Abstract: This invention unifies a set of statistical signal processing, neuromorphic systems, and microelectronic implementation techniques for blind separation and recovery of mixed signals. A set of architectures, frameworks, algorithms, and devices for separating, discriminating, and recovering original signal sources by processing a set of received mixtures and functions of said signals are described. The adaptation inherent in the referenced architectures, frameworks, algorithms, and devices is based on processing of the received, measured, recorded or otherwise stored signals or functions thereof. There are multiple criteria that can be used alone or in conjunction with other criteria for achieving the separation and recovery of the original signal content from the signal mixtures. The composition adopts both discrete-time and continuous-time formulations with a view towards implementations in the digital as well as the analog domains of microelectronic circuits.

Abstract: A machining simulation is performed on a graphic data basis prior to machining. Machining simulation means (17) simulates a forced-vibration frequency and/or a load variation frequency occurring due to interrupted cutting on the basis of machining information, and numerical control command generating means (18) generates a numerical control command on the basis of the frequencies obtained from the machining simulation means (17). A spindle rotation speed can be reflected on the actual machining and the generation of a machining program under conditions optimum for the actual machining. Therefore, the interrupted-cutting forced-vibration frequency and/or load variation frequency, or harmonic frequencies thereof which are integral multiples thereof are prevented from being close to the natural frequency of a machine, a tool, a jig or a workpiece. Thus, chattering due to resonance can be prevented, thereby improving a surface accuracy.

Abstract: A machining control system maintaining optimum machining states and enhancing efficiency and reliability even when an actual machining environment fluctuates. The machining control system includes a machining information determination portion for determining initial machining conditions on the basis of information stored in a machining data base and in accordance with adaptive control characteristics defined by adaptive control modes and adaptive control parameters, and an adaptive control portion for controlling machining by changing the machining conditions in accordance with the machining states observed during machining with the initial machining conditions as an initial value of the machining conditions.

Abstract: A method of guiding a tool for machining a work piece of a material block, the material-removing work portion of the tool being guided to move along a first guide path while a further point on the axis of the tool, which is located at a distance from the work portion, is guided along a prescribed second guide path, whereby the five kinematic coordinates of the movement of the tool are fully determined.

Abstract: The basic available command library of the run-time system (RTS1-RTS4) of a universal motion control (combined SPS/NC control) can be expanded dynamically and according to the user's specific requirements by loading technology packets TP (with corresponding technology object types TO). Thus, a dynamic scaling of a universal motion control UMC is possible.

Abstract: A circuit configuration for monitoring machine parameters of a numerical controller for a machine tool where the circuit configuration includes a first processor calculating a first checksum and a third checksum, a first memory assigned to the first processor and has a bidirectional connection with the first processor, wherein the first memory stores machine parameters, a second processor calculating a second checksum and a fourth checksum, a second memory that has a bidirectional connection with the first processor and the second processor and a comparator connected to the first and second memories and the first and second processors, the comparator comparing the first and third checksums with one another and the second and fourth checksums with one another.

Abstract: The invention includes an adaptive control system used to control a plant. The adaptive control system includes a hedge unit that receives at least one control signal and a plant state signal. The hedge unit generates a hedge signal based on the control signal, the plant state signal, and a hedge model including a first model having one or more characteristics to which the adaptive control system is not to adapt, and a second model not having the characteristic(s) to which the adaptive control system is not to adapt. The hedge signal is used in the adaptive control system to remove the effect of the characteristic from a signal supplied to an adaptation law unit of the adaptive control system so that the adaptive control system does not adapt to the characteristic in controlling the plant.

Abstract: A method, apparatus and program storage device for analyzing and optimizing equipment efficiency are disclosed. In an illustrative embodiment equipment running time is subdivided into a valuable operating time component and a plurality of performance loss time components. Ideal equipment reference information reflecting dynamic manufacturing parameters is simulated, and an operational performance loss is analyzed in detail. From the analysis of the operational performance loss, priority in input of resources is determined. Advantageously, parameters of a dynamically changing manufacturing environment are incorporated in the analysis and optimization of general equipment efficiency. Moreover, performance loss is more accurately analyzed compared to conventional methods. As such, the performance operating rate is more effectively utilized in reducing performance loss.

Abstract: A computer-implemented method for identifying a best tool from a plurality of tools that perform a same operation in a semiconductor fabrication line that includes the steps of determining a first median yield for each of the plurality of tools within a first time interval, weighting the first median yield based on a total number of wafers processed by each of the plurality of tools within the first time interval, determining a second median yield for the semiconductor fabrication line over the first time interval, obtaining a weighted yield difference for each of the plurality of tools relative to the second median yield, and outputting the weighted yield difference for each of the plurality of tools.

Abstract: An error detection apparatus and method for use with engravers, such as gravure engravers. An error value E corresponding to the difference between a set of predetermined setup parameters and actual measurement of a portion of an engraved area on the cylinder is determined. The error value E is then used to adjust the engraver to engrave an actual cut or etch in accordance with the set of predetermined setup parameters. Advantageously, an error detection and correction system is suitable for providing a closed-loop system for engraving a cylinder. The apparatus and method may be used during initial setup or during normal operation of the engraver. Other features include an autofocus routine to facilitate the auto-focus procedure. Also, image processing is further enhanced by gap filling, discontinuity removal, and light calibration methods which may be used alone, in combination with each other, or in combination with the automatic focus system and/or automatic shoe system.

Abstract: A system and a process are described for performing the Static Error Compensation on numerically controlled machine tools. The process comprises the steps of: connecting a measuring laser device (5) to a numerically controlled machine tool (1); automatically sending a point 0 of the machine (1) to the laser device (5); sending commands for taking m measure points of the machine (1) from the control (3) to the laser device (5); automatically detecting the measure points and sending consolidated data from the laser device (5) to the control (3); producing a model of static errors of the machine (1); executing the Static Error Compensation depending on said produced model.

Abstract: The present invention provides a numerically controlled machine tool and a program transforming method therefor where a NC program is transformed into an optimum program even by a non-expert programmer. Particularly, the present invention provides a method for optimizing a NC program for operating a numerically controlled machine tool, comprising: making the NC program to be loaded into the numerically controlled machine tool; designating a portion of the NC program to be determined whether it is transformable and/or a portion of the NC program to be determined whether a command position is changeable; storing the NC program in a memory; determining whether the designated portion is transformable and/or whether the designated command position is changeable; and transforming the designated portion and/or changing the designated command position, and making an operating program file for the numerically controlled machine tool.

Abstract: An improved laser cutting apparatus is provided that optimizes the amount of time required to perform all of the required cuts in a piece of sheet material. The optimization minimizes the amount of rapid-travel movement of the laser head, and virtually eliminates all head-up/head-down movements of the laser head. In one embodiment, the present invention performs a method that accepts NC code that has already been created by a conventional software product produced by a CAD/CAM vendor, and analyzes that NC code to create an optimized part program. The NC code is broken down and analyzed as a series of individual shapes to be cut by the laser head. Once the required shapes are known, a “sweep” is made to determine how many cut-outs are in each “band” being analyzed across the surface of the sheet material to be cut.

Abstract: A machining program is read in and interpreted and a determination is made as to whether the amount of movement called for by a block of commands is larger or smaller than a minimum amount of movement that is established by a feed speed and a one sampling period of a numerical control apparatus. If the amount of movement called for is greater than the minimum amount of movement, feed control is performed in accordance with the current block. If the amount of movement called for by the current block of commands is smaller than the minimum movement amount, an immediate subsequent block of commands is concatenated with the current block, and this concatenation of command blocks is continued until a synthesized block calling for an amount of movement greater than the minimum amount of movement is obtained, this synthesized block then being used to perform feed control.

Abstract: A numerically controlled system includes a tool path sample point setting unit for forming evaluation data by arranging, virtually, a tool on a given scheduled path locus to come precisely into contact with a processed surface of a processing object and by setting tool path sample points to evaluate a shape of the processed surface, a discontinuity portion extracting unit for extracting a discontinuity portion based on the evaluation data, and a tool position data forming unit including a command speed deciding portion for deciding a command speed at which the tool is moved based on the evaluation data and a tool position deciding portion for deciding the tool position based on the command speed and the shape of the worked surface such that the tool comes into contact with the worked surface, wherein setting of the tool path sample points, extraction of the discontinuity portion, and decision of the tool position are carried out in real time.

Abstract: A maximum undeformed chip thickness, a cutting arc length or an engage angle, and an active angle for each tooth of the end mill are calculated when a ball end mill is used in machining, or the maximum undeformed chip thickness, the cutting arc length or the engage angle, and an axial depth of cut for each tooth of the end mill are calculated when a straight end mill is used in machining. Then, the estimated value of the cutting force Fxy or Fxyz in each portion of the tool path is calculated on the basis of a response surface whose explanation variables are composed of the above-mentioned calculated values, whereby the feed rate contained in an equation for the maximum undeformed chip thickness tm is determined to maintain the obtained estimated value of the cutting force Fxy or Fxyz at an appropriate value.

Abstract: SmartPath provides CNC machinists using CNC Controllers a database of cutting methods, which will be automatically applied when the CNC Controller anticipates the upcoming scenario. SmartPath acts as a database collecting information about the machine's stresses and the machine's ability to cut a part. The CNC Controller in real time gathers this information as the machine moves and then automatically adds the information to the database. SmartPath is a form of artificial intelligent learning gathering its knowledge from the feedback of the CNC machine controller as it cuts. The operator can insert and override any of the cutting methods or scenarios.

Abstract: In many manufacturing industries, off-fall or excess raw materials are often wasted as scraps. Even if the excess raw materials are later reused, they are not being used in an optimized way. The present invention discloses a system and method of profiling excess raw materials, assigning an identity to each excess raw material, storing the identity in a database, and using nesting part program techniques to identify an excess raw material best suited for the nested part programs.

Abstract: Method for determining an intermediary profile of a metal strip between an upstream and a downstream roll stand in a mill train having at least two roll stands is described intermediary profile (pout) and the final profile (pout) of the metal strip downstream from the downstream roll stand are determined using an analytical model with parameters. The final profile is determined using a final profile model. At least one parameter is modified so that the difference between the final profile, determined using an analytical model, and the final profile, determined using the final profile model, is reduced.

Abstract: A method for monitoring consumable performance in a processing tool comprises storing a performance model of the processing tool; receiving a consumable item characteristic of a consumable item in the processing tool; determining a predicted processing rate for the processing tool based on the consumable item characteristic and the performance model; determining an actual processing rate of the processing tool; and determining a replacement interval for the consumable item based on at least the actual processing rate. A processing system includes a processing tool and an automatic process controller. The processing tool is adapted to process wafers and includes a consumable item.

Abstract: A library for storing a cartridge of data-storage media includes a removable module and a chassis having a module receptacle. Cartridge storage slots are disposed within the chassis, and a media drive is disposed within the removable module. A cartridge transporter is disposed within the chassis and transports the cartridge between one of the cartridge slots and the media drive when the module is inserted within the module receptacle. A library control circuit is disposed within the chassis and controls the cartridge transporter. An interface circuit is disposed within the removable module and electronically interfaces a host computer to the media drive, and, when the removable module is inserted within the module receptacle of the chassis, electronically interfaces the host computer to the library control circuit.

Abstract: For a number of different operating points in a workspace of a processing machine, the total length changes caused by a weight force are determined and entered together with the corresponding set points in a compensation table. The compensation values are used to compute control variables for set points. Values for intermediate points are interpolated from the values stored in the compensation table. This eliminates positioning errors at both the predetermined operating points and the intermediate points. Advantageously, the changes in the length can be determined from the motor force that counteracts the force acting on the corresponding actuator in a static state, based on an instantaneous nominal current value and/or actual current value of the motor.

Abstract: The basic available command library of the run-time system (RTS1-RTS4) of a universal motion control (combined SPS/NC control) can be expanded dynamically and according to the user's specific requirements by loading technology packets TP (with corresponding technology object types TO). Thus, a dynamic scaling of a universal motion control UMC is possible. Due to a consistent integration and communication platform API, the functionality of extremely prepared technology packets TP can also be integrated into the control.

Abstract: Full-format screened data is processed in a computer-implemented method to identify zones that contain printable information. The zones are packed, imaged and made into flexo plates, and elements cut out from the plates for each zone of printable information. The plates use less flexo material than the full-format screened data. The cut elements are accurately placed on a flexo plate carrier to form a set of plates on a carrier for printing the full format screened data.

Abstract: A method is provided for assisting an operator in setting optimized machine parameters of a machine tool. The machine parameters are used for controlling the machining. The method comprises manual selecting priority values for at least two mutually dependent target values representing the machining performance and automatically determining the machine parameters based on the selected priority values. A corresponding operator support system is also provided.

Abstract: An engraver having an engraving signal generating system for engraving a workpiece. The engraver includes a setup circuit enabling direct dimensional control of the cavities engraved by the engraver. Controls are provided for setting at least one of a plurality of parameters, such as a black cell width. These parameters are fed to the setup circuit which translates them into multiplication factors for an AC signal and a videosignal. The multiplied signals are combined with an offset signal to produce an engraving signal.

Abstract: The invention concerns a method of controlling the machining of a workpiece which moves during the machining operation and on which a plurality of tool units operate simultaneously at different machining locations, in particular for controlling the rotary milling of a rotating workpiece such as for example a crankshaft at a plurality of machining locations (A, B, . . . ) simultaneously by separate tool units (a, b, . . . ), which is characterised in that with knowledge of the optimum motion parameters (nkwa, na, xa, ya, . . . ; nkwb, nb, xb, yb, . . . ) of workpiece (KW) and tool (WZ), which are separate for each machining location (A, B), the speed of motion of the workpiece, in particular the rotary speed (nKWa, nKWb) of the crankshaft (KW) and the speeds of motion (na, xa, ya, . . . ;nb, xb, yb, . . . ) of the tool units (a, b . . . ) are so selected that in the sum (S) of all simultaneously machined machining locations (A, B, . . . ) an optimum machining result is achieved overall.

Abstract: In NC machining in which machining control is performed through An NC program, machining conditions at the time of actual machining are reflected in the NC program. At this time, there are two types of modes comprising an analytic storage mode in which actual machining conditions are reflected in the NC program as they are and an optimization mode in which optimization processing applies to the actual machining conditions and the result is reflected in the NC machining program, and either of them is selected according to conditions.

Abstract: A contour shape of a desired shape of a workpiece at section along a predetermined axis is divided into machining units. Each of the machining units includes a plurality of inflection points including a machining start point and a machining end point. Machining data at least necessary for performing machining is set for each of the machining units. Arrival times at the inflection points are calculated based on the machining data, and a position of at least one of the workpiece and the tool is calculated for each of the inflection points. For each of the machining units, a rotation angle position of the workpiece corresponding to the arrival time is set as an accumulated count value.

Abstract: In a grinding machine a measurement arrangement is provided for the monitoring of the processing of a work piece, especially to make tools. The measuring arrangement uses, preferably, combined transmitted-light and incident-light based techniques so that both the edges and surfaces and depressions on the work piece are detected precisely. The automatic measurements makes it possible to automatically adjust the process parameters for the grinding process so that changes due to temperature drift, mechanical imprecisions of the mechanical system of the grinding machine or wear on the grinding disks are automatically compensated. This makes possible production of relatively large batches within very close tolerances and with high precision.

Abstract: A control apparatus 100 for a machine tool comprises input means 1 for inputting machining profile data 1a on the final profile of a work and workpiece data 1b on the material and profile of the workpiece to be machined, data storage means 3 for storing at least one of machine data representing machine specifications of the machine tool 11 for machining the work and tool data representing the specifications of the tools held in the machine tool, and tool path determining means 5 for generating a tool path for machining the work and determining the conditions for machining the work including the rotational speed of the main spindle and the feed rate of the machine tool 11 based on the data input from said input means and the data stored in said data storage means.

Abstract: A device for the attitude control of a rapidly rotating rotor, especially a spinning rotor, supported in a contactless manner. The device comprises a sensor device for the continuous generation of rotor attitude signals and a control device (6) that processes the rotor attitude signals and continuously outputs a correcting variable to an actuating device that influences the rotor attitude. The control device (6) is set up in such that the rise of the waveform of a resultant signal from which the correcting variable is derived is limited to a maximum amount and, upon the occurrence of higher oscillation frequencies of the rotor attitude signals, the oscillation amplitudes of the resultant signal for the actuating device can at the same time be reduced with a small phase error. The device makes it possible to achieve low energy consumption, an expanded controllability and greater operational safety in a simple manner.

Abstract: The present invention demonstrates an improved CNC Control system, which integrates operator-induced changes into the pre-programmed CNC machining process. The improved CNC Control system develops a Human Activity Storage Program (HASP), which is used for subsequent production in conjunction with and simultaneously with the Numerical Control Program thereby enhancing the production process by integrating the skilled machinist's input into the production process.

Abstract: A method for predicting an amount of distortion experienced by turbine components due to the replacement of an upper turbine portion, such as an upper casing, is disclosed. In an exemplary embodiment, a horizontal plane is defined by reference to support points for the turbine casing or shell. From this plane, the relative elevations of support points for a component being aligned is measured, as are elevations along the turbine lower casing at the same axial location as the component. From these relative elevations, vertical and/or transverse offset values are calculated using a predictive algorithm. These offset values may then be used to adjust the aligned component to compensate for the predicted amount of vertical and/or transverse displacement that occurs when the upper casing(s) is/are replaced.

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

Abstract: The present invention is a control system for conditioning movement of a work implement during a work cycle. In one embodiment, the control system comprises an electronic-hydraulic valve connected to the work implement and a computer system having a central processing unit and a memory device. The control system further comprises a mode control module stored on the memory device. The mode control module is generally adapted to detect whether the control handle of the work implement is signaling for operating in a smooth mode or an abrupt mode, and to output a control signal to the electronic-hydraulic valve to control operation of the work implement during the smooth mode or the abrupt mode. The mode control module comprises a smooth mode module and an abrupt mode module. The smooth mode module and the abrupt mode module are adapted to optimize movement of the work cycle during the smooth mode, and abrupt mode, respectively.

Abstract: A processing method and a processing machine for restraining abrupt increase in a load applied to a tool in entering a workpiece and for avoiding decrease in tool's life span are provided. When an end mill EM is entered into a processing surface of a workpiece W, the end mill EM is first entered obliquely to a processing surface of the workpiece W, and is moved oppositely to the entering direction while keeping the cutting depth. Alternatively, the end mill EM is entered obliquely to the processing surface of the workpiece W and is moved oppositely to the entering direction while gradually increasing the cutting depth of the end mill EM. When the cutting depth reaches a predetermined cutting depth, the end mill EM is moved parallel to the processing surface of the workpiece W.

Abstract: A device and a method for distinguishing and automatically identifying and classifying tools using the device are disclosed. The device has a fixed reading unit attached to a machine tool and a coding system on a rotating tool. The coding system is a series of coding elements which are arranged on the rotating tool in the circumferential direction having a prescribed pitch spacing at different circumferential distances from one another, and which are successively sensed by the reading unit during rotation of the tool.

Abstract: The present invention relates to a method and system for optimizing trim from a sheet product.

Abstract: A control system for executing task instructions, comprising a higher-order module for making an inquiry as to whether or not a task instruction can be executed, and a lower-order module for determining whether or not the task instruction can be executed, in response to the inquiry made by the higher-order module, the higher-order module including a task instruction decomposition section for decomposing the task instruction into a sequence of task instructions executable by the lower-order module, when the task instruction is inexecutable by the lower-order module, and further including a task instruction allocation section for allocating an executable task instruction to the lower-order module.

Abstract: A CNC machine is programmed to redefine the corner tolerance as a function of the corner angle based on a recognition that corners having angles not equal to 90° have effective corner tolerances that are equal to the corner tolerance specified by the operator divided by the sine of the corner angle. An increase in machining speed is achieved, because, at corner angles not equal to 90°, the redefined corner tolerance is larger than the operator-specified corner tolerance and the CNC machine is permitted to machine the corner at an earlier time than conventional CNC machines. The CNC machine is also programmed to provide the operator with an interactive control of the parameters that control the speed and accuracy of machining. With this feature, the operator is able to observe the effects of changing the control parameters on the speed and accuracy of machining, and to customize the control parameters to a particular type of tool or application based on the observations.

Abstract: Every time the cumulative number of revolutions of a spindle rotating motor reaches a cumulative number of revolutions set in a data table, a CPU reads out, from a data memory section, moving positions of a workpiece and tool at the reached cumulative number of revolutions and the next cumulative number of revolutions, and a spindle rotational speed instruction value at the reached cumulative number of revolutions. The CPU sets the reached cumulative number of revolutions as a start point and the next cumulative number of revolutions as an end point, and divides the interval between the start and end points at predetermined timings. The CPU determines moving positions of the workpiece and tool at divided timings on the basis of the readout moving positions of the workpiece and tool. The CPU outputs the spindle rotational speed instruction value as a spindle rotational speed instruction signal to a reference spindle rotational speed setting circuit to control the rotational speed of the spindle rotating motor.

Abstract: There is provided a machining control system which is capable of keeping the optimum machining states and enhancing the efficiency and the reliability even in the case where an actual machining environment fluctuates. A machining control system includes a machining information determination portion (102) for determining initial machining conditions (107) on the basis of information (105) stored in a machining data base (101) and in accordance with adaptive control characteristics (106) defined by adaptive control modes and adaptive control parameters, and an adaptive control portion (103) for controlling the machining in appropriate states by changing the machining conditions in accordance with the machining states observed during the machining with the initial machining conditions (107) as an initial value of the machining conditions.

Abstract: A method of generating a robotic process plan for performing a process on a work structure includes a step of receiving input identifying a template corresponding to a plurality of geometric features of the work structure, each geometric feature associated with one or more robotic process elements. The method further includes a step of receiving input associating work structure data with the identified template. The method also includes a step of generating the robotic process plan based on the associated work structure data and the robotic process elements associate with the template.

Abstract: A numerical control apparatus of a machine tool capable of shortening a machining time while maintaining a machining precision of a workpiece, provided with an analyzer for analyzing a machining program defining machining process of a workpiece by the machine tool to extract information for specifying a feed speed of a cutting tool to the workpiece and cutting/non-cutting information for defining actual cutting by the cutting tool added to a cutting feed command program from the cutting feed command program contained in this machining program, a feed speed optimizer for calculating a permissible feed speed of the cutting tool in accordance with content of the cutting/non-cutting information based on the extracted information and optimizing the feed speed of the cutting tool so as to be within the permissible feed speed, and a distribution unit for calculating control commands to be distributed to the control axes of the machine tool based on the optimized feed speed.

Abstract: A method of simulation of NC machining, wherein machining simulation is carried out according to blank shape data, tool shape data and an NC program to modify the NC program or interpolation data by feedforward control so that optimum cutting conditions can be obtained. The simulation result can be used for correcting the NC program and the interpolation data at the next stage. Further, a record of tools used can be generated on the basis of this simulation result.

Abstract: A method, apparatus and program storage device for analyzing and optimizing equipment efficiency are disclosed. In an illustrative embodiment equipment running time is subdivided into a valuable operating time component and a plurality of performance loss time components. Ideal equipment reference information reflecting dynamic manufacturing parameters is simulated, and an operational performance loss is analyzed in detail. From the analysis of the operational performance loss, priority in input of resources is determined. Advantageously, parameters of a dynamically changing manufacturing environment are incorporated in the analysis and optimization of general equipment efficiency. Moreover, performance loss is more accurately analyzed compared to conventional methods. As such, the performance operating rate is more effectively utilized in reducing performance loss.

Abstract: A thermal change computation apparatus is used with a machine tool that includes a machining mechanism for machining a workpiece and a driving mechanism for changing a relative position between the machining mechanism and the workpiece. The apparatus comprises a driving state detecting unit for detecting a driving state of a machine tool to be used; a holding time computing unit for computing a holding time where a thermal change substantially remains; a change amount computing unit for computing a thermal change amount of the machine tool based on the driving state detected at every designated operation; and a change amount adding unit for computing a present thermal change amount of the machine tool by adding an influence of a thermal change amount computed previously to a thermal change amount computed newly when the previously computed thermal change amount is available and the holding time inherent in the machine tool does not elapse since the change amount computing unit computes.

Abstract: Under the conditions that the tool is movable in an X-axial direction for approaching a work W and in a Y-axial direction perpendicular to the X-axial direction, the tool is moved at a specified speed in the X-axial direction to make the tool approach a work W and at the same time the tool is reciprocally moved at a specified frequency and a specified amplitude to detect a load fluctuation component for the tool in the X-axial direction during movement of the tool, and contact between the tool and the work W is detected according to this load fluctuation component.

Abstract: A library for storing a cartridge of data-storage media includes a chassis and includes cartridge slots, a media drive, a cartridge transporter having a cam mechanism, and transporter and cam drive assemblies all located within the chassis. The cartridge slots each have an outer slot opening that faces outward of the chassis and an inner slot opening that faces inward of the chassis, and each slot allows insertion and removal of the cartridge through both of the respective inner and outer slot openings. The media drive has a cartridge opening that faces the inner slot openings and receives and ejects the cartridge via this opening.