Matsushita Electric Industrial Co., Ltd.

Matsushita Electrical Industrial Co., Ltd.

Hisashi Kinoshita

Hidehiko Karasaki

Kazuhide Isaji

Makoto Kato

Masahiro Ohto

Nin Kake

Tsutomu Yano

Katsuichi Ukita

Takashi Nakatsuka

Yoshihiro Ino

Yoshinori Nishida

Hideaki Nagatoshi

Hideki Yoshitake

A laser processes a circuit board including at least two layers. The two layers are a conductive layer with a plurality of holes and an insulating layer. The conductive layer is disposed on a surface layer of the insulating layer which is to be processed by applying a laser beam to portions of the insulating layer corresponding to the holes of the conductive layer. The circuit board is irradiated with the laser beam, and a reflected laser beam is detected, whereby the laser processing of the insulating layer corresponding to an abnormal hole in the conductive layer is stopped, if the detected value of the reflected laser beam is an abnormal value differing from a desired value. Also, the insulating layer corresponding to the hole is processed when the detected value of the reflected light conforms to the desired value.

Laser processing method and equipment for printed circuit board

This is to present a laser machining method and a laser machining apparatus for drilling holes, capable of achieving conduction securely between adjacent conductive layers, by detecting the machining state of a workpiece adequately, and controlling the machining. For this purpose, the number of laser pulse outputs capable of machining securely is preset. During laser machining, reflected laser beam intensity from the workpiece and incident laser beam intensity are detected, and the machining state of the workpiece is detected. As a result, when judging the workpiece has reached a desired machining state, laser machining is finished if the number of times of laser machining has not reached the set number of laser pulse outputs. If it is judged that the workpiece has not reached the desired machining state, laser machining is finished when reaching the set number of laser pulse outputs. As a result, the laser machining method and laser machining apparatus capable of drilling holes of high quality at high yield and shortening the machining cycle time can be realized.

Laser machining method, laser machining apparatus, and its control method

Laser machining method, laser machining device and control method of laser machining

An acceleration generated when a tool tip of a robot moves straightly or turns a teaching point inward, is suppressed under a predetermined maximum acceleration so that the tool tip moves smoothly. From teaching point data including a moving instruction to specify a trajectory shape on the basis of a teaching point giving a reference based on which a tip portion of the robot moves, a moving speed instruction to specify a moving speed of the tip portion on the trajectory, and an allowable path error to specify a maximum value of an error between the teaching point and the trajectory, a realizable moving speed when the tip portion of the robot moves on the straight line trajectory is obtained, a deceleration rate with respect to the moving speed recorded in the teaching point data is obtained, a realizable moving speed when the tip portion of the robot passes the inside of the teaching point is obtained, a deceleration rate with respect to the moving speed recorded in the teaching point data is calculated, and those values are stored in the teaching point data. When the robot is operated, in accordance with the straight portion deceleration rate and the inward turning portion deceleration rate stored in the teaching point data, the moving speeds of the robot at the straight portion and the inward turning portion are reset.

Apparatus for generating trajectory for industrial robot

An automatic offset adjusting apparatus for current detectors in a digital controller for a servo motor is constructed so that, when errors occur in offset correction values due to a temperature change and the like while the servo motor is in operation, an electrical angle detecting unit detects a ripple of the torque of the servo motor, on the basis of a ripple of a torque command value, and detects a first electrical angle, where the torque command value becomes maximum, and a second electrical angle, where the torque command value becomes minimum, based on an electrical angle signal of the servo motor, a judgement unit judges whether or not offset correction errors have occurred on the basis of a difference between the first and second electrical angles, and, if the judgement unit judges that the offset correction errors have occurred, a correction unit adds adjustment values for the offset correction values corresponding to the first electrical angle to the respective offset correction values to update the offset correction values, whereby the correction of the offset correction values is automatically carried out even while the servo motor is in operation, thereby preventing generation of the ripple of the torque of the servo motor.

Apparatus for automatically adjusting offset correction values for

In a DC motor control system, switching element driving circuits are connected to respective base circuits of four switching elements arranged to form a bridge circuit which has a DC motor connected thereto as an electric load thereon, and an output signal interlocking circuit is provided in each paired driving circuits associated with the corresponding paired switching elements which are connected in series across a DC power source, respectively, thereby preventing simultaneous conduction of each paired switching elements. By virtue of the provision of the output signal interlocking circuits, it is possible to realize a PWM control system for DC motors with a simplified circuit construction and yet to thereby prevent power source short-circuiting trouble with elevated safety and reliability.

Control system for DC motors

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Katano, Japan

Hisashi Kinoshita