Abstract: A numerical controller controls a machine tool which carries out machining by moving a workpiece or a tool using a periodic operation cycle for repeatedly executing the same operation. The numerical controller stores command data of each execution period of a superposition cycle superimposed with the periodic operation cycle. Command data sets of the superposition cycle are synthesized every execution cycle in synchronization with execution timing of the periodic operation cycle.

Abstract: The present invention relates to a method and a device for the machining of an object using a tool, in which the tool (2) or the object (18) is guided using a handling apparatus, which has multiple movement axes for the coarse positioning of the tool (2) or object (18), which form a kinematic chain. In the method, an additional actuator (3), which has a higher positioning precision in at least one dimension or axis than the other movement axes, is inserted between a terminal link (1) of the kinematic chain and the tool (2) or object (18). A relative movement of the tool (2) or terminal link (1) of the kinematic chain to the object (18) is detected using at least one sensor (5) and a deviation from a target movement path is compensated for using the additional actuator (3). The method and the associated device allow the use of robots or other handling apparatuses having lower path precision for applications which require a high precision during the guiding of the tool.

Abstract: A method for remotely monitoring a patient. The method includes generating and transmitting input commands to the robot from a remote station. The remote station may include a personal computer that is operated by a doctor. The input commands can move the robot so that a video image and sounds of the patient can be captured by a robot camera and microphone, respectively, and transmitted back to the remote station. The robot may also have a monitor and a speaker to allow for two-way videoconferencing between the patient and a doctor at the remote station. The robot can move from room to room so that a doctor can make “patient rounds” within a medical facility. The system thus allows a doctor visit patients from a remote location, thereby improving the frequency of visits and the quality of medical care.

Abstract: The invention relates to a process for the control of the position of workpiece and tool with a robot in a production machine. The objective of the invention is to reduce non-productive secondary processing time during the processing or measuring of a workpiece with a robot. The invention consists of a process for the control of the position of workpiece and tool with a robot in a production machine in which the workpiece (10) is positioned relative to the tool (1), (2) and during a continuous movement of the workpiece (10) with a tool (1), (2) at the processing location of the workpiece (10) a process takes place, and the tool (1), (2) is moving during the process synchronously to and in the same direction like the workpiece (10) and during the continuous movement of the workpiece (10) the tool (1), (2) is moved to and positioned in another processing location.

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

Abstract: Position droops produced in main and auxiliary servo motors when main and auxiliary spindles are coupled to each other through a workpiece are obtained by adders, respectively, a difference between those position droops is obtained by a comparator before coupling, a divider divides the position droop difference by the speed of the auxiliary servo motor at the time of detecting the position droop to obtain a position droop difference per a unit speed. Then, after both the spindles are coupled to each other, a multiplier multiplies the position droop difference by the present speed of the auxiliary servo motor, and the adder adds that value to the position command to the auxiliary servo motor. With the above structure, even if coupling is made through the workpiece and synchronization drive is made, an excessive torque can be prevented from occurring, an influence of a change of the change gear ratio with a time is eliminated and a displacement occurring at the time of coupling is corrected.

Abstract: A single shaft type table feed device comprises a movable body and an auxiliary movable body 34. The movable body is supported by a guide rail 31 and can be freely moved by a feed screw shaft 35 in the axial direction thereof. The auxiliary movable body 34 includes an inside diameter portion through which the feed screw shaft 35 can be inserted. The auxiliary movable body 34 is supported by the guide rail 31 and freely movable in the axial direction thereof. The inside diameter portion 38a of the auxiliary movable body 34 is slidingly contacted with the feed screw shaft 35.

Abstract: Disclosed is a method in a disk drive that allows the functionality of a single high-resolution DAC to be replicated with a pair of lower-resolution DACs that are operated in a unique manner that provides monotonic behavior and reduces both differential and integral non-linearity. The two lower-resolution DACs take up substantially less space that one higher-resolution DAC when implemented in a semiconductor die. The method combines coarse values from one DAC with fine values from the other DAC to form a combined analog output signal within operational segments that collectively span a range of N-bit demands. The method operates such the operational segments overlap one another by 50 percent, with an endpoint of each operational segment ending near a center of an overlapped operational segment.

Abstract: A single shaft type table feed device comprises a movable body and an auxiliary movable body 34. The movable body is supported by a guide rail 31 and can be freely moved by a feed screw shaft 35 in the axial direction thereof. The auxiliary movable body 34 includes an inside diameter portion through which the feed screw shaft 35 can be inserted. The auxiliary movable body 34 is supported by the guide rail 31 and freely movable in the axial direction thereof. The inside diameter portion 38a of the auxiliary movable body 34 is slidingly contacted with the feed screw shaft 35.

Abstract: A screw shaft feed mechanism includes a screw shaft (25) rotatably supported by a frame (19) and extending in a shaft feed direction of a work table (shaft fed base) (1); a nut member (39) rotatably supported by the work table (1) and engaged with the screw shaft (25); a screw shaft drive motor (29) for rotating the screw shaft (25); and a nut drive motor (57) for rotating the nut member (39), wherein both screw shaft driving means and nut driving means are provided with a motor having a device detecting a rotational angle of a motor shaft, respectively.

Abstract: A method and circuit for implementing a frequency lock loop circuit in a disk drive is disclosed. The circuit includes the motor control elements of a direct current motor plus a coarse counter, a fine counter, and a digital to analog converter. The coarse counter is used to count down from a programmed coarse count. The fine counter begins to count down from a fine count when the coarse counter reaches zero. The count in the fine counter, when a zero crossing occurs, represents the difference between the expected period and the actual period and is loaded into a digital to analog converter which converts the difference to an analog voltage which is used by the coil drive circuit to either speed up or slow down the motor. The digital to analog conversion may be realized by a charge pump circuit.

Abstract: An encoder for indicating a position of a movable member and for generating at least two signals which are offset in phase from one another in accordance with movement of the movable member. The encoder includes a position detector and a presettable counter. The position detector generates a position reference signal indicating at least one reference position during movement of the movable member, and the presettable counter is preset for an absolute position of the encoder during movement of the movable member when the position reference signal is generated. The encoder can be constructed in a small size enabling use in servo systems and in industrial robots.

Abstract: An numerical control (NC) device capable of machining a workpiece with high accuracy by accurately commanding a feed speed of a tool, even if a sudden change occurs in an actual speed of a spindle motor. If a rotational speed of a spindle changes, a change amount calculation/storage device calculates and stores a change amount on the basis of the rotational speed already detected. A rotational speed detected by a rotational speed detection device is corrected thereafter according to the change amount, and a proper feed speed is commanded from a feed speed control device. If thread cutting is carried out by employing the NC device, the tool feed speed is commanded in proportion to the actual speed of the spindle motor, and therefore, even though the rotational speed of the spindle motor is lowered at the moment the workpiece is started to be subjected to thread cutting by the tool, a move command signal with a proper tool feed speed is outputted.

Abstract: A spindle rotation control method is provided capable of driving two spindles of a machine at the same speed with the same rotational phase. In response to a synchronizing control command from a numerical control apparatus, speed control is performed based on first and second speed commands calculated by using equations represented as a function of a synchronous speed command and parameters determined by the arrangement of a spindle rotational control system. When rotational speeds of the spindles reach the synchronous (same) rotational speed, first and second position deviation quantities corresponding to the synchronous rotational speed are calculated by using an equation represented as a function of a position control gain, and speed commands are converted into first and second moving commands, so as to perform position control loop processing based on the moving commands and the first and second spindle rotational quantities, and speed control based on a position control loop output.

Abstract: A servo circuit having a speed detection circuit for detecting a real speed from a position signal from an object under servo control; a speed error detection circuit for generating a speed error signal between a target speed and the real speed; a position error detection circuit for generating a position error signal from the position signal; a switching unit for switching connection of the servo object to the speed error detection circuit or the position error detection circuit and supplying a control current to the servo object; a control current detection circuit for detecting said control current and generating a current sensing signal; and a main processing unit for controlling the switching of the switching unit and controlling the operation of the overall servo circuit, near the target seek position, wherein provision is made of: (a) a gain setting signal preparing unit which prepares gain setting signals which set detection gains; (b) said main processing unit which supplies a target speed gain setti

Abstract: An absolute position detecting system for a servocontrol system which has its operation controlled in accordance with a numerical control program. Resolvers 202 and absolute encoders 110 made rotatable with a servomotor 105, are set at a predetermined revolving ratio so that the absolute positions of operating axes may be detected highly accurately from the revolution outputs of the two. The detecting operations can be performed for the plural operating axes by using one detecting circuit commonly.

Abstract: A control for a profiling machining tool, and a method for controlling such a tool. The machine tool includes a sensing head which moves along a template or pattern to produce a signal that causes motors relatively to shift a cutting tool and a workpiece so as to duplicate in the workpiece the profile of the template or pattern. Two sinusoidal signals are generated as a consequence of stylus deflection along orthogonal axes. They are combined to form a single sinusoidal signal which is then variously processed to produce an error signal which causes the motors to operate in directions which tend to reduce the error signal, and to cause the stylus automatically to move along the profile while doing so.

Abstract: A system for measuring the displacement of a workpiece from a reference coordinate system. Position information with respect to the various axes of the coordinate system is acquired by rotary resolver assemblies that measure the angular position of rotatable elements. Each resolver assembly includes a coarse and a fine resolver. Signals representative of the SIN and COS of the angles of the coarse and fine resolvers for each rotor assembly (or referred to as a channel) are applied to a multiplexer. The multiplexer sequentially selects the appropriate channel and the signals are then converted into angular information for each channel. An accurate count of the number of revolutions of the rotatable elements is then obtained. Offset error correction may be provided for each channel. The number of counted revolutions, corrected for offset error, may be multiplied by a scaler for conversion into a linear displacement.

Abstract: The linear signal output range of a rotary transformer type device, such as a sine/cosine synchro, is considerably extended beyond its normal 45.degree. linear range by electronic circuit means. Specifically, the electronic circuit means utilizes the sine signal, which is generally linear from 0.degree. to 45.degree., as a portion of the output signal and utilizes a resultant signal computed from the cosine signal, which is linear from 45.degree. to approximately 135.degree. for the remaining portion of the output signal.

Abstract: An absolute positioning servo for positioning a shaft in response to a digital command input which utilizes a resolver, for providing an analog position indication of the shaft, an analog to digital converter, which provides a digital indication of the shaft position, a comparator for comparing the digital command input signal with the digital indication signal and providing a differential digital error signal which is converted to an analog signal and fed back to position the shaft so that the differential digital error is 0. An analog fine control positioning means is provided which positions and maintains the shaft near the center point of the position represented by the digital command input signal when the digital differential error is 0. A signal representing the difference between the exact analog position of the shaft and the digital approximate position of the shaft is provided at the output of the translator.