Abstract: Sheet-like product and method for authenticating a security tag including a section of the sheet-like product. The sheet-like product includes at least one security feature having optical properties that change with the viewing angle and, and at least one marker, wherein each marker is uniquely attributable to a position on the sheet-like product. The position of the at least one security feature on the sheet-like product is predetermined relative to the position of the at least one marker on the sheet-like product.

Abstract: A motion target direction angle obtaining method and a robot using the same. The method includes: creating an absolute coordinate system, and obtaining an absolute position coordinate of at least one point after the first point in the absolute coordinate system; creating a relative coordinate system with the first point as an origin, and obtaining a relative position coordinate corresponding to the at least one point In the relative coordinate system; calculating matrix parameters of a transformation matrix based on the absolute position coordinate of the at least one point and the relative position coordinate corresponding to the at least one point; and determining a direction angle of the motion target at the first point based on the matrix parameters. Combines an absolute portioning method and a relative positioning method to calculate the direction angle.

Abstract: A multi-motor system includes motor assemblies, each including a motor, a communication circuit to receive a command transmitted from outside, a control circuit to generate a control signal that rotates the motor with a controlled variable that is designated by the command; and a motor driving circuit that causes a current to flow in the motor based on the control signal. The command includes control data indicating the controlled variable of the motor in fixed data length, the controlled variable being expressed at least with an integer, and position-designating data designating a position of the radix point in the control data. The position-designating data is independently determined for each motor assembly.

Abstract: The numerical controller controls a machine tool and performs rigid tapping on a cutting surface of a workpiece. The numerical controller determines, based on a first allowable synchronization error between a rotation of a spindle and movement of each axis of a workpiece coordinate system and an inclination angle of a cutting surface, a second allowable synchronization error between a spindle and a feed axis and monitors a synchronization error between the spindle and the feed axis based on a second allowable synchronization error that has been determined.

Abstract: Technology for milling selected portions of a workpiece by a cutting tool of a numerical control machine is described. The described technology provides methods and apparatuses for milling areas of a part so that more aggressive machining parameters can be used in the toolpath, thereby resulting in reduced machining time and load. The described technology additionally determines directions of the tool axis vector at points along a toolpath in order to achieve a desired part shape while optionally maintaining high material removal rates.

Abstract: A numerical control apparatus that controls a machine tool including a plurality of linear axes and rotation axes, and controls a relative tool posture with respect to work on a table includes a program reading unit that sequentially reads a tool posture with respect to the work from a machining program, a determining unit that determines whether the read tool posture is within a predetermined tool posture range, a tool-posture control unit that determines control content of the tool posture according to the determination by the determining unit, and an interpolation/acceleration and deceleration processing unit that controls the linear and rotation axes according to the control content of the tool posture. When the read tool posture is within the predetermined range, the tool-posture control unit determines rotation axis angles of the rotation axes such that a change of tool posture from the last tool posture is limited.

Abstract: A numerical control device for controlling a five-axis processing machine includes a tool-direction instruction correction unit, and corrects a tool-direction vector so that a tool direction of a processing program smoothly changes. The tool-direction instruction correction unit refers to a tool-direction correction tolerance set in advance by a tool-direction correction tolerance setting unit.

Abstract: The tool trajectory display device (10) includes: a start point coordinate storing unit (13) that stores a plurality of coordinate positions of a drive shaft as start point coordinate positions; a movement amount determining unit (14) that determines a movement amount of the drive shaft from a first start point coordinate position to a second start point coordinate position; a trajectory calculation unit (15) that calculates a first actual trajectory of a tool tip point of the machine tool from the actual position based on the first start point coordinate position after adding the movement amount and the repetition portion, and that calculates a second actual trajectory of the tool tip point from the actual position based on the second start point coordinate position and the repetition portion; and a display unit (16) that superimposedly displays the first and the second actual trajectories.

Abstract: One embodiment disclosed relates to a method of configuring a traffic-associated path through a switching mesh. A source switch receives a request to associate a type of traffic to a specified path. The source switch is located at the beginning of the path. A path tag is allocated to the path. The path through the mesh is built, and the association between the type of traffic and the allocated path tag is programmed. Other embodiments are also disclosed.

Abstract: A numerical controller of the invention includes a halt block specifying unit that specifies, from among blocks corresponding to unmachined sections of a machining program, a command block in which halting is allowed to occur as a halt block during an automatic operation of a machine tool, a halt position selecting unit that selects, as a position at which the automatic operation is halted, any one of a start point, an intermediate point, and an end point of the halt block, and a halting unit that halts the automatic operation at a position selected by the halt position selecting unit.

Abstract: The present invention provides a tool path forming method in a milling processing system, the method including: (A) a shape offset step; (B) a virtual wall forming step; (C) an interference region forming and shape revising step; (D) a closed shape forming step; (E) a cutting surface forming step; (F) tool path forming steps; (G) an unprocessed region detecting step; and (H) an uncut region tool path forming step.

Abstract: In connection with a machining program used in machining a workpiece by means of a machine tool controlled by a numerical controller, interpolation data, a command position point sequence, and a servo position point sequence for each processing period are determined by simulation by designating speed data for giving a machining speed and precision data for giving a machining precision. A predicted machining time for workpiece machining is determined based on the determined interpolation data, and a predicted machining error for workpiece machining is determined based on the determined command and servo position point sequences. Further, the precision data and the speed data are determined for the shortest predicted machining time within a preset machining error tolerance, based on a plurality of predicted machining times and a plurality of predicted machining errors.

Abstract: A numerical control device for controlling a five-axis processing machine includes a tool-direction instruction correction unit, and corrects a tool-direction vector so that a tool direction of a processing program smoothly changes. The tool-direction instruction correction unit refers to a tool-direction correction tolerance set in advance by a tool-direction correction tolerance setting unit.

Abstract: When a numerical controller executes a tool-center-point control in which a path of a tool center point with respect to a workpiece is instructed, and the workpiece is machined along the instructed path based on a speed instruction, the numerical controller sets the speed instruction so that the speed instruction is a synthesis speed with respect to a synthesis distance of a relative moving distance between the workpiece and a tool center point and a tool-direction changing distance due to a relative change in a tool direction with respect to the workpiece by a rotary axis. The numerical controller interpolates a position of a linear axis and a position of a rotary axis by the tool-center-point control according to the synthesis speed and drives the linear axis and the rotary axis to the position of the linear axis and the position of the rotary axis created by the interpolation.

Abstract: Vibration protection in a compressor system with a variable speed compressor may include operating a variable speed compressor of a compressor system at a first frequency, measuring a vibration of the compressor system at the first frequency, determining whether the vibration exceeds a maximum vibration value, and operating the variable speed compressor at an average frequency equivalent to the first frequency, when the vibration exceeds the maximum vibration value, by identifying an allowed upper frequency and an allowed lower frequency, calculating an upper operating time and a lower operating time, and operating the variable speed compressor at the allowed upper frequency for the upper operating time and the allowed lower frequency for the lower operating time.

Abstract: A work having a non-circular cross-section is machined by relative movement between the work and a tool, as the relative position and angle between the work and tool are changed at least within a plane including the cross-section of the work. In machining along a preset tool path, the difference between the relative angle at a point on the preset tool path which machining is started and that point on the preset tool path at which machining is finished is calculated. Time needed in machining along the preset tool path is equally divided by a preset number at equal time divisions, and positions on the tool path corresponding to equal time divisions are set as tool path points. When the tool moves through each point, the relative angle is continuously changed an angle corresponding to division of the difference of the relative angles by the preset number of equal time divisions.

Abstract: A CPU 41 reads a next block (S1), and then determines whether the read block is a TCP (tool center point) control finish command “G49” or not (S2). If it is determined to be the TCP control finish command “G49”, the TCP control is finished. If it is determined not to be the TCP control finish command “G49”, whether the read block is a coordinate-system transformation command “P1” or not is determined (S3). Next, if it is determined not to be the coordinate-system transformation command “P1”, the TCP control is performed, without transforming the coordinate system, in accordance with a command of the block (S11). Next, the process returns to S1, and then the process after S1 is executed.

Abstract: A motion command is constructed based on an optimized acceleration pulse designed to control the spectral content of the commanded acceleration. By way of judicious design of the pulse shape, the majority of the energy in the command is contained in a narrow baseband and rolls off rapidly in frequencies outside that band. Additionally, the command can be constructed to suppress selected frequency content in one or more attenuation bands outside the baseband. The resulting motion command permits rapid motion control, while avoiding the excitation of unwanted resonant response in the system while remaining tolerant of system uncertainty.

Abstract: In a numerically controlled machine tool which has a linear feed axis and a rotational feed axis and in which a main spindle and a table are movable relative to each other, a position error and an attitude error produced by an operation of a linear feed axis and a rotational feed axis are measured at a plurality of measurement points set within a movable range of the linear feed axis and the rotational feed axis, and the position error and the attitude error thus measured are stored as an error map in correspondence to a position of the linear feed axis and a rotation angle of the rotational feed axis.

Abstract: A numerical controller controls a multi-axis machining machine having three linear axes and three rotation axes that include one rotation axis for tool phase control. The numerical controller interpolates smoothly a tool center point position and a tool posture (tool direction and tool phase direction) on the basis of a tool center point position instruction and a tool posture instruction; works out an interpolated tool center point position and an interpolated tool posture (interpolated tool direction and interpolated tool phase direction), and, on the basis of the interpolated tool center point position and the interpolated tool posture that have been worked out, calculates each position of the three linear axes and three rotation axes of the multi-axis machining machine, such that the respective axes are driven to the calculated position.

Abstract: A scalable architecture is disclosed for delivery of real-time information over a communications network. Embedded into the architecture is a control mechanism that provides for the management and administration of users who are to receive the real-time information. In the preferred embodiment, the information being delivered is high-quality audio. However, it could also be video, graphics, text or any other type of information that can be transmitted over a digital network. Preferably, there are multiple channels of information available simultaneously to be delivered to users, each channel consisting of an independent stream of information. A user chooses to tune in or tune out a particular channel, but does not choose the time at which the channel distributes its information.

Abstract: A predetermined robot path includes a plurality of path points defined by spatial coordinates. Spatial coordinates of the individual path points are converted in accordance with inverse robot kinematics into corresponding axis coordinates, the axis coordinates representing the position of the individual robot axes at respective path points. Axis-related controllers are actuated for individual robot axes in accordance with converted axis coordinates. Axis-related drive motors in individual robot axes are actuated by at least associated axis-related controllers. Path correction values are determined for individual path points on the robot path in accordance with a dynamic robot model, the path correction values taking account of the elasticity, friction, and/or inertia of the robot. Corrected axis coordinates are determined for the individual path points from uncorrected axis coordinates of individual path points and path correction values.

Abstract: A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.

Abstract: A numerical control device that controls a machine in which a main set including an X1 axis, a Z1 axis and a first turret axis and a sub-set including an X2 axis, a Z2 axis and a second turret axis are arranged to be point-symmetric with respect to a C axis, wherein each of the turret axis of the main set and the turret axis of the sub-set are selectively designated as a reference side and a synchronized side and a simultaneous D-cut control mode command for selecting a mode in which both turret axes are simultaneously actuated in synchronization using the output of the turret axis of one of the sets is set; wherein the numerical control device comprises, simultaneous D-cut command processing means, X1/Y1/C axis interpolation processing means, X2/Y2 axis interpolation processing means, and H axis command selecting means.

Abstract: A system is disclosed including a three-dimensional object having a non-conforming region, and a photogrammetry device adapted to scan the three-dimensional object. The system further includes optical reference targets and a controller structured to perform functions of repairing the three-dimensional object. The controller commands the photogrammetry device to scan the three-dimensional object, and calculates a nominal surface location and contour for the three-dimensional object. The controller further commands the photogrammetry device to scan the non-conforming region of the three-dimensional object, and calculates a material removal tool path comprising a path adapted to remove material from the object located beyond the nominal surface location and contour. The controller generates a solid model of the damaged region of the object based on the nominal surface location and contour, and computes a material addition tool path according to the solid model.

Abstract: Presently disclosed is a method and system for processing standard part description programs in real time into the tool position control data appropriate to a CNC machine's standard and high bandwidth mechanisms, respectively. The result is precise tool tip control that tracks the programmed path at all times while maintaining the appropriate feed rates and accelerations for each type of mechanism. In one exemplary embodiment, a hybrid mechanism employing a high bandwidth mechanism mounted on and moved by a standard mechanism is employed. The command vector for the high-bandwidth mechanism is computed by subtracting the tool tip vector filtered to comprise only the tool tip positions and trajectories realizable by the standard mechanism from an ideal tool tip trajectory vector that represents the complete programmed path. These calculations produce a synchronous set of movements for both standard and high bandwidth mechanisms.

Abstract: A method of synchronizing a pickup of a handling device, a computer readable medium and a control device are disclosed. During movement, a pickup of a multi-axis handling device is synchronized with an object to be picked up which is carried along by a conveyor device. Furthermore, the pickup is synchronized with a moving conveyor device in order to put the object down onto the conveyor device. The pickup is synchronized along a computationally-determined polynomial path of at least the 3rd order between a starting point and a destination point.

Abstract: A preceding-check processing sequence is provided separately from a machine-control processing sequence for an actual machine control, to make it possible to perform a collision check at an accurate position from an operation restart time of a machining program even when an operator interrupts an operation in the middle of the machining program or when the operator interrupts the operation as having detected a collision. This preceding-check processing sequence performs a collision possibility check ahead of an actual machine control. In this arrangement, there is provided a control-state synchronizing unit that matches a state of the preceding-check processing sequence with a state of the machine-control processing sequence during a period from when a machine stops until when the machine restarts an operation.

Abstract: An apparatus and a method of synchronizing and interpolating axes of a multi-system are provide. According to the number M of operating systems, the apparatus analyzes a multi-axis process program of N axes to generate M system process programs, wherein, N?M?2. A synchronous code is added to the M system process programs. According to the specifications of the operating systems, a delay time compensation program is added to the M system process programs to ensure the synchronization of the systems therebetween. The characteristics of the controllers and the servos of the operation systems are adjusted to unify the characteristics of the systems. The M system process programs are outputted to the operating systems correspondingly.

Abstract: Disclosed are various systems, methods, and programs embodied in a computer-readable medium for sound analysis. The sound analysis involves transforming a sound print into a frequency domain in a memory to generate a frequency spectrum. A plurality of signatures are identified in the frequency spectrum. Also, a plurality of frequency ranges associated with the signatures are identified in the sound print. The frequencies associated with a physiological profile are cross-referenced with the frequency ranges to determine if the physiological profile is applicable to the sound print.

Abstract: A method for providing independent static and dynamic models in a prediction, control and optimization environment utilizes an independent static model (20) and an independent dynamic model (22). The static model (20) is a rigorous predictive model that is trained over a wide range of data, whereas the dynamic model (22) is trained over a narrow range of data. The gain K of the static model (20) is utilized to scale the gain k of the dynamic model (22). The forced dynamic portion of the model (22) referred to as the bi variables are scaled by the ratio of the gains K and k. Thereafter, the difference between the new value input to the static model (20) and the prior steady-state value is utilized as an input to the dynamic model (22). The predicted dynamic output is then summed with the previous steady-state value to provide a predicted value Y.

Abstract: There is described an efficient and simple method of billing a client for using a computerized numerical control machine. The invoice amount to be billed is based on at least one trajectory of at least one axis during operation, on a volume of a stock removed from a work piece during operation, and on a processing time information related to working on the work piece. One concept of the method therefore is a pay-per-use concept relating the added value created by the computerized numerical control machine to the invoice amount.

Abstract: Lift data in which a lift amount is set based on a lift data rotation angle is read to identify the shape of a non-circular workpiece, and a profile point group that is formed of a plurality of profile points, each of which indicates a tool reciprocation position that corresponds to a spindle rotation angle, is calculated based on the read lift data. Then, the calculated profile point group is divided into a plurality of groups each of which is formed of the profile points that satisfy a group division condition, the two groups that satisfy a group comparison condition are selected, and the profile point that satisfies a specific point deletion condition that is set in advance for the combination of the selected two groups is deleted.

Abstract: A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading device that successively reads a tool orientation command, tool orientation command correcting device that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation device that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting device, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and device that drives respective axis motors such that respective axis positions determined by the interpolation device are reached.

Abstract: When a numerical controller executes a tool-center-point control in which a path of a tool center point with respect to a workpiece is instructed, and the workpiece is machined along the instructed path based on a speed instruction, the numerical controller sets the speed instruction so that the speed instruction is a synthesis speed with respect to a synthesis distance of a relative moving distance between the workpiece and a tool center point and a tool-direction changing distance due to a relative change in a tool direction with respect to the workpiece by a rotary axis. The numerical controller interpolates a position of a linear axis and a position of a rotary axis by the tool-center-point control according to the synthesis speed and drives the linear axis and the rotary axis to the position of the linear axis and the position of the rotary axis created by the interpolation.

Abstract: A numerical controller for controlling a multi-axis machine tool having three linear axes and three rotating axes obtains an interpolated tool direction vector by interpolating a tool direction command and computes multiple solutions for three rotating axes from the vector. The three rotating axis positions are computed by synthesizing these multiple solutions. The three linear axis positions on a machine coordinate system are computed by adding to the interpolated tool center point position the product of the interpolated tool direction vector, or a verified tool direction vector based on the three rotating axis positions determined by the rotating axis position computing means, and a tool length compensation amount. The three rotating axes are moved to the positions computed above and the three linear axes are moved to the positions computed above.

Abstract: A method is provided to coerce a wire type net in an integrated circuit design to become a wreal net in the design, comprising: running a wreal coercion process on a computer system including the acts of, identifying a wire type net that is connected to a wreal net in an integrated circuit design; and converting the identified wire type net to a wreal net.

Abstract: A five-axis control machine tool stores rotation-axis data indicating the inclination or runouts of each of a rotation axis A of a tilting table and a rotation axis C of a rotating table in association with rotation angles determined based on NC data, and calculates a correction rotation angle of each of the rotation angles A and C to correct the erroneous attitude of a tool. Five-axis control is performed based on the NC data by rotating the tilting table and the rotating table about the rotation axes A and C at the correction rotation angles, so that a workpiece is machined while eliminating the erroneous attitude of the tool.

Abstract: In order to improve movement control in an automation system for movement control, profiles for movement control are freely defined via functions. Polynomial interpolations or spline interpolations are used for the defined functions, the interpolations being of a higher degree. The profile for movement control has a command variable and a secondary variable, at least one of which is time-based or position-related.

Abstract: A method and a device for position-dependent compliance compensation in a machine tool is disclosed. The compliance of the machine tool is derived at a position of a tool of the machine tool from machine data stored in memory, a machining force acting on the tool during a machining process at this position is determined, and at least one machining parameter that has an influence on the machining process is derived at this position in dependence on the derived compliance and the machining force so as to counteract a displacement of the tool with respect to a desired position caused by the compliance of the machine tool and the machining force. This optimizes the machining time and/or contour fidelity when machining a workpiece with a machine tool.

Abstract: A first NC apparatus includes a virtual-axis setting unit that sets a predetermined axis coupled to a second NC apparatus as an axis controlled by itself. The second NC apparatus includes an axis-control-right switch processing unit that switches a control right of an axis set by an external-switching-axis setting unit between the first and the second NC apparatuses. When the control right is switched to the first NC apparatus, the first NC apparatus synchronously controls a predetermined axis coupled to the first NC apparatus with a predetermined axis coupled to the second NC apparatus and set by the first virtual-axis setting unit.

Abstract: For controlling a motion sequence of a machine element, with which the control of the motion sequence of the machine element is carried out based on a functional relationship between a master shaft and a slave shaft, the functional relationship IS ascertained with consideration for several conditions of this motion sequence. The functional relationship includes at least one first section, which is defined by an nth-order polynomial, and at least one second section, which is at least partially separated from the first section, and which is defined by an ath-order polynomial. In this case, “a” is less than “n”.

Abstract: A numerical control apparatus includes a machining-program reading unit that reads a command issued from a machining program, a command-path storing unit that stores a pre-compression command path in a pre-compression command path buffer, a compression processing unit that creates new one post-compression command path connecting start points and end points of a continuous plurality of pre-compression command paths, a movement-data creating unit that creates tool movement data necessary for correcting the post-compression command path to a tool movement path and interpolating the tool movement path, and an interpolation processing unit that interpolates the tool movement path and calculates a tool position using both the pre-compression command path stored by the command-path creating unit and the tool movement data of the tool movement path after compression created by the movement-data creating unit.

Abstract: A method for controlling acceleration and deceleration before interpolating is provided. The method includes steps of previewing and analyzing a processing program to estimate a limitation of a processing velocity and distributing a processing velocity according to the limitation. The step of previewing and analyzing a processing program includes sub-steps of providing the processing program including a pathway formed by plural blocks, unitizing the motion vector of each block into the unit vector ( N ^ i = N _ i ? N _ i ? ) , calculating a length (DVi=?{right arrow over (DV)}i?) of a vector difference in the unit vectors between each block and its next block ({right arrow over (DV)}i={circumflex over (N)}i?{circumflex over (N)}i+1), calculating a sum of the length of the vector difference in a distance from a starting block (S=?DVn), and calculating the limitation of the processing velocity for an end of each block (Vlim) according to an inverse ratio of the sum (1/S).

Abstract: A method of calculating recovery commands for numerical controlled system that an upper controller provides position commands to a servo driver to drive a motor. A memory space is provided to store the position commands, and then a position matrix and a transformation matrix are read. Finally, the transformation matrix is multiplied by the position matrix to calculate the coefficients of a position polynomial and a plurality of position interpolations. In addition, a velocity polynomial and an acceleration polynomial can be calculated. Therefore, the position commands are calculated to recovery as a high-order differentiable continuous polynomial to synchronize the servo driver and the upper controller.

Abstract: A numerical controller for controlling a multi-axis machine tool having three linear axes and three rotating axes obtains an interpolated tool direction vector by interpolating a tool direction command and computes multiple solutions for three rotating axes from the vector. The three rotating axis positions are computed by synthesizing these multiple solutions. The three linear axis positions on a machine coordinate system are computed by adding to the interpolated tool center point position the product of the interpolated tool direction vector, or a verified tool direction vector based on the three rotating axis positions determined by the rotating axis position computing means, and a tool length compensation amount. The three rotating axes are moved to the positions computed above and the three linear axes are moved to the positions computed above.

Abstract: A numerical control apparatus with a single block function is provided including a start button (3), an execution amount setting unit (13), and a machining program execution controller (4). Once the amount of execution of the machining program to be executed by a single operation is set in the execution amount setting unit, the machining program execution controller (4) batch executes the blocks included in the set amount of execution upon a single operation, such as a depression, of the start button (3). Additionally, upon detecting a block including a non-cutting command or a command for abruptly changing a machining direction, the machining program execution controller (4) suspends the execution of the machining program as of that block and waits for the start button (3) to be depressed again.

Abstract: A watermark is embossed into a model of a linear or surface shape, especially a non-uniform rational B-splines model. The model has a plurality of splines, the combination of which forms the shape. Control points are assigned to the splines such that a course of the respectively associated spline can be modified and thus be controlled by changing the position of the control points and/or weights of the control points. Nodes which are located in a section of the shape that is formed by the respectively associated spline are allocated to the splines. In order to change the shape (the modified curve runs through point Cmod) when a watermark is embossed into the model, the position of at least one control point is modified, the weight by which a control point affects the shape and thus influences at least one area of the shape is modified, and/or an additional control point is inserted into the model. At least one additional node is inserted into the model (new node at u=1.

Abstract: A CPU 41 reads a next block (S1), and then determines whether the read block is a TCP (tool center point) control finish command “G49” or not (S2). If it is determined to be the TCP control finish command “G49”, the TCP control is finished. If it is determined not to be the TCP control finish command “G49”, whether the read block is a coordinate-system transformation command “P1” or not is determined (S3). Next, if it is determined not to be the coordinate-system transformation command “P1”, the TCP control is performed, without transforming the coordinate system, in accordance with a command of the block (S11). Next, the process returns to S1, and then the process after S1 is executed.

Abstract: A user may utilize a prototyping environment to create a sequence of motion control, machine vision, and/or data acquisition (DAQ) operations, e.g., without needing to write or construct code in any programming language. For example, the environment may provide a graphical user interface (GUI) enabling the user to develop/prototype the sequence at a high level, by selecting from and configuring a sequence of operations using the GUI. The prototyping environment application may then be operable to automatically, i.e., programmatically, generate graphical program code implementing the sequence. For example, the environment may generate a standalone graphical program operable to perform the sequence of operations.