Abstract: This invention relates to a control apparatus for numerical control in a cutting machine having a turret which can be rotated to arbitrary positions, and characterized by including means for obtaining turret axis data (&Dgr;X, &Dgr;Z) from reference offset values (X0, Z0) corresponding to a length from a cutting edge to a turret axis B, turret angle data &agr;, and cutting edge data (m, n), and moving the turret on the basis of these turret axis data (&Dgr;X, &Dgr;Z) to perform a cutting.

Abstract: A robot failure diagnosing system in which sound input by the user is interpreted/recognized by a command recognizing section in order to notify a request for a diagnosis to a self-diagnosis section. For example, the user can input a command which prompts a self-diagnosis operation in the form of a natural communication, such as by saying, “Perform a self-diagnosis operation,” and by asking, “How do you feel, robot?” With respect to this, the robot can indicate the self-diagnosis result in the form of a natural conversation, such as by saying, “I'm not feeling well,” “My leg hurts,” and “I'm hungry.” The robot failure diagnosing system performs a self-diagnosis of a failure or abnormality in a system, and feeds back the diagnosis result to the user.

Abstract: The present invention preferably employs non-contact, small-displacement, capacitive sensors to determine Abbe errors due to the pitch, yaw, or roll of a near linear mechanical stage that are not indicated by an on-axis position indicator, such as a linear scale encoder or laser interferometer. The system is calibrated against a precise reference standard so the corrections depend only on sensing small changes in the sensor readings and not on absolute accuracy of the sensor readings. Although the present invention is preferred for use in split-axis positioning systems with inertially separated stages, the invention can be employed in typical split-axis or stacked stage systems to reduce their manufacturing costs.

Abstract: A method of and apparatus for synchronous control of a leading element and a follower element in which synchronism is started smoothly and a mechanical shock at the start of synchronism is reduced. When the follower element is started to move to be synchronized with the leading element, motion of the follower element is started before the follower element reaches a start position of the synchronism, and brought into synchronism with the leading element at the start position of synchronism. A positional relationship between the leading element and the follower element in synchronism, and a start position for starting the synchronism of the follower element and the leading element is set. An acceleration control of the follower element is performed between a motion start position preceding the start position of the synchronism and the start position of the synchronism.

Abstract: A method for positioning bond pads in a semiconductor die comprises the steps of (I) setting parameters including (a) setting a baseline pad pitch to a first value, (b) setting a first pad position equal to a first pad value and (c) providing a focal point; (II) determining a first angle between a first line through a center of the first pad position and the focal point and a second line through a center of the semiconductor die and normal to the edge; (III) determining a first pad spacing increment value equal to the first value divided by a cosine of the first angle; (IV) setting a second pad position equal to a second pad value, wherein the second pad value at least equals the first pad value plus the first value if both of the first bond pad and the second bond pad are ground pad or power pad with the same potential, else the second pad value at least equals the first pad value plus the first pad spacing increment value; and (V) using the first and second pad values to respectively position a first bond p

Abstract: The invention is a unit for pneumatically controlling the position of a workpiece relative to a predetermined workpiece configuration, comprising an enclosure, a minimum of one measuring nozzle for a gaseous pressure medium, which measuring nozzle is located in a contact surface a workpiece fixture. A pressure supply line is connected to the measuring nozzle via pressure lines. Separate adjoining modular enclosure components are detachably connected to one another and each is fitted with a connection leading to measuring nozzle. A first enclosure end cover can be connected to a pressure supply unit and a second enclosure end cover is located at a distance from the first enclosure end cover. The first enclosure end cover, the modular enclosure components that adjoin the first enclosure end cover, and the second enclosure end cover that adjoins the modular enclosure components form the overall enclosure 68.

Abstract: A device for analyzing NC program is provided with a machining method analyzing means (34) which extracts machining conditions for every machining work element by analyzing an actual NC machining program, and data base creating means (35). The device extracts necessary machining information from the actual NC machining program and allows the data bases (21, 22, 23 and 24) to reflect the information.

Abstract: An improved servo system for galvanometers, scanners and similar devices which uses digital processing to increase the dynamic range and provide greater effective resolution. The system provides digital control of a reference point that directly influences the excitation, which in turn directly influences the gain of the circuit. A high and low resolution switching path is provided to optimize dynamic range. Wide angle torque compensation improves uniformity of response at large angular deflections from zero. Improved thermal protection allows safe operation near system thermal limits. A graphical user interface allows adjustments and changes response on the fly for tuning due to input conditions or user control.

Abstract: A correct track calculating section calculates a correction amount in accordance with a reaction force acting on the working end of a robot. The correction amount is added to a given provisional target position so as to reduce the reaction force. When the reaction force increases excessively, an on-off switch is closed and a selector switch is switched to decelerate and stop the working end of the motor at a virtual position.

Abstract: A technique is provided for utilizing a computer system to generate tool paths for the computed aided machining (CAM) in at least four axis of a selected workpiece or part, particularly a complex part having hidden surfaces. The technique involves storing in the computer system both a surface point representation of a workpiece, which representation contains a unique code for each surface point, and a representation of the tool for which the paths are to be generated. The workpiece surface is viewed from a discrete number of orientations and a map of surface points visible from each of the orientations is generated. The map is then used to obtain selected most promising access directions for access to voxels in the delta volume to be removed or for access to surface points for a finishing operation. Such most promising access directions may for example be obtained by thinning an access cone for the voxel/point.

Abstract: So as to achieve accurate detection of the bonding tool position in, for instance, a wire bonding apparatus, the positional relationship between a position detection camera and a reference hole formed in, for instance, a clamper is measured by imaging the reference hole by the position detection camera. The position detection camera and a bonding tool are moved by an XY table, and the tip end of the bonding tool is inserted into the reference hole. Then, the bonding tool is moved in the X and Y directions, and the contact of the bonding tool to an edge of the reference hole is detected based upon changes in the waveform of the ultrasonic vibrations applied to the bonding tool, thus measuring the positional relationship between the tool and the reference hole. The offset amount between the position detection camera and the bonding tool is then determined based upon the measured values and the amounts of movement of the bonding tool between the locations for such measured values.

Abstract: A machine tool is controlled through a process incorporating the steps of (1) measuring geometric and thermal errors with accurate instruments, (2) creating a global differential wet model of machine tool position, and (3) using this model to control real time compensation of machine tool operation. A controller modifies encoder-type position feedback signals used by the machine to compensate for geometric and thermal errors in the manner dictated by the global differential wet model.

Abstract: A method of determining position information of a workpiece relative to a robot includes the ability to move the workpiece into a variety of orientations relative to the robot during the touch sensing location procedure. The position information is then used for performing a robot operation including coordinated motion. A coordinated reference frame is defined with respect to a moveable positioner that supports the workpiece. Known kinematic relationships between the positioner and the robot are used to control operation of the robot within the coordinated reference frame throughout the touch sensing location procedure. By moving the workpiece relative to the robot during the touch sensing location procedure, a greater variety of workpieces can be processed and relatively complicated workpiece configurations can be accurately determined. The robot operating parameters are modified according to the determined position information.

Abstract: A pipeline inspection and defect mapping system includes a pig having an inertial measurement unit and a pipeline inspection unit for recording pig location and defect detection events, each record time-stamped by a highly precise onboard clock. The system also includes several magloggers at precisely known locations along the pipeline, each containing a fluxgate magnetometer for detecting the passage of the pig along the pipeline and further containing a highly precise clock synchronized with the clock in the pig. The locations of the various magloggers are known in a north/east/down coordinate system through a differential global positioning satellite process. Finally, a postprocessing off-line computer system receives downloaded maglogger, inertial measurement, and odometer data and through the use of several Kalman filters, derives the location of the detected defects in the north/east/down coordinate frame. Consequently, a task of identifying sites for repair activity is much simplified.

Abstract: A position detector and cable for use in the same can be provided for reducing the space and cost as well as easing maintenance. A scale unit (1) generates an alarm signal (ALAM) for informing of an error when it occurs associated with generating position pulses (PA, PB and PZ). A signal cable (6) transfers the alarm signal (ALAM) to a connector (7). The connector (7) contains an alarm indicator (31) that lights on in response to the alarm signal (ALAM) output from the scale unit (1) when an irregularity occurs.

Abstract: The Boiler Automated Welding System (BAWS) is an automatic welding system for repair of worn boiler tubes in cyclone boilers. Repair of these tubes is essential for extending the life of this component used within electrical power plants. The BAWS utilizes: 1) a multiaxis positioner which forms the required cylindrical coordinate motion system, 2) a tube tracking systems for determination of motion paths during welding, 3) a two axis gimbaled welding torch holder for orientation of the welds relative to the motion path, 4) an integrated welding system and 5) a computer controller which coordinates these devices in a logical method. The BAWS multiaxis positioner allows for orientation of the system within the cyclone boiler to take advantage of the symmetry of the tube layout (cylindrical coordinates). The positioner allows each individual tube to be scanned and a weld path determined using a laser scanning device.

Abstract: A software logic controller using flowchart programming includes exception handling elements for handling exception conditions in a manufacturing process. Exception handling is programmed using a Begin Exception element to start monitoring the occurrence of a specific exception condition and an End Exception element to stop the monitoring process. Monitoring is conducted once during every scan cycle of the computer as long as the Begin Exception element is still active.

Abstract: A robot programming system is provided comprising a simulated work cell configuration, a tool position and orientation sensor assembly, and a programing computer. The simulated work cell configuration includes a tangible artificial tool and a tangible artificial workpiece, wherein the position and orientation of the artificial tool relative to the workpiece is variable. The sensor assembly is operative to sense the position and the orientation of the artificial tool. The programming computer is in communication with the sensor assembly and is programmed to (i) display a variable virtual robot configuration based upon the sensed position and orientation of the artificial tool, (ii) receive discrete artificial tool positions and orientations from the sensor assembly, and (iii) create a robot job data file including the discrete artificial tool positions and orientations.

Abstract: A gauging system is disclosed. The gauging system is adapted to determine the dimensions of an elongate workpiece. A movement assembly is provided for effecting relative longitudinal movement between the gauging device and the elongate workpiece so that the gauging device can repeatedly detect the diameter of the workpiece relative to reference positions along the length of the workpiece. This enables the profile of the workpiece to be accurately determined. The gauging device may comprise a laser gauge, or other non-contact gauge. Alternatively, the gauging device may comprise a contact gauge.

Abstract: A process for machining mechanical parts, including the milling of parts having a complex shape, includes the steps of determining the volume of the part to be machined, defining a corresponding machining grid, plotting the machining grid defined for the volume of the part to be machined, programming the plotted machining grid, and machining the part, grid line by grid line, according to the established programming. The process is implemented with an apparatus including a machining head coupled with a tool support. The tool support for the machining head (e.g., a cutting tool head) is positioned to face a predetermined point of the grid line to be machined, and immobilized. The machining head is mobilized to machine the desired grid line, with the tool support remaining fixed.

Abstract: An automatic programming apparatus comprises a machining unit preparing section for preparing plural machining units, a machining unit defining section for selecting a designated machining unit from the prepared machining units and designating the arrangement and size of the machining area of the selected machining unit, and an machined material creating section for creating a shape with the machining area shape removed from the material shape. The automatic programming apparatus and method for an NC machine which can easily create a machining program in complicated machining and also create a correct program quickly in complicated machining by trial and error.

Abstract: A method and apparatus is presented for designing an RF modular hybrid circuit assembly. The apparatus comprises a rule-based control mechanism, a graphical user interface and a library of RF hybrid elements including model front- and back-sides, and input/output instances. The method comprises the steps of initializing standardized front- and back-plane models, adding input/output instances along the perimeter of the back-plane, designing the hybrid circuit on the front-plane and combining the two planes to arrive at an RF modular hybrid layout design. A data library of RF hybrid elements is provided to facilitate rapid prototyping. The final design is then sent concurrently to a photo-plotter and a laser subsystem for printing the thick-film and cutting the PTHs respectively.