Fanuc Corporation

Fujitsu Fanuc Limited

Fanuc Ltc

Kentaro Fujibayashi

Hideaki Kawamura

Takao Sasaki

Tetsuo Hishikawa

Toshiaki Otsuki

Masafumi Sano

Takashi Idei

Masahiko Miyake

Morimasa Sato

Makoto Haga

Yusaku Yamada

Ryoichiro Nozawa

Ryouji Eguchi

Kunihiko Murakami

Tsuyoshi Nagamine

Masahiko Hosokawa

Haruhiko Kozai

Keisuke Tsujikawa

Shouichi Sagara

Takashi Endo

Mitsuo Kurakake

Takashi Sato

Yasushi Onishi

Yosato Hitaka

Mitsuto Miyata

Hideo Ogino

Yorikazu Fukui

Noboru Hirose

Takehiro Yamaguchi

Shuji Ogawa

Hideaki Inoue

Seiji Akashi

Ken Yasuda

Shoichi Sagara

Yasuhiro Saito

Tako Sasaki

Shintaro Kageyama

Yosata Hidaka

Yosato Hidaka

Nozomu Arimoto

Tetsuo Fanuc Manshonharimomi Hishikawa

Masahiko c/o Fanuc Manshonharimomi Hosokawa

Shuji c/o Fanuc Manshonharimomi Ogawa

Tetsuo c/o Fanuc Manshonharimomi Hishikawa

A numerical controller that shortens time required for transferring control of a spindle between control systems. When the spindle control command is included, the command is carried out and information on designation of the spindle, commanded rotational velocity and direction is stored in a case of a velocity control mode, and information on designation of the spindle, commanded rotational position and velocity is stored in a case of a position control mode. When a command to cancel the control of spindle is read, the control of the designated spindle and also the stored information on the control status of the spindle are transferred to the other control system. A command to acquire the control of the spindle is read in a machining program for the other control system, the control of the designated spindle is started by the other control system according to the transferred control status of the spindle.

Numerical controller

A numerical controller with a program resuming function of acquiring program-resuming block data with which a machining program is resumed without producing a scratch on a workpiece. It is determined whether there are registered non-cutting commands. Whether all the registered non-cutting commands are analyzed is determined. Data of registered non-cutting command is read, and whether a block currently being analyzed includes a non-cutting command is determined. It is determined whether or not the registered non-cutting command is one in accordance with which data is acquired at a block start point. Program-resuming block data is acquired at the block start point or at a block end point, the acquired data is stored into a memory, and a process is completed.

Numerical controller with program resuming function

A synchronous controller capable of gently changing a synchronous multiplying factor and setting the gentleness of changing of the synchronous multiplying factor without shocking a machine. A block for gently changing the synchronous multiplying factor is added between blocks before and after the changing of the synchronous multiplying factor. Synchronous multiplying factors a and b before and after changing of the synchronous multiplying factor designated in the added block, a motion amount p of master axis, a motion amount of a slave axis, and a residual motion amount v of the master axis after the completion of changing the synchronous multiplying factor (or a preliminary motion amount u of the master axis from the start of motion of the block concerned to a position for the start of changing of the synchronous multiplying factor) are read out. A gradient of changing the synchronous multiplying factor and the preliminary motion amount u (or the residual motion amount v) are obtained based on these data. The slave axis is controlled based on the motion amounts u and v and the gradient of changing the synchronous multiplying factor. The synchronous multiplying factor is changed so gently that the machine cannot be shocked. The synchronous multiplying factor gradient can be settled depending on the designated data p, q and v (or u).

Synchronous controller

A numerical controller is capable of foreseeing the occurrence of interference during operation of a machine and securely preventing the interference. An advanced position calculating section determines advanced time for the next interference check, based on an end time point of an interference check by an interference checking device and the sum of a time required for the interference check, a time required for communication, a time required for decelerating and stopping a movable part, and a predetermined float. If an interference checking device detects interference, the interference checking device delivers an axis stop signal the movable part.

A die cushion controller uses position control to position die cushion members for placement of a metal sheet. A pressing process starts and the upper die is lowered. When a position detector detects a position at which the upper die touches the sheet metal, the die cushion controller switches over from position control to pressure control and applies a preset pressure to the sheet metal. When the position detector detects that the upper die has risen to a preset position, the die cushion controller clears the positional deviation accumulated in position control to zero, then moves the die cushion members to preset positions and holds them there.

Die cushion controller

An 'interval' in which the synchronization status between the movable axes subject to synchronous control is monitored, an equation between the movable axes in the 'interval', and an &#x2018;allowable displacement&#x2019; for the positional relationship obtained with this equation and the actual positional relationship are set in advance. The &#x2018;start condition&#x2019; and &#x2018;termination condition&#x2019; for synchronous status verification processing are set with the master position and the like. When the start condition for synchronous status verification processing is satisfied, it is detected whether or not the actual position and the position obtained with the equation are within the range of the allowable displacement based on the position of the movable axes. If not within the range of the allowable displacement, operation set as &#x2018;operation to be executed when the allowable displacement is exceeded&#x2019; is executed.

Synchronous control device

Control programs for machine tools and industrial machines include programs that control axis motion, and programs, that periodically execute machine sequence control. Both the axis motion control programs and the sequence programs are coded in an NC program format. The controller analyzes the sequence programs created in NC program format, converts them into executable form, and executes the executable-form programs periodically from when power to the machine is turned on until the power is shut down.

Controller for machines

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. A position control of the follower element is performed based on position data of the leading element and the set positional relationship after the follower element reaches the start position of the synchronism.

Method of and apparatus for synchronous control

A synchronous controller capable of easily controlling a slave axis in synchronism with a master axis performing a composite motion of a plurality of axes. Motion commands for two axes X, Y constituting the master axis are subject to interpolation/distribution and acceleration/deceleration processing, to determine distribution motion amounts, and the determined amounts of motion of the two axes X, Y constituting the master axis for every interpolation period are combined to determine an amount of motion M of the master axis, from which is determined an amount of motion of the slave axis for every interpolation/distribution period. The determined amounts of motion of the X, Y and slave axes are output to respective servo control means, thus driving the respective axes. In case the master axis is constituted by a means driven by external X and Y axes, amounts of motion of the external X and Y axes for every predetermined period are detected by detectors, and used, instead of the distribution motion amount, to determine an amount of motion M of the master axis from which an amount of motion of the slave axis is determined to drive the slave axis.

A reference variable having a linear relationship with the angular position of a master axis is set, and a correspondence between this reference variable and the displacement of a slave axis is stored in a data table. One execution stage is specified by setting a starting reference variable and an ending reference variable from this data table. A desired sequence is assigned to a plurality of execution stages thus specified. The reference variable corresponding to the angular position of the master axis is determined, slave axis displacement data corresponding to the reference variable is read out, and the slave axis is positioned in accordance with the position of the master axis on the basis of this displacement data.

Synchronization control method and synchronization control device

An acceleration/deceleration method capable of synchronizing two axes in velocity and also in position is disclosed. A follower axis X continues to be accelerated after a velocity Vx of the follower axis X reaches a target velocity Vy of an objective axis Y and the acceleration is changed over to a deceleration to achieve the target velocity Vy. The time for changing over the acceleration to the deceleration is determined so that the motion amount of the position Px of the follower axis X in excess of the motion amount of the position Py of the objective axis Y is equal to the sum of the displaced motion amount in the acceleration motion and an initial positional difference. Thus, the position and velocity of the follower axis X coincide with the position and velocity of the objective axis Y to achieve complete synchronism of the two axes in the case where there is a positional difference and a velocity difference between the two axes.

Acceleration/deceleration method

In a master unit, clock signals from a clock are counted by a counter, and clock data is generated. This clock data is outputted to a slave unit by a driver, and stored in clock data storage memory. The slave unit stores clock data received by a receiver in the clock data storage memory. A processor for a program controller of the master and slave units starts up, and executes the synchronized operation of an operating program of axes that are synchronized on the basis of clock data stored in the clock data storage memory. It is also possible to commence operation of an axis under other conditions without relying on clock data. If override is applied to clock data, override will apply only to an axis that is synchronized and operated in accordance with clock data.

Numerical control system

A numeric array of move command data Qi constituting a reference cam diagram F (.theta.) is stored in advance in a data table of a CMOS memory. Alternatively, a shift position of a cam corresponding to a rotational angle .theta. of the cam is stored in advance so that move command data can be generated by obtaining the shift position of the cam from the rotational angle of the cam based on the rotational angle value. In response to the input of a shift Ka in the lift direction, shift Kb in the pitch-circle direction, maximum lift Kc, and data number n as a criterion for extension or compression in the pitch-circle direction, the move command data can be corrected by automatic processing by means of a motion controller. Thus, final move command data Pk can be generated and outputted as position commands.

Motion controller

CNC acceleration-deceleration control apparatus and method

A single control unit in a multi-path synchronization system for a CNC controller simultaneously controls a plurality of paths. A program storage unit stores NC programs corresponding to respective paths. Those NC programs contains synchronization command codes which specify conditions of multi-path synchronization. A decoding unit decodes the NC programs for respective paths. Axis control unit controls the axes of a machine containing the paths by executing the decoded NC programs a in parallel. While executing the NC programs, synchronization control unit interlocks the motion of each axis according to the synchronization conditions specified by the synchronization command codes written in the NC programs.

Multi-path synchronization system for CNC controller

Growing community of inventors

Musashino, Japan

Kentaro Fujibayashi