working tool is fed with the velocity command u.sub.

Abstract: A numerical control apparatus is provided for controlling a position of a feed shaft in relation to a rotational angle of a main shaft of a machine tool. A value denoting the actual position of the feed shaft is subtracted from a positional command value to obtain a positional deviation value. The positional command value is one of a plurality of prestored values corresponding to a given rotational position of the main shaft. The positional deviation values for a single rotation of the main shaft are stored in a data table and displayed on a display device. Another data table having a plurality of correction values stored therein is provided. Each of the plurality of correction values stored in the correction value data table corresponds to a given rotational position of the main shaft. For each rotational position of the main shaft, the positional deviation value and a corresponding correction value are added together to obtain a corrected deviation value.

Abstract: A numerically controlled apparatus wherein a tool can be returned by a high speed retrograding operation without damaging a chip of a tool or a work. The numerically controlled apparatus comprises a command executing block which decodes a working program for each of block commands and controls controlling driving of a tool to work a work. A retrograde command storage block extracts data necessary for the production of a retrograde block command from the working program and stores the extracted data therein. Upon reception of a retrograding signal, an escapement command producing block produces an escapement block command, and a retrograde block command producing means produces a retrograde block command. Then, an escapement/retrograde command execution controlling block causes the command executing block to execute the escapement block command and the retrograde block command.

Abstract: A software servo control apparatus for use in an electrically-operated injection molding machine, which is capable of changing servo control variable constants, without the need of changing hardware arrangement, for greatly enhancing versatility for the machine, and of effecting appropriate pressure control. A servo control microprocessor (13) operates, in accordance with a servo control program, to determine a commanded current on the basis of a positional deviation amount, obtained from an output of a pulse encoder (5), and a moving command. The servo control microprocessor also determines an amount of a change in the output of the pulse encoder, and supplies a power amplifier (6) with the difference between the commanded current and an output of the same amplifier, for control of the drive of a servomotor (2). Further, the output of the amplifier is restricted to a value less than a commanded torque on the basis of an output of a pressure sensor (4) and the commanded torque.

Abstract: A driving apparatus for smoothly driving a running unit of a robot, including a movable table movably supported by first and second gear mechanisms driven by independent first and second motors engaging with respective two parallel racks to carry a robot body.

Abstract: A tracking control robot controls its arm end, which holds a tool, to track a taught path so that a reaction force between a workpiece and the tool remains constant. An ideal state for the arm end is determined from the present state of the arm end and the difference between the actual reaction force and a predetermined target force. Then, this ideal state is compared with a reference state of the arm end on the taught path to obtain a target position and a target attitude of the arm end. Since a target position is always determined independently of the last target position, no position error due to time delay affects a new target position even when the next target position is generated before the tool reaches the last target position. Thus, the robot is quick, responsive, and accurate when tracking at a constant operation speed.

Abstract: The present invention is a control system for a seven-degree-of-freedom robotic arm. The robotic arm (10) includes two links (12 and 14), each having two degrees of freedom, and a spherical wrist (26) having three degrees of freedom. The kinematics of the spherical wrist are decoupled from the kinematics of the arm. The four degrees of freedom of the arm create a redundancy which provides versatility in the positioning of the arm. Fixing the redundant arm parameter and locating the end point (24) of the end effectuator path away from areas of limited mobility results in a marked simplification of the algorithms which describe the equations of motion of the arm. Additionally, further computation reduction can be achieved by updating the control gains less frequently than every microprocessor cycle, such as updating once for every five degrees of pitch angle rotation of either joint.

Abstract: A numerical control apparatus for machining non-circular workpieces such as a cam and the like has been disclosed. The cam and the like are used in changing the operation from rotational to linear motion. In designing the shape of the cam and the like, lift data prescribing the relationship between the rotational and linear motions is used. The lift data is given by the position sequence on the linear motion corresponding to a number of discrete rotational angles. Also, the tolerance of the positions is given from a functional aspect. The lift data is converted into profile data prescribing the shape of the cam and the like after being smoothed within the tolerance by a regression analysis, and machining of the non-circular workpieces is effected according to the profile data.

Abstract: A numerical control device comprising a lost motion correction data calculating device having a table/function which represents the motor current of a servo motor, in a servo mechanism for servo-controlling a mechanical movable part. The motor current is detected at a given time instant, and the corresponding amount of lost motion correction is then calculated. The position error caused by the lost motion can be corrected with high accuracy.

Abstract: The method of controlling a mechanical hand includes releasing the head in its initial position, moving the hand to its target position and retaining the hand in its target position. With the hand moving towards its target position, the path of its travel is divided into a portion registering the parameters of its motion and a portion correcting the law of its motion. With the hand moving over the registering portion, a reference voltage is supplied to the drive motor, and the speed and running coordinate of the moving hand are measured and registered. With the hand moving over the correcting portion, its speed is measured, and the difference between the speeds measured at the two portions is computed to shape an additional voltage. A voltage is then fed to the drive motor, which is an algebraic sum of the reference voltage and additional voltage.

Abstract: The scanning micromechanical probe control system for controlling relative movement between a sensor probe and an adjacent sample surface includes a sensor probe for measuring a parameter which varies relative to the relative positioning of the probe and the adjacent surface adapted to generate an error signal indicating one of at least two discrete position conditions; an up/down counter for integrating the error signal and for generating an up/down count signal; and a position control servo for controlling the relative positioning of the probe and the surface responsive to the up/down count signal. An adaptive feedback control most preferably controls the rate of up/down positioning of the sensor probe and the rate of raster scanning of the probe relative to the target surface.

Abstract: A method of using a mathematical model to adaptively control surface roughness when machining a series of workpieces or segments by: (a) linearizing a geometrical surface roughness model; (b) initializing said model essentially as a function of feed; and (c) subjecting the initialized model to computerized estimation based on roughness and feed values taken from the last machined workpiece, thereby to determine the largest allowable feed for attaining a desired surface roughness in subsequently machined workpieces or segments of the series. The mathematical model is an algorithm of the form R=[1262.79]f.sup.2 /r. The model is linearized and initialized to give the form R=.beta..sub.1 s.sub.R f+.beta..sub.2 R.sub.max where R is the actual roughness and R.sub.max is desired roughness, f is actual feed, .beta..sub.1 and .beta..sub.2 are coefficients to be updated by estimation, and s.sub.R is a scale factor chosen to make the first term have the same order of magnitude as the second term.

Abstract: A sampled data read/write head positioning system for a disk drive having a sector servo overcomes the low bandwidth constraints of feedback position samplers. The system includes controlled acceleration and controlled deceleration of the read/write heads while seeking a track. In order to avoid missing track addresses, the sectors on each disk surface are staggered (offset) along each track from the corresponding sectors on the other disk surfaces, and each read/write head is used to find a particular track by sequentially switching the read/write heads while seeking.

Abstract: Disclosed herein is a numerical control apparatus for controlling drive spindle heads in a rectangular coordinate system of machining apparatuses such as a lathe, a miller, a laser beam machining apparatus, an electric discharge machining apparatus, a robot and the like, to thereby perform positioning control.

Abstract: To avoid variation between the resultant paths of multiaxis motions of a machine element for different override curves, distance-time curves of the axis motions are stored for an override value of 100%, and a relevant distance-time curve is subjected, in synchronism with a time sequence of selectively varied override values for each axis, to a time expansion which is inversely proportional to the respective override value.

Abstract: A tapping control apparatus effects tapping operation by synchronizing the rotation of a spindle and the movement along a Z-axis through pulse distribution. The tapping control apparatus has a time constant determining unit (2) for determining a time constant according to a command speed for the spindle. The determined time constant is given to an acceleration/deceleration control circuit (10, 20) for performing tapping operation. Since a time constant is selected according to the rotational speed of the spindle, the time constant can be large to prevent overshooting or the like when the rotational speed of the spindle can be high, and the time constant is small for higher-speed machining operation when the rotational speed of the spindle is low.

Abstract: An axis feedrate output system for CNC equipment which controls the position of a machining table in each axis by effecting feedrate control in accordance with a residual error between a position command and detected positional information in each axis. A current feedrate of the machining table in each axis is derived from the residual error, and a current actual feedrate of the machining table is synthesized using the current feedrate for the respective axes an output which represents the current actual feedrate of the machining table in the form of a ratio to a predetermined maximum feedrate is generated. An error register stores the residual error (servo error) between the position command for each axis from an MPU in the CNC equipment and the positional information detected by a position sensor and provides a feedrate command for effecting feedrate control.

Abstract: A device for regulating the operation of a chemical treatment plant, by attenuation of the variances of the regulating parameters, has a calculation circuit connected to a measuring device for measuring flows of compounds at the input of the plant and measuring devices for measuring the contents of residual input compounds still present at the output of the plant. The calculation circuit performs coherence processings of the measured values to attenuate the variances of these values. The measurement provides a set-point signal which is used for the regulation of the plant.

Abstract: A motor control system for a plastic forming machine such as an injection molding machine is disclosed including an interface circuit and a phase inverter for sensing the individual operation steps of the molding machine, producing a time stream of voltage levels, each of which are representative of the least amount of power required by the molding machine to perform machine functions during such operation steps, and for varying the speed of the motor in response to such voltage levels during each of such operation steps so as to reduce the amount of electrical power required by such machine during its cycle period.

Abstract: A system for controlling a robot includes a control portion (7) for supplying a control signal to and receiving a control signal from a servo unit (6) for carrying out a signal supply and a signal feedback to an electric motor (5) for driving a shaft executing a Z-axis linear motion, and threshold value supply portion (8) for supplying a threshold value to the control portion. Based on a comparison between a motor torque instruction value and a threshold value supplied from the threshold value supplying portion, an alarm is delivered and the process subsequently proceeds to a step of dealing with an abnormal condition when said motor torque instruction value becomes greater than a predetermined threshold value.

Abstract: A numerically controlled machine tool for machining a non-circular workpiece according to profile data. The numerical controller stores phase compensation values and position compensation data files in connection with the types of cam and the various rotational speeds of the main spindle. Each position compensation data file consists of a series of position compensation values for a successive rotational positions of the main spindle. The numerical controller searches a phase compensation value and a position compensation data file according to the type of cam to be ground and the rotational speed of the main spindle during the grinding operation. Thereafter, the numerical controller offsets the read-out position of the profile data by the amount corresponding to the searched phase compensation value, and compensates each profile data with position compensation data stored in the searched file so as to eliminate a machining error which changes depending upon the rotational speed of the main spindle.

Abstract: A double motor feed control system for controlling a relative linear feed motion between two objects, such as a rail and a table of a linear motion rolling contact bearing assembly. The double motor feed control system includes a first motor, a threaded feed shaft driven to rotate by the first motor, and a slider assembly threadably connected to the feed shaft. The slider assembly includes a nut which is fitted onto and in thread engagement with the feed shaft, an inner ring fixedly attached to the nut and provided with a rotor, and a motor housing rotatably supported on the rotor through a pair of ball bearings and provided with a stator in opposite arrangement with the rotor to thereby define a second motor. By controlling the direction of rotation of each of the first and second motors, the feed speed may be selectively set at a fast or slow speed.

Abstract: The designated speeds of a plurality of blocks are read beforehand, deceleration start positions are calculated to maintain the servo system at a speed below the designated speeds of the blocks read beforehand at the start positions of the previously read blocks, and the servo system is decelerated from the calculated deceleration start positions, whereby the servo system speed is kept below the designated speeds of all of the blocks and the deceleration of the speed of the servo system is controlled with a high degree of accuracy.

Abstract: A velocity control apparatus according to the invention controls velocity when moving the movable element of a robot hand or NC machine tool and includes velocity override control for changing the movable element command velocity at a predetermined rate, and acceleration/deceleration circuits (2X, 2Y) of a time constant inversely proportional to a velocity set by the override control. When the amount of a velocity override is changed, the time constant of the acceleration/deceleration circuits (2X, 2Y) is altered in dependence upon the commanded velocity, and an accumulated quantity of command pulses at the time of acceleration/deceleration is controlled so as to be held constant. This makes it possible to control movement at a predetermined velocity without changing the trajectory of the movable element at a corner portion.

Abstract: A thread cutting machine is provided with a control system in which, according to one aspect, the rotation of the spindle is controlled in the synchronous manner following up the feed amount of the spindle head and the rotation instruction is computed in accordance with the feed deviation, In another aspect, the feed of the spindle head is controlled in the synchronous manner following up the rotation of the spindle and the feed instruction is computed in accordance with the rotation deviation. In a further aspect, the rotation instruction is operated in accordance with the feed speed and the feed acceleration. In still a further aspect, the feed instruction is computed in accordance with the rotation speed and the rotation acceleration. In the preferred embodiments disclosed herein, the synchronism between the rotation of the spindle and the feed of the spindle head can be remarkably improved with various control modes, thus achieving the high speed thread cutting working with high accuracy.

Abstract: A control method for an injection motor is capable of preventing the injection motor from overheating. Injection motor current values are sampled at intervals having a predetermined sampling cycle. The value for each interval is squared and the squares are summed up over an injection molding cycle time and multiplied by the predetermined sampling time cycle. A ratio of an amount of heat produced when a continuous rated current flows and that produced when a maximum current flows is also determined. The injection molding cycle time is then subtracted from a value obtained by dividing the above-mentioned multiplied sum by the product of the above-mentioned ratio and the square of the maximum current. A determination is made as to whether the sign of the resultant value is positive or negative. When the sign is positive the motor is in its overheating state, and a quiescent time is provided to lengthen the injection molding cycle time (steps S8-S11).

Abstract: A machine tool has a workpiece which is rotated by a motor. The tool is moved by a tool drive to machine a required surface profile on the workpiece and is also indexed on a carriage. The stepping signals for the workpiece motor are produced by a control system and, for each workpiece step, the control system also produces from a data store, a signal which moves the tool to the required tool position for machining the workpiece profile at the angular position corresponding to the stepped position of the workpiece motor. After each revolution of the workpiece motor, the carriage is indexed. Thus, the control system also controls the rotation of the workpiece and so no feedback of the workpiece position is required. This means that, during the machining cycle, the control system is involved solely with the supply of data from the store and does not conduct any calculation.

Abstract: A robot control apparatus provides shortened operating times for movement of a robot member, such as an arm, hand, or the like, without accelerating the movements so as to unduly stress the robot, by beginning movement of the member in a second direction when motion in a first direction has been decelerated to a predetermined level. The process is repeated, when a third movement is involved, with the third movement being initiated, for example, when the second movement has decelerated to an appropriate level. An inhibit control is provided for inhibiting motion of the robot arm in the event of faulty parts preparation, mislocation of a part, or when an obstruction is present.

Abstract: A numerical controller is provided wherein each time one data block of a numerical control program is transferred from a second buffer register to an active register, another data block successive thereto is transferred from a data storage device to a first buffer register and wherein a plunge infeed between a cylindrical workpiece and a grinding wheel of a grinding machine is effected in accordance with data block being stored in the active register. The numerical controller halts an automatic machining operation in response to a halt command of a data block in the active register. Compensation data is input during the halt of the automatic machining operation whereafter a restart command is input. The numerical controller modified feed command data of the numerical control program stored in the data storage device, based upon the compensation data.

Abstract: In a numerical control feed device, an objective velocity signal is produced from the difference between command pulses from a numerical controller, which indicative of an objective feed amount and an objective feed rate for a slide of a machine tool, and a feedback feed amount from a pulse generator driven by a servomotor. A subtraction circuit calculates a difference signal based on the objective velocity signal and a feedback velocity signal from a tachogenerator also driven by the servomotor and applies the difference signal to a drive amplifier for driving the servomotor. A frequency-voltage converter generates a feedforward velocity signal depending on the frequency of the command pulses. A gain adjustable amplifier amplifies the feedforward velocity signal at the amplifying ratio designated by the numerical controller and outputs the amplified feedforward velocity signal to the subtraction circuit for addition.

Abstract: A stock feed apparatus for feeding strips of stock to or from a stock processing machine to maintain a loop in the stock. The feed means is arranged to feed stock to or from the loop at speed correlative with the amplitude of a control voltage applied to the motor control. The stock loop sensor produces a first digital signal when the loop exceeds a first limit and a second digital signal when the loop exceeds a second limit. A loop control circuit is operative in response to the first digital signal to apply a control voltage of a first preselected amplitude to the motor control to drive the feed apparatus at a first speed until the loop moves away from the first limit and responsive to the second digital signal to apply a control voltage of a second preselected amplitude to drive the feed apparatus at a second speed until the loop moves away from the second limit.

Abstract: In a numerical control device for machine tools, a tool path is determined for a workpiece according to the machining data, and is divided into machining units, and the amount of machining for each machining unit is calculated to set a tool feeding speed data thereby to control the tool feeding speed of the machine tool.

Abstract: There is provided a thread cutting control method in an NC apparatus having a CPU in an arithmetic unit whereby real time clocks which are generated for every constant time are received as an interruption signal and a sampling operation is performed in response to the interruption signal, thereby controlling the feed system of a machine tool having a thread cutting function.

Abstract: An adaptive control apparatus is provided with a load detector for detecting a load which acts on a cutting tool during a machining operation of a workpiece and plural storage areas for one cutting tool which respectively store plural data groups of load values which are sampled during respective model machining operations. In an adaptive control machining operation, a microprocessor selects one of the plural storage areas when receiving tool code data that a numerical controller reads out in accordance with a numerical control program. In the adaptive control machining operation controlled by the numerical controller in accordance with the numerical control program, the microprocessor modulates the feed rate override of the numerical controller so that the feed rate of the cutting tool is varied to make the actual machining load detected during the adaptive control machining operation follow the sampled load values which are successively read out from the selected one of the storage areas.