US Pat. No. 9,160,574

SIGNAL ADJUSTING DEVICE COMPRISING TERMINATION RESISTOR UNIT IN WHICH A SIGNAL LINE IS SUBJECTED TO TERMINATION

FANUC CORPORATION, Yaman...

1. A signal adjusting device for adjusting a detection signal which is output from a position detector to be used for a motor
control device, comprising:
a detection signal receiving unit for receiving a detection signal via a signal line; and
a termination resistor unit which is connected to a signal;
a changed value setting unit in which a changed value of a resistance value of the termination resistor unit is set in accordance
with an amplitude value of the detection signal received by the detection signal receiving unit and an amplitude value as
a reference value determined depending on a type of a position detector; and

a resistance value changing unit in which the resistance value is changed by using the changed value.

US Pat. No. 9,166,514

MOTOR CONTROL APPARATUS INCLUDING AT LEAST TWO RESISTANCE DISCHARGE UNITS

FANUC CORPORATION, Yaman...

4. A motor control apparatus comprising:
a rectifier for rectifying AC power supplied from an AC input side to output DC power;
an inverter for performing power interconversion of DC power of the DC link and AC power that is driving power or regenerative
power of a motor, the inverter being connected to the DC link that is a DC output side of the rectifier; and

at least two resistance discharge units each for performing resistance discharge of DC power of the DC link, the resistance
discharge units each being connected to the DC link, in which each resistance discharge unit executes a resistance discharge
operation for performing resistance discharge of DC power of the DC link when predetermined conditions are satisfied,

the resistance discharge units respectively including:
resistance discharge parts for starting or stopping the resistance discharge operation for performing resistance discharge
of DC power of the DC link based on a received command;

voltage detection parts for detecting a DC voltage value in the DC link;
temperature information production parts for producing temperature information indicating a temperature in the resistance
discharge parts each;

discharge operation condition setting parts for setting a first threshold value that is a resistance discharge operation start
level based on the temperature information; and

discharge operation determination parts for commanding the resistance discharge parts to start the resistance discharge operation
when having determined a DC voltage value detected by the voltage detection parts each to be larger than the first threshold
value and for commanding the resistance discharge parts to stop the resistance discharge operation when having determined
the DC voltage value detected by the voltage detection parts each to be smaller than a second threshold value that is smaller
than the first threshold value.

US Pat. No. 9,211,666

INJECTION MOLDING MACHINE CONTAINING TRANSFORMER

FANUC CORPORATION, Yaman...

1. An injection molding machine, comprising:
a machine base;
an injection unit;
a mold clamping unit;
a transformer; and
a transformer base on which the transformer is mounted, wherein
the injection unit and the mold clamping unit are placed on the machine base,
the machine base includes
an upper frame,
a lower frame, and
a plurality of columns supporting the upper frame on the lower frame,
the lower frame includes
a plurality of longitudinal members arranged along a longitudinal direction of the injection molding machine,
a transverse member coupling the longitudinal members together, and
a reinforcement member,
the reinforcement member has screw holes engaged with corresponding screws to fix the transformer base to the reinforcement
member,

one end of the reinforcement member in a width direction protrudes from one end of a column among the plurality of columns
in the width direction, and

the transformer is supported by the reinforcement member and placed in the machine base under the mold clamping unit.

US Pat. No. 9,147,994

GAS LASER SYSTEM CAPABLE OF MAINTAINING LASER GAS STATE DURING POWER SUPPLY CUTOFF

FANUC CORPORATION, Yaman...

1. A gas laser system comprising:
a laser oscillator including a gas flow path for circulating laser gas, and a gas supply and discharge unit configured to
supply laser gas to the gas flow path and discharge the laser gas from the gas flow path;

a power supply unit configured to supply power to the laser oscillator;
a power storage unit configured to store the power supplied from the power supply unit;
a power reduction detection unit configured to detect a power reduction state where a value of the power supplied from the
power supply unit falls below a power value enabling the laser oscillator to normally operate; and

a control unit configured to control the gas supply and discharge unit by using the power stored in the power storage unit
so as to seal the gas flow path, when the power reduction detection unit detects the power reduction state.

US Pat. No. 9,197,052

UMBILICAL MEMBER GUIDE DEVICE AT FRONT END PART OF WRIST OF INDUSTRIAL ROBOT AND INDUSTRIAL ROBOT

FANUC CORPORATION, Yaman...

1. An umbilical member guide device of an industrial robot for guiding an umbilical member up to an end effector attached
to a front end part of an industrial robot, the umbilical member passing through an inside of a shaft member rotating about
an axial line, along the axial line,
the umbilical member guide device comprising an umbilical member guide body interposed between the shaft member and the end
effector,

wherein the umbilical member guide body comprises:
a first plate part having a first mounting surface attached to a flange surface of an end part of the shaft member and a first
through hole opening along the axial line, the umbilical member being passed through the inside of the shaft member and the
first through hole;

a second plate part arranged facing the first plate part, and having a second mounting surface to which the end effector is
attached, at an opposite side to the first plate part; and

a connecting part connecting the first plate part and the second plate part together, and forming an opening part which opens
in a direction perpendicular to the axial line, between the first plate part and the second plate part, and

wherein the second plate part further has a second through hole formed along the axial line and a communicating part formed
as an opening extending generally radially along the second plate part for communicating the opening part and the second through
hole.

US Pat. No. 9,092,027

CONTROL APPARATUS OF MACHINE TOOL INCLUDING FEED SHAFT MOTOR AND MAIN SPINDLE MOTOR

FANUC CORPORATION, Yaman...

1. A control apparatus of a machine tool including a feed shaft motor for driving a feed shaft and a main spindle motor for
driving a main spindle, the control apparatus comprising:
a converter for performing a bi-directional power conversion between an AC voltage of an AC power supply side and a DC voltage
at a DC link being a DC side;

a feed shaft motor inverter for performing a bi-directional power conversion between the DC voltage at the DC link and an
AC voltage of the feed shaft motor side to supply drive power to the feed shaft motor;

a main spindle motor inverter for performing a bi-directional power conversion between the DC voltage at the DC link and an
AC voltage of the main spindle motor side to supply drive power to the main spindle motor;

a power outage detection unit for detecting an occurrence and non-occurrence of a power outage of the AC power supply side
of the converter;

a voltage detection unit for detecting the DC voltage at the DC link; and
a control unit for outputting a feed shaft motor deceleration command for controlling the feed shaft motor inverter to decelerate
the feed shaft motor upon detection of a power outage by the power outage detection unit, wherein, upon detection of the power
outage by the power outage detection unit, the control unit outputs a main spindle motor acceleration command for controlling
the main spindle motor inverter to accelerate the main spindle motor when a DC voltage detected by the voltage detection unit
is greater than a predetermined upper limit value and a main spindle motor deceleration command for controlling the main spindle
motor inverter to decelerate the main spindle motor when the DC voltage detected by the voltage detection unit is less than
a predetermined lower limit value which is lower than the predetermined upper limit value.

US Pat. No. 9,188,966

HOST CONTROLLER GENERATING POSITION CONTROL GAIN

FANUC CORPORATION, Yaman...

1. A host controller outputting a position command value relating to a position of a motor to a motor controller controlling
the motor in order to control the motor controller, the host controller comprising:
a reference value generating unit analyzing data in a program that concerns a first speed command value relating to a speed
of the motor taken when an override value is 1 to generate a reference value that is equal to the first speed command value
or a second speed command value set based on the first speed command value;

a speed command value generating unit obtaining the first speed command value and a set override value and generating, based
on the first speed command value and the set override value, a third speed command value relating to a speed of the motor
when the override value is the set value; and

a position control gain generating unit taking an input of the reference value from the reference value generating unit and
an input of the third speed command value from the speed command value generating unit, obtaining a gain-related value relating
to a gain set in accordance with a driven object driven by the motor, generating, based on a ratio of the third speed command
value to the reference value and the gain-related value, a position control gain used by the motor controller for generating
the third speed command value, and outputting the generated position control gain.

US Pat. No. 9,526,173

ATTACHMENT FOR PREVENTING LIQUID FROM ADHERING TO ELECTRONIC COMPONENT

FANUC Corporation, Minam...

1. An attachment for protecting an electronic component from liquid, the electronic component mounted on an electronic wiring
substrate of an electronic device and enclosed inside a casing with the electronic wiring substrate, the attachment comprising:
an attachment part that is configured to grip over a side edge of the electronic wiring substrate, the electronic wiring substrate
being a planar board with the electronic component mounted thereon, the attachment part located inside the casing, and is
detachably attached to the electronic wiring substrate; and

a shield part located inside the casing, the shield part being connected to or integrally formed with the attachment part,
the shield part being configured to shield the electronic component to be protected from a splash or droplet that is moving
toward the electronic component inside the casing, wherein

the shield part has an inclined surface which guides the splash or the droplet that is moving towards the electronic component
away from the electronic component once the splash or droplet engages with the shield part, so that the splash or the droplet
flows to a portion of the electronic device other than a location where the electronic component is located, and wherein

the attachment part includes two legs that are arranged one on each side of the electronic component and are also located
on a surface of the electronic wiring substrate where the electronic component is mounted.

US Pat. No. 9,150,358

MAGNET CONVEYANCE POSITIONING DEVICE

Fanuc Corporation, Yaman...

1. A magnet conveyance positioning device for positioning and mounting a magnet on an object, comprising:
a conveyance unit; and
an attachment device attached to the conveyance unit to move integrally with the conveyance unit, wherein the attachment device
comprises:

a support unit moveable into an abutting position on the object wherein the support unit supports the conveyance unit from
the object;

a holding unit provided within the support unit and independently movable relative to the support unit to detachably hold
the magnet; and

a driving unit operatively coupled to the holding unit to move the holding unit so that the magnet approaches the object when
the support unit is abutted on the object.

US Pat. No. 9,104,194

PROCESSING INFORMATION ACQUISITION SYSTEM IN PROCESSING MACHINE SUPPLYING PROCESSING POINT WITH ENERGY OR MATERIAL

FANUC Corporation, Minam...

1. A processing information acquisition system in a processing machine which supplies a processing point with energy or material,
the processing information acquisition system comprising:
a processor;
a position information acquisition unit which acquires position information of a feed unit of energy or material,
a feed rate control unit which receives a feed condition command of energy or material, converts said feed condition command
to a control command which controls a feed of energy or material, and uses the converted control command to control a feed
rate of energy or material from said feed unit,

a feed rate estimation unit which acquires said control command from said feed rate control unit and calculates an estimated
feed rate of energy or material which is fed to a processing point based on said control command, and

an output unit which outputs said position information which said position information acquisition unit acquired and said
estimated feed rate which said feed rate estimation unit calculated when said feed unit is located at a position corresponding
to said position information,

where said feed rate estimation unit has related information, found in advance, between said control command and said estimated
feed rate of energy or material and calculates the estimated feed rate from said control command and said related information,
and

where said processing machine is a laser processing machine, said fed energy or material is a laser beam, said related information
is comprised of first related information prescribed in a peak output and a current command value and a second related information
prescribed by a peak output, a pulse frequency, and a duty ratio, and said feed rate estimation unit uses a current command
value and said first related information to estimate a peak output, uses pulse-on time and pulse-off time to estimate pulse
frequency and duty ratio, and uses an estimated peak output, estimated pulse frequency, estimated duty ratio, and said second
related information to estimate an average laser output.

US Pat. No. 9,179,515

DRIVER CIRCUIT FOR LED BACKLIGHT OF LIQUID CRYSTAL DISPLAY DEVICE

FANUC CORPORATION, Yaman...

1. A driver circuit for an LED backlight of a liquid crystal display device, the driver circuit configured to supply a drive
current to the LED backlight, which has an LED, in accordance with a PWM signal used for controlling an amount of the drive
current supplied to the LED backlight, the driver circuit comprising:
a determination unit configured
to receive the PWM signal,
to determine whether or not a duty ratio of the PWM signal exceeds a predetermined value set in advance,
to output a first luminance adjustment signal set in advance when the duty ratio of the PWM signal is below the predetermined
value or when there is no input of the PWM signal, and

to output a second luminance adjustment signal corresponding to the input PWM signal when the duty ratio of the PWM signal
exceeds the predetermined value; and

a drive current output unit configured,
when the determination unit outputs the first luminance adjustment signal,
to receive the first luminance adjustment signal from the determination unit, and
to supply the drive current corresponding to the first luminance adjustment signal to the LED backlight, and
when the determination unit outputs the second luminance adjustment signal,
to receive the second luminance adjustment signal from the determination unit, and
to supply the drive current corresponding to the second luminance adjustment signal to the LED backlight.

US Pat. No. 9,130,343

GAS LASER OSCILLATOR HAVING FUNCTION OF JUDGING START OF DISCHARGE

FANUC CORPORATION, Yaman...

1. A gas laser oscillator comprising:
a discharge tube provided in a gas channel through which a laser gas circulates;
an output command part outputting a power output command value;
a power supply part applying to the discharge tube a discharge tube voltage corresponding to the power output command value
output from the output command part;

a voltage detector detecting the discharge tube voltage; and
a discharge start judging part judging if a discharge has been started in the discharge tube, based on a ratio of change of
the discharge tube voltage detected by the voltage detector relative to the power output command value output from the output
command part,

wherein the output command part increases the power output command value in steps by an increment at a step time interval,
the step time interval being determined at least by:
according to a response time that is required for the power supply part to respond to the power output command value, and
another increment in the power output command value being obtained by:
dividing the power output command value corresponding to a discharge start voltage serving as a predetermined reference by
a number of steps of 2 or more.

US Pat. No. 9,128,839

NUMERICAL CONTROL SYSTEM HAVING REMOVABLE FILTER CIRCUIT

FANUC Corporation, Minam...

1. A numerical control system, comprising:
a plurality of data communication apparatuses; and
a numerical controller that transmits and receives data to and from the data communication apparatuses,
wherein each of the data communication apparatuses includes:
a filter circuit removably attached to a connection unit for connection with the numerical controller or another data communication
apparatus that is connected before the data communication apparatus, and/or a connection unit for connection with another
data communication apparatus that is connected after the data communication apparatus;

a data transfer error detection unit that detects a data transfer error or a sign of the data transfer error as error information;
and

a data transmission unit that transmits the error information detected by the data transfer error detection unit to the numerical
controller, and

the numerical controller includes:
a filter circuit removably attached to the connection unit for connection with the data communication apparatus;
a data transfer error detection unit that detects a data transfer error or a sign of the data transfer error as error information;
an error information storage unit that stores the error information detected by the data transfer error detection unit of
the numerical controller and the error information received from the data communication apparatus, in association with the
numerical controller or the data communication apparatus in which the error information has occurred;

a filter circuit replacement determination unit that specifies a filter circuit, which needs to be replaced, of the filter
circuits provided in the numerical controller and the data communication apparatus from the error information stored in the
error information storage unit;

an output unit that outputs information prompting replacement of a filter circuit specified on the basis of a determination
result of the filter circuit replacement determination unit; and

a filter information storage unit that stores noise immunity levels of a plurality of filter circuits,
wherein the filter circuit replacement determination unit specifies the noise immunity level of a filter circuit, which is
to be replaced, from the error information and the noise immunity levels, and when the output unit outputs the information
prompting the replacement of the filter circuit, information of a filter circuit having noise immunity specified on a basis
of a determination result of the filter circuit replacement determination unit is output.

US Pat. No. 9,120,263

CLAMPING DEVICE OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A clamping device of an injection molding machine in which a rear platen and a fixed platen are coupled by a plurality
of tie bars and corresponding nuts and in which a movable platen is arranged to be guided by the tie bars, the clamping device
comprising:
an adaptor plate which is provided between the fixed platen and a fixed-side mold to be fixed to the fixed platen, and/or
between the movable platen and a movable-side mold to be fixed to the movable platen;

a temperature measuring unit configured to measure a temperature of each of a plurality of divided regions of the adaptor
plate;

a temperature adjusting unit configured to adjust the temperature of each of the plurality of divided regions of the adaptor
plate; and

a control unit configured to cause the temperature adjusting unit to adjust the temperature of each of the plurality of divided
regions of the adaptor plate when a reference value is between a first reference value and a second reference value,

wherein
the first reference value is a value based on which it is determined to perform adjustment by way of temperature control,
and

the second reference value is a value based on which it is determined to perform mechanical adjustment, the mechanical adjustment
comprising adjusting the nuts when the reference value is at or greater than the second reference value.

US Pat. No. 9,092,025

THERMAL DISPLACEMENT COMPENSATING DEVICE FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A thermal displacement compensating device for a machine tool, which comprises a thermal displacement amount calculation
unit configured to calculate a thermal displacement amount which is produced by heat generation or dissipation as the machine
tool is actuated or stopped and changes with time, a thermal displacement compensation amount calculation unit configured
to calculate a thermal displacement compensation amount by multiplying the thermal displacement amount calculated by the thermal
displacement amount calculation unit by a coefficient, and a position command compensation unit configured to compensate a
position command for a feed shaft by adding the thermal displacement compensation amount to the position command,
the thermal displacement compensating device further comprising:
a thermal displacement state identification unit configured to determine a variation between a thermal displacement amount
calculated last time and a current thermal displacement amount for each first predetermined time by means of the thermal displacement
amount calculation unit and identifying a plurality of thermal displacement amount change states based on comparison between
the determined variation and a predetermined threshold; and

a coefficient calculation unit configured to calculate the coefficient based on the thermal displacement amount change state
identified by the thermal displacement state identification unit.

US Pat. No. 9,510,488

MOTOR DRIVE UNIT WITH HEAT SINK DEALING WITH DROP OF CUTTING FLUID

FANUC Corporation, Minam...

1. A motor drive unit comprising:
a housing;
at least one electronic component disposed within the housing;
a heat sink mounted to a mounting surface of the electronic component; and
a fan motor for generating forced convection inside the housing,
wherein the heat sink comprises
a first end intersecting the mounting surface of the electronic component and inclined in a direction relative to a direction
perpendicular to the mounting surface,

a second end adjacent to the first end and opposite the mounting surface, the second end not directly facing the mounting
surface, and

a vertex defined between the first end and the second end of the heat sink, the vertex provided so as to prevent a cutting
fluid dropping from the heat sink from falling onto another electronic component located below the heat sink, and

wherein the convection generated by the fan motor is forced into the heat sink from the inclined first end of the heat sink
toward the fan motor.

US Pat. No. 9,434,070

APPARATUS AND METHOD FOR PICKING UP ARTICLE RANDOMLY PILED USING ROBOT

FANUC CORPORATION, Yaman...

1. An article pickup apparatus comprising:
a robot including a hand capable of holding an article;
a three-dimensional measurement instrument measuring surface positions of a plurality of articles randomly piled on a three-dimensional
space to acquire position information of a plurality of three-dimensional points;

a density calculation unit calculating a density distribution indicating a degree of a distribution of the plurality of three-dimensional
points in the three-dimensional space, based on the position information measured by the three-dimensional measurement instrument;

a local maximum position calculation unit calculating a density local maximum position where a density is locally maximized,
based on the density distribution calculated by the density calculation unit;

a hand position posture calculation unit calculating a hand position posture based on the density local maximum position calculated
by the local maximum position calculation unit, the hand position posture being a position and a posture of the hand capable
of picking up an article at the density local maximum position or in the vicinity of the density local maximum position; and

a robot control unit controlling the robot so as to move the hand to the hand position posture calculated by the hand position
posture calculation unit to pick up the article.

US Pat. No. 9,132,555

ROBOT GRIPPING DEVICE

Fanuc Corporation, Yaman...

1. A robot gripping device which has two or more finger parts and has front ends of the finger parts move toward a center
of grip so as to grip an object, said device comprising:
each said finger part having a finger part body which is comprised of a plate-shaped elastic member, a first anti-slip part
which is provided at an inside surface of a front end side of said finger part body, and a reinforcing member which is arranged
along an outer surface of said finger part body, is connected to the front end said of said finger part body, and is higher
in rigidity than said finger part body,

the finger part body of each said finger part is opposed with each other toward the center of grip,
said reinforcing member having a first rotary joint which makes said reinforcing member pivot about a first axis of rotation
which is vertical to a longitudinal direction of said finger part body and which is parallel with a surface of the finger
part body of each said finger part, and

said robot gripping device having a drive part which makes a base end of said finger part body move along said center of grip
to make said finger part open and close;

wherein if the drive part moves a proximal end of the finger part body of each said finger part in the downward direction
along the center of grip, the finger part body of each said finger part bends outwardly to separate with each other, so that
the finger parts open, and

wherein if the drive part moves the proximal end of the finger part body of each said finger part in the upward direction
along the center of grip, the finger part body of each said finger part bends inwardly, so that the finger parts close.

US Pat. No. 9,217,612

TEMPERATURE MONITOR OF WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A temperature monitor of a wire electric discharge machine that machines a workpiece by supplying a working fluid from
a working fluid treatment equipment to a work tank where the workpiece is placed, comprising:
a working fluid temperature detector that detects a temperature of the working fluid;
a working fluid temperature controller that controls the temperature of the working fluid so that the temperature of the working
fluid is within a predetermined range;

a working fluid temperature comparator that determines whether the detected temperature of the working fluid is within a preset
allowable working fluid temperature range or not;

an alarm display unit that displays an alarm when determined by the working fluid temperature comparator that the temperature
of the working fluid is outside the allowable working fluid temperature range;

a working fluid temperature difference disappearing time measuring unit that measures a time that has elapsed since the detected
temperature of the working fluid falls within the allowable working fluid temperature range from outside the allowable working
fluid temperature range; and

an alarm lifting unit that calls off the alarm when a time measured by the working fluid temperature difference disappearing
time measuring unit exceeds a preset working fluid temperature difference disappearing time.

US Pat. No. 9,212,887

METHOD FOR MEASURING REFERENCE POINT OF INCLINED ROTATING TABLE IN WIRE ELECTRIC DISCHARGE MACHINE AND MEASURING JIG

FANUC CORPORATION, Yaman...

1. A measuring method for obtaining a reference point on a table center of an inclined rotating table in a wire electric discharge
machine using a measuring jig, wherein
an X-axis is a direction of lateral movement on a horizontal plane of the wire electric discharge machine that machines a
workpiece by moving a wire electrode and the workpiece relative to each other while supporting the wire electrode with upper
and lower wire guides,

a Y-axis is a direction of longitudinal movement on the horizontal plane which is perpendicular to the X-axis,
a Z-axis is a direction of vertically upward movement,
a biaxial rotation unit is placed on a table of the wire electric discharge machine, the biaxial rotation unit including
a first rotating table which rotates a work fixing section that fixes the workpiece, and
a second rotating table which rotates about an axis orthogonal to the rotating table and inclines the workpiece with respect
to an X-Y plane, and

the measuring jig includes
a fixed section for being fixed to the work fixing section,
an arm section which is provided to stand on the fixed section, and
a section to be measured which is provided at a distal end of the arm section and has a conductive spherical surface,
the measuring method comprising:
a step of measuring a height from a bottom surface of the fixed section of the measuring jig to a distal end of the spherical
surface in the section to be measured of the measuring jig;

a step of acquiring an angle of inclination of the second rotating table;
a step of fixing the measuring jig to the work fixing section;
a step of measuring a height from a table surface of the wire electric discharge machine to an upper end of the spherical
surface;

a step of bringing the wire electrode into contact with the spherical surface from opposing directions on a same straight
line and measuring two points on the spherical surface;

a step of bringing the wire electrode into contact with the spherical surface from a direction along a straight line which
passes through a midpoint of the obtained two points and intersects the straight line at right angles and measuring one point
on the spherical surface;

a step of obtaining a center point position on the X-Y plane of the spherical surface on the basis of positions of the measured
three points; and

a step of calculating coordinates of a reference point on a table center of the second rotating table from the height from
the bottom surface of the fixed section to the distal end of the spherical surface, the height from the table surface of the
discharge machine to the upper end of the spherical surface, the angle of inclination of the second rotating table, and the
center point position on the X-Y plane of the spherical surface, which are measured.

US Pat. No. 9,166,512

MOTOR CONTROL DEVICE PROVIDED WITH FEEDFORWARD CONTROL

FANUC CORPORATION, Yaman...

1. A motor control device for controlling a motor which drives a control target, the motor control device comprising:
a speed feedback control unit which generates a pre-correction torque command for controlling such that an actual speed of
the control target follows a speed command which is input;

an inverse model calculation unit which calculates a coefficient of an inverse model with a transfer function inversed from
a transfer function of the control target by using the speed command and the pre-correction torque command;

a torque correction value generating unit which generates a torque correction value by using the speed command and the coefficient
of the inverse model; and

a torque command generating unit which generates a torque command for the motor which drives the control target by using the
pre-correction torque command and torque correction value.

US Pat. No. 9,149,963

INJECTION MOLDING MACHINE WITH ANTI-VIBRATION STRUCTURE FOR ELECTRIC POWER PANEL

FANUC CORPORATION, Yaman...

1. An electric power panel for an injection molding machine including a mold clamping mechanism section and an injection mechanism
section disposed on a base, the electric power panel comprising:
a box-like member mounted with an electrical component;
a cooling fan;
an electric power panel mounting member secured to the box-like member on a bottom of the box-like member; and
a vibration absorber disposed between the electric power panel mounting member and the base of the injection molding machine,
wherein

the box-like member has an opening or bored portion through which air drawn in by the cooling fan in a longitudinal direction
of the box-like member is discharged from an inside of the box-like member, and

in a side view along the longitudinal direction of the box-like member,
the electric power panel mounting member has a width greater than a width of the box-like member, and
the vibration absorber is disposed on either end portion of the electric power panel mounting member and outside the width
of the box-like member.

US Pat. No. 9,136,789

SYNCHRONOUS MOTOR CONTROL APPARATUS

FANUC CORPORATION, Yaman...

1. A synchronous motor control apparatus that performs current vector control of a permanent-magnet synchronous motor based
on a q-phase current command and a d-phase current command, comprising:
a first candidate value calculating unit which, using the motor speed of said synchronous motor and a control apparatus current
limit value and control apparatus voltage limit value preset in said control apparatus, calculates a first d-phase current
limit candidate value and a first q-phase current limit candidate value, based on points of intersection at which a current
limiting circle representing a current vector locus that said control apparatus current limit value describes on a d-q current
coordinate plane intersects a voltage limiting ellipse representing a current vector locus that said control apparatus voltage
limit value describes as a function of said motor speed;

a second candidate value calculating unit which, using the motor speed of said synchronous motor and said control apparatus
voltage limit value, calculates a second d-phase current limit candidate value and a second q-phase current limit candidate
value, based on points of intersection at which a maximum torque/flux curve representing a current vector locus that maximizes
torque for the same flux linkage on said d-q current coordinate plane intersects said voltage limiting ellipse representing
the current vector locus that said control apparatus voltage limit value describes as a function of said motor speed;

a first q-phase current command unit which, when the absolute value of said first d-phase current limit candidate value is
smaller than the absolute value of said second d-phase current limit candidate value, then sets said first q-phase current
limit candidate value as a q-phase current limit value, but otherwise sets said second q-phase current limit candidate value
as the q-phase current limit value and, when a first q-phase current command candidate value created based on a torque command
exceeds said q-phase current limit value, then limits said first q-phase current command candidate value to said q-phase current
limit value and outputs said limited first q-phase current command candidate value;

a first d-phase current command unit which, when the absolute value of said first d-phase current limit candidate value is
smaller than the absolute value of said second d-phase current limit candidate value, then sets said first d-phase current
limit candidate value as a d-phase current limit value, but otherwise sets said second d-phase current limit candidate value
as the d-phase current limit value and, when a first d-phase current command candidate value created based on said motor speed
and said first q-phase current command candidate exceeds said d-phase current limit value, then limits said first d-phase
current command candidate value to said d-phase current limit value and outputs said limited first d-phase current command
candidate value;

a third candidate value calculating unit which calculates a third d-phase current limit candidate value and a third q-phase
current limit candidate value, based on points of intersection at which a maximum torque/current curve representing a current
vector locus that maximizes generated torque for the same current on said d-q current coordinate plane intersects said current
limiting circle representing the current vector locus that said control apparatus current limit value describes;

a second q-phase current command unit which, when a second q-phase current command candidate value created based on said torque
command exceeds said third q-phase current limit candidate value, then limits said second q-phase current command candidate
value to said third q-phase current limit value and outputs said limited second q-phase current command candidate value;

a second d-phase current command unit which outputs a second d-phase current command candidate value that is created by using
said second q-phase current command candidate value output from said second q-phase current command unit and said maximum
torque/current curve representing on said d-q current coordinate plane said current vector locus that maximizes generated
torque for the same current; and

a d-q phase current command judging unit which, when the absolute value of said second d-phase current command candidate value
is larger than the absolute value of said first d-phase current command candidate value, then outputs said second d-phase
current command candidate value and said second q-phase current command candidate value, otherwise outputs said first d-phase
current command candidate value and said first q-phase current command candidate value, as said d-phase current command and
said q-phase current command, respectively.

US Pat. No. 9,717,168

COMPOSITE CABLE MOUNTED IN INDUSTRIAL ROBOT

Fanuc Corporation, Yaman...

1. A composite cable mounted in an industrial robot, comprising:
a center member for feeding towards an end effector of the industrial robot, during operation of the industrial robot, a fluid
or welding wire material used by the end effector for a work of the industrial robot;

a first signal line arranged at an outer circumferential side of the center member, and connected to an encoder or Hall element
built in a servo motor which drives the industrial robot, the first signal line being configured to transmit a first signal
from the encoder or the Hall element;

a shield which surrounds the first signal line and blocks an electromagnetic wave;
a second signal line arranged at an outer circumferential side of the shield, and connected to the end effector, the second
signal line being configured to transmit a second signal different from the first signal;

a power line arranged at an outer circumferential side of the second signal line;
a partition member of paper material arranged between the second signal line and the power line so as to surround the second
signal line, the partition member being configured to divide the second signal line and the power line into different layers;
and

a tubular sheath which surrounds the power line,
wherein the composite cable is configured so that an electromagnetic wave propagated from the outside of the composite cable
toward inside of the composite cable reaches the shield and is blocked by the shield.

US Pat. No. 9,545,036

MOTOR DRIVER AND CABINET

FANUC CORPORATION, Yaman...

1. A motor driver, comprising:
a housing having a top plate and a bottom plate, wherein the top plate includes
an outer surface which includes two inclined surfaces extending from two opposite edges of the top plate to meet at an intersection
line that is not in alignment with the edges,

a horizontal inner surface opposite to the outer surface, and
a through hole extending through the top plate from the inner surface to the outer surface;
an electronic component disposed inside the housing, and configured to drive or control a motor; and
a fan motor disposed below the top plate of the housing, attached to the horizontal inner surface of the top plate, and configured
to cause air to pass from an opening in the bottom plate of the housing to the through hole in the top plate of the housing,
wherein

the intersection line of the two inclined surfaces is in a higher or lower position than the two opposite edges of the top
plate, the two opposite edges being away from the line of intersection,

the fan motor is attached to the horizontal inner surface of the top plate at a position corresponding to the intersection
line, so as to be adjacent to the through hole of the top plate, and

the horizontal inner surface of the top plate is flat.

US Pat. No. 9,223,304

NUMERICAL CONTROLLER WITH WORKPIECE SETTING ERROR COMPENSATION UNIT FOR MULTI-AXIS MACHINE TOOL

FANUC Corporation, Minam...

1. A numerical controller for controlling a multi-axis machine tool having at least three linear axes and three rotating axes
for machining a workpiece attached to a table,
wherein the numerical controller comprises a workpiece setting error compensation unit for compensating a setting error that
arises when the workpiece is set, the workpiece setting error compensation unit including:

a tool position/direction calculation unit for calculating tool position and direction on a workpiece setting coordinate system
on the basis of commanded positions of the three linear axes and three rotating axes, wherein the workpiece setting coordinate
system is the coordinate system on which the workpiece is set;

a compensated tool position/direction calculation unit for calculating compensated tool position and direction on the basis
of the setting error amounts that are set in advance depending on the setting error, such that tool position and direction
on the workpiece setting coordinate system calculated by the tool position/direction calculation unit are maintained on the
workpiece having the setting error, and

a compensated linear/rotating axis position calculation unit for calculating compensated linear axis positions of the three
linear axes and compensated rotating axis positions of the three rotating axes from the compensated tool position and direction
calculated in the compensated tool position/direction calculation unit;

wherein the three linear axes and three rotating axes are driven on the basis of the compensated linear axis positions of
the three linear axes and compensated rotating axis positions of the three rotating axes calculated by the compensated linear/rotating
axis position calculation unit,

wherein the compensated linear/rotating axis position calculation unit determines the compensated rotating axis positions
by calculating multiple solutions for the three rotating axes from the compensated to direction calculated by the compensated
tool position/direction calculation unit and synthesizing the calculated multiple solutions.

US Pat. No. 9,168,657

PARALLEL LINK ROBOT WITH ADDITIONAL ACTUATOR ARRANGED AT DRIVEN LINKS

FANUC CORPORATION, Yaman...

1. A parallel link robot, comprising:
a base part,
a moving part,
three link parts which link said base part and said moving part and respectively have single degrees of freedom with respect
to said base part,

three actuators which drive said link parts, respectively, each of said link parts including a drive link which is linked
with said base part and two parallel driven links which link said drive link and said moving part,

a posture changing mechanism part which changes a posture of an element which is attached to said moving part,
an additional actuator which is arranged between said two drive links of at least one said link part in parallel to these
driven links,

a power transmission shaft part which extends coaxially from said additional actuator and transmits the rotational drive force
of said additional actuator to said posture changing mechanism part, and

a universal joint which connects a shaft part which extends from said posture changing mechanism part and said power transmission
shaft part, said universal joint being arranged in a cutaway part which is formed in a casing of said moving part and being
positioned on a line connecting two intersecting points between said two driven links and said moving part,

wherein said parallel link robot comprises a linking/reinforcing part which bypasses said universal joint and links and reinforces
the two ends of the cutaway part of the casing of said moving part, and

wherein the linking/reinforcing part extends outward from an outer surface of the casing of the moving part so as to bypass
the universal joint.

US Pat. No. 9,124,210

MOTOR CONTROL APPARATUS WITH POWER FAILURE DETERMINATION UNIT

FANUC CORPORATION, Yaman...

1. A motor control apparatus comprising:
a PWM rectifier for performing a bidirectional power conversion between AC power at an AC power supply side and DC power at
a DC link being on a DC side;

an inverter for performing a bidirectional power conversion between DC power at the DC link and AC power being drive power
for a motor or regenerative power, the inverter being connected to the DC link;

an AC voltage detection unit for detecting an AC voltage value at the AC power supply side of the PWM rectifier;
a phase calculation unit for calculating a power supply voltage phase from the AC voltage value;
an AC current detection unit for detecting an AC current value at the AC power supply side of the PWM rectifier;
a current loop control unit for generating an AC voltage command to control a power conversion operation of the PWM rectifier
based on an error between an input current command and the AC current value and the power supply voltage phase;

a current loop saturation state determination unit for determining a current loop saturation state when a magnitude of the
AC voltage command is equal to or larger than a predetermined voltage prescribed value;

an operation determination unit for determining whether the PWM rectifier is in a powering operation state in which AC power
is converted to DC power or in a regenerative operation state in which DC power is converted to AC power;

a power failure determination unit for determining a presence or absence of a power failure at the AC power supply side of
the PWM rectifier by using determination results of the operation determination unit and the current loop saturation state
determination unit;

a DC voltage detection unit for detecting a DC voltage value at the DC link;
a voltage loop control unit for generating the current command to be input to the current loop control unit based on an error
between an input DC voltage command and the DC voltage value; and

a voltage loop saturation state determination unit for determining to be in a voltage loop saturation state when a magnitude
of the current command is equal to or larger than a predetermined current prescribed value,

wherein the power failure determination unit determines that a power failure occurs at the AC power supply side of the PWM
rectifier by using a first requirement that the operation determination unit determines to be in the regenerative operation,
a second requirement that the current loop saturation state determination unit determines to be in the current loop saturation
state and a third requirement that the voltage loop saturation state determination unit determines to be in the voltage loop
saturation state.

US Pat. No. 9,136,781

SYNCHRONOUS CONTROL UNIT FOR SYNCHRONIZING TWO SHAFTS WITH EACH OTHER

FANUC CORPORATION, Yaman...

1. A synchronous control unit, comprising:
a first motor and a first amplifier for driving the first motor;
a second motor and a second amplifier for driving the second motor;
a NC unit connected to the first and the second amplifier;
a first communication path connecting the first amplifier to the NC unit;
a second communication path connecting the second amplifier to the NC unit;
a third communication path connecting the first amplifier to the second amplifier;
a movement command making section arranged in the NC unit, making a movement command of at least one of the first and the
second motor;

a first communication monitoring section for monitoring communication in the first communication path;
a second communication monitoring section for monitoring communication in the second communication path;
a deceleration command making section included in the first amplifier, making a deceleration command of the first motor; and
a switching section for switching the system from a first synchronous system to a second synchronous system in the case where
the first communication monitoring section detects communication trouble in the first communication path or in the case where
the second communication monitoring section detects communication trouble in the second communication path, wherein

in the first synchronous system, movement commands of the first and the second motor, which are synchronized with each other,
made by the movement command making section are respectively supplied to the first and the second amplifier through the first
and the second communication path,

in the second synchronous system, the first motor is decelerated by a deceleration command made by the deceleration command
making section and the second motor is decelerated synchronously with the first motor by a movement command made according
to a position feedback value controlled by the first motor supplied to the second amplifier through the third communication
path.

US Pat. No. 9,152,142

SERVO CONTROLLER FOR CORRECTING POSITION ERROR WHEN MOVING MEMBER REVERSES

FANUC CORPORATION, Yaman...

1. A servo controller which drives a threaded shaft of a ball screw which is connected to a servo motor so as to make a moving
member which is engaged with said threaded shaft move,
said servo controller comprising:
a motor position acquiring part which acquires a position of said servo motor every predetermined control period,
a moving member position acquiring part which acquires a position of said moving member said every predetermined control period,
a torque command preparing unit which prepares a torque command of said servo motor said every predetermined control period,
a reversal change calculating part which uses a position of said moving member which was acquired by said moving member position
acquiring part as the basis to calculate the amount of change of the position of said moving member when the servo motor reverses,

a distance calculating part which uses the position of said servo motor which was acquired by said motor position acquiring
part or the position of said moving member which was acquired by said moving member position acquiring part as the basis to
calculate a distance from an output end of said servo motor to said moving member,

an approximation equation determining part which uses the amount of change of the position of said moving member which was
calculated by said reversal change calculating part, the torque command which was prepared by said torque command preparing
unit, and the distance which was calculated by said distance calculating part as the basis to determine an approximation equation
for calculating a position correction amount which corrects delay of said servo motor due to reversal of said servo motor,
and

a position correction calculating part which uses the approximation equation which was determined by said approximation equation
determining part as the basis to calculate said position correction amount.

US Pat. No. 9,289,932

HEATING CYLINDER PROTECTION COVER FOR AN INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A heating cylinder protection cover for covering an entire circumference of a heating cylinder of an injection molding
machine, wherein
the heating cylinder protection cover comprises a plurality of dividable protection cover members joined to one another,
cutouts for a cable are provided in at least one of first and second protection cover members among the plurality of protection
cover members, the first and second protection cover members joined to each other,

the entire circumference of the heating cylinder is covered by assembling all the protection cover members configuring the
heating cylinder protection cover to the heating cylinder, and

a cable passing section for drawing out the cable to an outer side of the heating cylinder protection cover is formed by the
cutouts, the cutouts being formed in a boundary between the first protection cover member and the second protection cover
member.

US Pat. No. 9,186,606

MACHINE TOOL WITH CUTTING FLUID FILTRATION DEVICE

FANUC CORPORATION, Yaman...

1. A machine tool with a cutting fluid filtration device, the cutting fluid filtration device comprising:
a contaminated fluid tank which stores a cutting fluid that has been used in machining a workpiece;
a pump which supplies the cutting fluid in the contaminated fluid tank to a filter configured to filter impurities contained
in the cutting fluid;

a clean fluid tank which stores the cutting fluid filtered by the filter;
a lower-limit-position liquid level detector configured to detect a liquid level which requires supply of the cutting fluid
from the contaminated fluid tank to the clean fluid tank;

a pump control unit configured to drive the pump when the lower-limit-position liquid level detector detects that the liquid
level of the cutting fluid is lowered below a preset lower-limit position;

a time integration unit configured to integrate the time during which the liquid level of the cutting fluid is below the lower-limit
position; and

a clogging determination unit configured to determine that the filter is clogged when a preset reference time is exceeded
by the time integrated by the time integration unit.

US Pat. No. 9,224,546

BRAKE DRIVE CONTROLLING DEVICE FOR PROMPTLY SWITCHING STATE OF BRAKE FROM RELEASED STATE TO FASTENED STATE

FANUC CORPORATION, Yaman...

1. A brake drive controlling device that controls drive of a brake by electric power stored in a DC link unit connected to
an AC power supply via a converter, for switching the brake from a released state to a fastened state by stopping a brake
drive current flowing in the brake that brakes a driven body driven in a gravity axis direction by a motor, the brake drive
controlling device comprising:
a first switching device that is connected to one end of the brake wherein a switch command is input to the first switching
device so that a state of the first switching device is switched from an off-state to an on-state to cause a brake drive current
to flow in the brake;

a second switching device that is connected to the other end of the brake wherein the switch command is input to the second
switching device so that a state of the second switching device is switched from an off-state to an on-state to cause a brake
drive current to flow in the brake;

a first rectifying device, one end being connected to the other end of the brake, and the other end being connected to one
end of the DC link unit; and

a second rectifying device, one end being connected to the other end of the DC link unit, and the other end being connected
to the one end of the brake; and

a third device that prevents a flow of energy between the brake and at least one different brake that are connected in parallel
with each other, wherein the flow is caused by a difference in counter electromotive force between the brake and the at least
one different brake,

wherein when the first switching device and the second switching device are in the off-states, at least either the first rectifying
device or the second rectifying device returns, to the DC link unit, energy that is stored in the brake when at least either
the first switching device or the second switching device is in the on-state.

US Pat. No. 9,164,495

MOTOR CONTROLLER CONTROLLING TWO MOTORS FOR DRIVING SINGLE DRIVEN OBJECT

FANUC CORPORATION, Yaman...

1. A motor controller controlling a first motor and a second motor in order to drive a single driven object, the motor controller
comprising:
a first position control unit generating a first speed command value on the basis of a position command value for the first
motor, position information relating to the first motor and a first position control gain in order to control a position of
the first motor;

a second position control unit generating a second speed command value on the basis of a position command value for the second
motor, position information relating to the second motor and a second position control gain in order to control a position
of the second motor;

a first speed control unit including a first integrator calculating an integrated value of a first speed error, the first
speed error being a speed error between the first speed command value and a speed of the first motor, the first speed control
unit generating a first torque command value on the basis of the first speed error, a predetermined value, a first proportional
gain and a first integration gain in order to control the speed of the first motor;

a second speed control unit including a second integrator calculating an integrated value of a second speed error, the second
speed error being a speed error between the second speed command value and a speed of the second motor, the second speed control
unit generating a second torque command value on the basis of the second speed error, the predetermined value, a second proportional
gain and a second integration gain in order to control the speed of the second motor;

an integrated value selecting unit selecting any one of the integrated value of the first speed error and the integrated value
of the second speed error as the predetermined value, depending on drive status of the first motor and drive status of the
second motor;

a first motor driving unit driving the first motor on the basis of the first torque command value; and
a second motor driving unit driving the second motor on the basis of the second torque command value.

US Pat. No. 9,225,283

MOTOR CONTROL DEVICE FOR SWITCHING PWM FREQUENCY TO USE THE SAME

FANUC CORPORATION, Yaman...

1. A motor control device, comprising:
an inverter configured to invert DC voltage into AC voltage at a specified PWM frequency by PWM control using a power device
to apply the AC voltage to a motor;

a power device temperature obtaining unit configured to obtain a temperature of the power device of the inverter;
a motor temperature obtaining unit configured to obtain a temperature of the motor;
a power device temperature determination level storage unit configured to store a power device temperature determination level;
a motor temperature determination level storage unit configured to store a motor temperature determination level;
a PWM frequency storage unit configured to store at least two PWM frequencies including a high PWM frequency higher than the
specified PWM frequency, and a low PWM frequency lower than the specified PWM frequency;

a power device temperature determining unit configured to determine whether or not the temperature of the power device is
equal to or higher than the power device temperature determination level;

a motor temperature determining unit configured to determine whether or not the temperature of the motor is equal to or higher
than the motor temperature determination level; and

a PWM frequency selecting unit configured to select a PWM frequency to be given as a command to the inverter, from the specified
PWM frequency and the at least two PWM frequencies on the basis of determination results of the power device temperature determining
unit and the motor temperature determining unit,

wherein when the temperature of the power device is lower than the power device temperature determination level, and the temperature
of the motor is lower than the motor temperature determination level,

the PWM frequency selecting unit is configured to select the specified PWM frequency as the PWM frequency to be given as the
command to the inverter,

wherein when the temperature of the power device is lower than the power device temperature determination level, and the temperature
of the motor is equal to or higher than the motor temperature determination level,

the PWM frequency selecting unit is configured to select the high PWM frequency as the PWM frequency to be given as the command
to the inverter,

wherein when the temperature of the power device is equal to or higher than the power device temperature determination level,
and the temperature of the motor is lower than the motor temperature determination level,

the PWM frequency selecting unit is configured to select the low PWM frequency as the PWM frequency to be given as the command
to the inverter, and

wherein when the temperature of the power device is equal to or higher than the power device temperature determination level,
and the temperature of the motor is equal to or higher than the motor temperature determination level,

the PWM frequency selecting unit is configured to select the specified PWM frequency as the PWM frequency to be given as the
command to the inverter, and create a signal for generating a warning.

US Pat. No. 9,274,517

NUMERICAL CONTROLLER FOR SPEED CONTROL ACCORDING TO INSTRUCTED PATH SPEED CONDITION

FANUC Corporation, Minam...

1. A numerical controller that controls a multi-axis machine tool in which a workpiece that is attached to a table is machined
by at least three linear axes and one rotation axis, the numerical controller comprising:
an instructed path speed condition input unit that inputs, as an instructed path speed condition, an instructed path speed
and an instructed path allowable acceleration of a tool center point with respect to the workpiece in an instructed path,
which is a relative path of the tool center point with respect to the workpiece and is instructed by a machining program;

a driving axis speed condition input unit that inputs, as a driving axis speed condition, a driving axis allowable speed and
a driving axis allowable acceleration for a driving axis;

a clamp value computation unit that computes an instructed path interval allowable speed and an instructed path interval allowable
acceleration on the basis of the instructed path speed condition, for each of division intervals resulting from dividing the
instructed path into a plurality of intervals, further computes a driving axis interval allowable speed and a driving axis
interval allowable acceleration on the basis of the driving axis speed condition, sets the smaller value from among the instructed
path interval allowable speed and the driving axis interval allowable speed to a speed clamp value, and sets the smaller value
from among the instructed path interval allowable acceleration and the driving axis interval allowable acceleration to an
acceleration clamp value;

a speed curve computation unit that computes a speed curve as a largest speed on the instructed path that does not exceed
the speed clamp value or the acceleration clamp value; and

an interpolation unit that performs interpolation of the instructed path according to speed based on the speed curve, and
computes a driving axis movement amount through conversion of an interpolated instructed path interpolation position to a
driving axis position,

wherein each axis is driven in accordance with the driving axis movement amount.

US Pat. No. 9,155,231

MOTOR-DRIVE UNIT HAVING HEAT RADIATOR

Fanuc Corporation, Yaman...

1. A motor-drive unit comprising:
a first substrate and a second substrate wherein a circuit for driving a motor is divided and divided sections of the circuit
are formed on the first and second substrates;

a connecting part which connects the first and second substrates so that the first and second substrates intersect with each
other;

a semiconductor device mounted on each of the first and second substrates;
a heat radiator having a first heat-transferring surface adjacent to the semiconductor device mounted on the first substrate
and a second heat-transferring surface having a surface direction different from a surface direction of the first heat-transferring
surface; and

a capacitor positioned within a swept area formed by moving the first substrate in a direction perpendicular to the first
heat-transferring surface, the capacitor being separated from the first substrate, wherein the semiconductor devices are positioned
adjacent to at least the first and second heat transferring surfaces, respectively.

US Pat. No. 9,462,727

LC FILTER HAVING A FUNCTION TO COOL AC REACTOR

FANUC CORPORATION, Yaman...

1. An LC filter comprising:
a first AC reactor comprising a first core and a first coil wound around one portion of the first core wherein one terminal
of the first coil is connected to an AC power source;

a second AC reactor comprising a second core and a second coil wound around one portion of the second core so as to provide
a first gap between the second core and the second coil, wherein one terminal of the second coil is connected to a power convertor
which converts AC voltage to DC voltage, and the second AC reactor is larger than the first AC reactor;

a capacitor which has one terminal connected to another terminal of the first coil and another terminal of the second coil;
a casing housing the first AC reactor, the second AC reactor and the capacitor;
a cooling air introduction portion provided on one surface of the casing to introduce cooling air; and
a cooling air discharge portion provided on another surface of the casing opposite the one surface to discharge the cooling
air such that a flow of the cooling air is in a predetermined direction,

wherein the second AC reactor is positioned so as to provide a second gap between the outer periphery of the second coil and
the casing, and so that an axial direction of the second coil coincides with the predetermined direction of the flow of the
cooling air along the second gap.

US Pat. No. 9,807,873

PRINTED CIRCUIT BOARD HAVING FUNCTION OF DETECTING DETERIORATION AND MOTOR DRIVE HAVING THE SAME

FANUC CORPORATION, Yaman...

1. A printed circuit board formed of an insulating material and configured to mount a component and wiring thereon, the printed
circuit board comprising:
a liquid pool for storing a liquid including a water-soluble or water-insoluble cutting fluid, or a liquid adhesion portion
to which the liquid adheres;

a pair of deterioration detection traces one of which is connected to a power supply at one end and disposed in the liquid
pool or the liquid adhesion portion at the other end, and the other of which is connected to a ground at one end, in which
a resistor is connected to one end of the power supply or one end of the ground, and disposed in the liquid pool or the liquid
adhesion portion at the other end;

a voltage detection circuit for detecting a voltage between the one end of the one of the deterioration detection traces and
the one end of the other of the deterioration detection traces; and

a deterioration determination circuit for determining, based on the detected voltage, whether or not insulation deteriorates
between the other end of the one of the deterioration detection traces and the other end of the other of the deterioration
detection traces.

US Pat. No. 9,126,277

POWER SUPPLY DEVICE FOR WIRE ELECTRIC DISCHARGE MACHINE CAPABLE OF SUPPRESSING WIRE ELECTRODE CONSUMPTION

FANUC CORPORATION, Yaman...

8. A power supply device for a wire electric discharge machine, the power supply device comprising:
a main DC power source;
an auxiliary DC power source with variable voltage;
a first circuit configured to output a first pulse, stop the output of the first pulse, and then output a second pulse;
a second circuit configured to apply a first voltage from the main DC power source to a machining gap between a wire electrode
and a workpiece while the first pulse is being output from the first circuit, the second circuit comprising an inductance;

a third circuit configured to, while the second pulse is being output,
pass a current, which is generated by inductive energy stored by the inductance in the second circuit, between the wire electrode
and the workpiece, and

cause the auxiliary DC power source to apply a second voltage to the machining gap,
wherein
a period of application of the first voltage from the main DC power source and a corresponding period of application of the
second voltage from the auxiliary DC power source are pre-stored in a data table,

the period of application of the second voltage corresponds to a peak current value provided by the main DC power source at
the end of the first pulse,

in response to the peak current value being a first current value, the period of application of the second voltage has a first
duration during which the current is maintained at the first current value, and

in response to the peak current value being a second current value, the period of application of the second voltage has a
second duration during which the current is maintained at the second current value, the second current value is greater than
the first current value, and the second duration is shorter than the first duration; and

a fourth circuit configured to return the current generated by the inductive energy stored by the inductance in the second
circuit to the main DC power source when the output of the second pulse is stopped.

US Pat. No. 9,289,934

CONTROL METHOD FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A control method for an injection molding machine, the control method comprising:
obtaining a screw or plunger stop position as a position
where a leading flow end of a resin does not reach a gate portion, when an application of an injection pressure is suspended
at the moment when the screw or the plunger is stopped after being advanced from an injection starting position, and

where the leading flow end of the resin reaches the gate portion, when the screw or the plunger is advanced from the injection
starting position to the stopped position and the application of the injection pressure is suspended after retention for a
predetermined period; and

in an injection process in which the screw or the plunger is advanced to inject the resin, which is a molten resin, into a
mold, the control method further comprising:

stopping the advance of the screw or the plunger at the screw or plunger stop position and holding for a predetermined period;
and

resuming the advance of the screw or the plunger for an injection operation.

US Pat. No. 9,223,585

DATA PROCESSING DEVICE WITH SERIAL BUS THAT NEEDS INITIALIZATION BEFORE USE

FANUC CORPORATION, Yaman...

1. A data processing device comprising:
a first number of first processors that initialize the data processing device based on a first or a second boot program for
initialization of first buses after power-on, the first number being one or more;

the first buses, connected with the first processors respectively, that require initialization based on the first or the second
boot program before use;

a chip set that includes: a second number of first memories that store the first boot program respectively, the second number
being one or more and being the first number or less; and a memory controller that reads out the first boot program stored
in the first memories;

the first number of second buses, arranged between the memory controller and the first processors to provide the first boot
program read out by the memory controller to the first processors, that do not require initialization based on the first boot
program before use,

wherein the chip set further includes a boot control unit that performs at least one of: controlling activation timing of
the first processors; controlling reboot timing of the first processors; and controlling access to the second buses, and

the data processing device further comprising:
a nonvolatile second memory that stores the second boot program for initialization of the first buses after power-on; and
a third bus, arranged between the second memory and one of the first processors to provide the second boot program stored
in the second memory to said first processor, that does not require initialization before use by said first processor based
on the second boot program,

wherein the boot control unit selects either one of the first boot program stored in the first memories or the second boot
program stored in the second memory so that said first processor executes either one of the first boot program or the second
boot program upon activation.

US Pat. No. 9,256,213

NUMERICAL CONTROL UNIT HAVING FUNCTION TO SMOOTHLY CHANGE FEED SPEED WHEN OVERRIDE IS CHANGED

FANUC Corporation, Minam...

1. A numerical control unit to control a machine tool that machines work mounted on a table by relatively moving a tool at
a feed speed instructed by a machining program, including a command program analysis unit configured to analyze a commanded
speed of the machining program, a speed operation unit configured to operate a feed speed for each interpolation cycle based
on the commanded speed, an interpolation unit configured to perform interpolation based on the feed speed, an acceleration/deceleration
after interpolation unit configured to implement acceleration/deceleration to an output from the interpolation unit, a servo
motor controller configured to drive a servo motor based on an output from the acceleration/deceleration after interpolation
unit, the numerical control unit comprising:
a high speed cycle machining data acquisition unit configured to acquire high speed cycle machining data;
an override input unit configured to input an override as a multiplying factor of the commanded speed; and
a stepwise override change unit configured to output the override as an actual override after changing in steps the override
before input by the override input unit to the override that is input by a predetermined amount for each interpolation cycle;
wherein

the command program analysis unit is configured to acquire high speed cycle machining data from a high speed cycle machining
data acquisition unit;

the speed operation unit is configured to calculate the feed speed by multiplying the commanded speed by the actual override,
and multiply the high speed cycle machining data acquired by the high speed cycle machining data acquisition unit by the feed
speed; and

the numerical control unit is configured to output the high speed cycle machining data multiplied by the feed speed to the
servo motor controller that drives and controls the servo motor, without using the interpolation unit and the acceleration/deceleration
after interpolation unit.

US Pat. No. 9,227,284

ROTARY TABLE DEVICE

FANUC CORPORATION, Yaman...

1. A rotary table device, comprising:
a case;
a motor stored in the case;
a table fixed to one end of an output shaft of the motor;
a discharge port discharging air from the inside of the case to the outside; and
a pressure regulating unit, wherein
the case has:
first and second spaces partitioned with a partitioning member;
a first air supply path supplying air to the first space;
a second air supply path supplying air to the second space; and
a check valve provided in the partitioning member, and wherein
the discharge port discharges the air from the second space to the outside of the case, and
the pressure regulating unit constantly regulates a pressure of the first space and a pressure of the second space to a pressure
higher than an outside pressure, and regulates the pressure of the first space to a pressure higher than the pressure of the
second space during a steady state, but regulates the pressure of the second space to a pressure higher than the pressure
of the first space at a certain timing.

US Pat. No. 9,367,045

SERVO CONTROL SYSTEM FOR GRINDING INCLINED SURFACE

FANUC CORPORATION, Yaman...

1. A servo control system for controlling a servo motor of a machine tool for grinding an inclined surface of a material to
be ground by a grindstone, the servo control system comprising:
a first servo motor configured to swing one of the grindstone and the material to be ground along a first swing shaft;
a first position detection unit configured to detect a position of the first servo motor;
a first servo motor control unit configured to control the first servo motor;
a second servo motor configured to swing the one of the grindstone and the material to be ground along a second swing shaft
perpendicular to the first swing shaft;

a second position detection unit configured to detect a position of the second servo motor;
a second servo motor control unit configured to control the second servo motor;
a reference angle calculation unit configured to calculate a reference angle based on a command angular speed and a command
distribution cycle acquired from processing conditions;

a swing command calculation unit configured to calculate a cyclical swing command based on the processing conditions and the
reference angle;

a first supply unit configured to supply the reference angle and the swing command to the first servo motor control unit;
a first position error calculation unit configured to calculate a first position error between the swing command and the position
of the first servo motor detected by the first position detection unit for each sampling cycle;

a first repeat control unit configured to execute repeat control for the first servo motor based on the reference angle, the
swing command, and the first position error;

a multiplication unit configured to multiply the swing command by a ratio according to a tilt angle of the inclined surface
of the material to be ground to calculate a swing command after multiplication;

a second supply unit configured to supply the reference angle and the swing command after multiplication to the second servo
motor control unit;

a second position error calculation unit configured to calculate a second position error between the swing command after multiplication
and the position of the second servo motor detected by the second position detection unit for each sampling cycle; and

a second repeat control unit configured to execute repeat control for the second servo motor based on the reference angle,
the swing command after multiplication, and the second position error,

wherein the first repeat control unit and the second repeat control unit respectively correct the first position error and
the second position error, and control driving of the first servo motor and the second servo motor based on the corrected
first position error and the corrected second position error, thereby grinding the inclined surface of the material to be
ground.

US Pat. No. 9,377,773

MOTOR CONTROLLER FOR PERFORMING CORRECTION WHEN DIRECTION OF ROTATION IS REVERSED

FANUC CORPORATION, Yaman...

1. A motor controller for controlling a motor which drives a driven body, comprising:
a first displacement detector configured to detect an amount of displacement of the driven body;
a second displacement detector configured to detect an amount of displacement of the motor;
a correction part configured to add an amount of correction to a speed command or a torque command to the motor when a movement
direction of the driven body is reversed;

a judgment part configured to judge whether or not the amount of displacement of the driven body after the movement direction
of the driven body is reversed, exceeds a first threshold value, and whether or not the amount of displacement of the motor
after the movement direction of the motor is reversed, exceeds a second threshold value; and

a correction terminating part configured to terminate a correction of the speed command or the torque command by the correction
part when the amount of displacement of the driven body exceeds the first threshold value or when the amount of displacement
of the motor exceeds the second threshold value.

US Pat. No. 9,257,923

CONTROL SYSTEM FOR SYNCHRONOUS MOTOR INCLUDING ABNORMALITY DETECTION AND DIAGNOSIS FUNCTION

FANUC CORPORATION, Yaman...

1. A control system for a synchronous motor with an abnormality detection and diagnosis function, the control system comprising:
a current control unit providing, in detection of a magnetic pole position of a rotor of a motor during the initial start-up
of the motor in which permanent magnets are disposed, a first current command to a first excitation phase of a stator winding
of the motor over a first period of time when the motor is to be stopped and providing a second current command to a second
excitation phase different from the first excitation phase over a second period of time when the motor is to be caused to
operate;

a magnetic pole position detector correcting an excitation phase on the basis of a magnetic pole position of the stopped motor;
a current error calculator calculating a current error, the current error being a difference between a current flowing through
the motor in the second period of time and the second current command; and

an abnormality detection and diagnosis unit detecting an abnormality on the basis of
a speed of the motor in the first period of time, and
the speed of the motor, the direction of movement and the amount of movement of the motor, and the magnitude of the current
error in the second period of time,

wherein when the speed of the motor is higher than a predetermined speed while the first current command is provided to the
first excitation phase of the motor over the first period of time, the abnormality detection and diagnosis unit judges that
a first abnormality has occurred in a current feedback from the motor to the current control unit or in a speed feedback from
the motor to the abnormality detection and diagnosis unit.

US Pat. No. 9,233,429

WIRE-CUT ELECTRIC DISCHARGE MACHINE HAVING FUNCTION OF DETECTING UPPER SURFACE OF WORKPIECE

FANUC CORPORATION, Yaman...

1. A wire-cut electric discharge machine having a function of detecting an upper surface of a workpiece, comprising:
a mechanism configured to relatively move a wire electrode that is stretched between upper and lower wire guides embedded
in upper and lower nozzles with respect to a workpiece that is placed on a workpiece placing table;

a contact detection unit configured to detect contact between the wire electrode and the workpiece;
a means for controlling relative movement of the wire electrode that is stretched between the upper and lower wire guides
with respect to the workpiece after positioning the upper and lower wire guides so that the wire electrode becomes orthogonal
to a horizontal surface, then stops the relative movement of the upper and lower wire guides with respect to the workpiece
at a first position where contact between the wire electrode and the workpiece is detected, subsequently, relatively moves
the upper and lower wire guides with respect to the workpiece, then stops the relative movement of the upper and lower wire
guides with respect to the workpiece at a second position that is away from an end surface of the workpiece by a predetermined
distance, subsequently, relatively moves the upper wire guide with respect to the workpiece in a state where the lower wire
guide is not relatively moved, and then stops the relative movement of the upper wire guide with respect to the workpiece
at a third position where the contact between the wire electrode and the workpiece is detected;

a storage unit configured to store positions of the upper and lower wire guides obtained when the relative movement is stopped
on the first position, the second position, and the third position;

a wire electrode inclination angle calculating unit configured to calculate an inclination angle of the wire electrode lying
at the third position from a relative distance in a horizontal direction of the upper wire guide obtained when the relative
position of the upper wire guide with respect to the workpiece is changed from the second position to the third position and
a distance in a vertical direction of the upper and lower wire guides; and

a workpiece upper surface position calculating unit configured to calculate a distance from the lower wire guide to the upper
surface of the workpiece based on the inclination angle of the wire electrode lying at the third position and a distance in
a horizontal direction between the lower wire guide and the end surface of the workpiece lying at the third position.

US Pat. No. 9,112,385

FORCE-CONTROLLED ELECTRIC HAND

FANUC Corporation, Minam...

1. A force-controlled electric hand, comprising:
an electric motor;
a rotary-linear motion conversion mechanism converting rotary motion from the electric motor to linear motion;
a pair of finger bases including a movable finger base, the movable finger base moving linearly in parallel with a first axial
line through the rotary-linear motion conversion mechanism by power from the electric motor;

a pair of fingers fixed to the pair of finger bases to grip a target workpiece by linear motion of the movable finger base;
and

a force sensor provided at least at one of the pair of finger bases to detect gripping force of the pair of fingers, the force
sensor including a pair of parallel beams extending in parallel with a second axial line vertical to the first axial line,
and including an electrostatic capacity type force sensor detecting the amount of displacement of the parallel beams to detect
the gripping force in a direction of the first axial line based on an amount of displacement of the parallel beams in the
direction of the first axial line.

US Pat. No. 9,252,639

METHOD OF MANUFACTURING INDEX DEVICE OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A method of manufacturing an index device of a machine tool, the method comprising:
providing a jig having an outer periphery of the same outer diameter as an outer diameter of a motor for driving the index
device;

prior to setting the motor into a casing configured to house the motor, inserting the jig into the casing;
filling, through an opening provided in the casing, a material with higher thermal conductivity than the air into a gap space
created between the casing and the outer periphery of the jig;

removing the jig from the casing when the material filled in the gap space becomes solidified; and
setting the motor into the casing after said removing the jig from the casing.

US Pat. No. 9,126,337

ROBOT SYSTEM HAVING A ROBOT FOR CONVEYING A WORKPIECE

FANUC CORPORATION, Yaman...

1. A robot system for picking out and conveying a workpiece placed in a three-dimensional space, the robot system comprising:
a three-dimensional measuring device for measuring a surface position on the workpiece to obtain positional information of
a plurality of points on a surface of the workpiece in a three-dimensional space;

a robot movable in accordance with a specified position and posture;
a tool attached to a tip portion of the robot and adapted to hold the workpiece;
a force measuring part for measuring a force acting on the tool by the workpiece when the workpiece is held by the tool; and
a control device for controlling the robot,
the control device comprising:
a workpiece identifying part for identifying a workpiece to be picked out and a position and posture of the workpiece, based
on the positional information of the plurality of points obtained by the three-dimensional measuring device;

a picking position and posture determining part for determining a holding position of the workpiece, a picking-out direction
of the workpiece and a position and posture of the tool, so as to pick out the workpiece identified by the workpiece identifying
part;

a center-of-gravity position calculating part for calculating a center-of-gravity position of the workpiece held by the tool,
based on force data measured by the force measuring part with a plurality of postures of the robot holding the workpiece;

an associating part for associating the positional information of the workpiece held by the tool, which is obtained by the
three-dimensional measuring device with the center-of-gravity position of the workpiece calculated by the center-of-gravity
position calculating part;

an association storing part for storing a result of the association made by the associating part; and
a center-of-gravity position estimating part for estimating a center-of-gravity position of the workpiece identified by the
workpiece identifying part, based on the result of the association stored by the association storing part,

wherein the picking position and posture determining part is adapted to determine at least one of the holding position of
the workpiece identified by the workpiece identifying part at the time of picking out the workpiece, the picking-out direction
of the workpiece, the position and posture of the tool, based on the center-of-gravity position of the workpiece estimated
by the center-of-gravity position estimating part.

US Pat. No. 9,164,006

ROTATION TABLE WITH CLAMP TORQUE MEASUREMENT UNIT

FANUC CORPORATION, Yaman...

1. A rotation table comprising:
a workpiece placement table;
a motor of which one end of a rotation shaft is connected with the workpiece placement table and the other end thereof is
equipped with a detector for detecting the rotation shaft state;

a clamp mechanism that holds the workpiece placement table at a stop position;
a rotation instruction unit that generates a rotation torque in the motor;
a state monitoring unit that monitors a change in rotation shaft state based on the rotation shaft state information output
from the detector; and

a measurement unit that transmits a rotation instruction to the motor in a state where the workpiece placement table is clamped
by the clamp mechanism and measures a clamp torque based on motor torque information in accordance with the rotation instruction
and a change in rotation shaft state.

US Pat. No. 9,089,914

WIRE ELECTRIC DISCHARGE MACHINE HAVING FUNCTION FOR CONTROLLING MACHINING LIQUID TEMPERATURE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine having a function for controlling a machining liquid temperature, for machining a workpiece
to a desired shape by circulating machining liquid between a machining liquid tank and a machining vessel, generating electric
discharge by applying a voltage across a machining gap between a wire electrode and the workpiece immersed in the machining
liquid stored in the machining vessel while changing a relative position of the wire electrode with respect to the workpiece,
said wire electric discharge machine comprising:
a heater and a cooler configured to regulate the machining liquid temperature of the machining liquid in the machining liquid
tank;

a machining liquid temperature detecting sensor configured to measure the machining liquid temperature;
an ambient temperature detecting sensor configured to measure an ambient temperature around the wire electric discharge machine;
and

a controller coupled to the heater and the cooler, the machining liquid temperature detecting sensor and the ambient temperature
detecting sensor, the controller comprising a processor and a storage memory, the storage memory configured to store data
to control the machining liquid temperature, the data including

an operation beginning time, the operation beginning time being the time at which operation of the wire electric discharge
machine begins; and

a control temperature of the machining liquid at the operation beginning time;
wherein the controller is configured to:
calculate a temperature regulation time period required to regulate the machining liquid temperature
on the basis of a quantity of heat required to cause the temperature of the machining liquid, stored in the machining liquid
tank up to its maximum capacity, to reach the control temperature, and

from the measured machining liquid temperature and the measured ambient temperature around the wire electric discharge machine,
a quantity of heat loss, and a capacity of the heater and the cooler to be used for the temperature regulation, and

calculate a first remaining time period from (i) a time at which the temperature regulation time period is calculated to (ii)
the operation beginning time stored in the storage memory;

wherein the heater and the cooler are configured to start the temperature regulation of the machining liquid temperature when
the calculated temperature regulation time period becomes equal to or exceeds the first remaining time period;

wherein the machining liquid temperature detecting sensor is configured to measure a machining liquid temperature after a
predetermine time elapses since the start of the temperature regulation;

wherein the controller is further configured to:
determine a rate of change of the machining liquid temperature from the machining liquid temperature measured after the predetermine
time elapses since the start of the temperature regulation,

recalculate the temperature regulation time period required to reach the control temperature from the determined rate of change
of the machining liquid temperature, and

calculate a second remaining time period left from (i) a time at which the temperature regulation time period is recalculated
to (ii) the operation beginning time stored in the storage memory; and

wherein, when the recalculated temperature regulation time period is shorter than the second remaining time period, the controller
is further configured to control the heater and the cooler to:

suspend the temperature regulation of the machining liquid temperature for a time period corresponding to a difference between
the second remaining time period and the recalculated temperature regulation time period, and then

resume the temperature regulation of the machining liquid temperature; and
wherein, when the recalculated temperature regulation time period is not shorter than the second remaining time period, the
controller is further configured to control the heater and the cooler to continue the temperature regulation of the machining
liquid temperature.

US Pat. No. 9,253,926

SERVO AMPLIFIER HAVING COOLING STRUCTURE INCLUDING HEAT SINK

Fanuc Corporation, Yaman...

1. A servo amplifier comprising:
a housing;
a heat source arranged in the housing; and
a heat dissipating structure comprising a heat sink arranged in the housing and thermally connected to the heat source,
wherein the heat source is mounted on a printed board which is attached to the housing via a protrusion formed on an inner
face of the housing,

wherein the heat sink comprises heat dissipating fins extending from at least a portion of a surface of the heat sink, other
than a second connecting face which is thermally connected to the heat source, and

wherein a first connecting face of the heat sink different from the second connecting face is thermally connected to an inner
face of the housing,

wherein one of the heat dissipating fins having the first connecting face has a thickness larger than the other heat dissipating
fins.

US Pat. No. 9,235,199

WARM-UP CONTROL DEVICE FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A warm-up control device for a machine tool, which performs, before machining a workpiece, a warm-up by driving a main
shaft rotary drive part for rotating a main shaft of the machine tool and axes drive parts for relatively driving a workpiece
and a tool, the warm-up control device comprising:
a thermal displacement amount calculation part that obtains a thermal displacement amount that results from heat generated
or released upon starting or ending the warm-up of the machine tool and changes with time;

a thermal displacement amount storage unit that stores the thermal displacement amount that is calculated every predetermined
time period by the thermal displacement amount calculation part and a time at which the thermal displacement amount is calculated;

a warm-up end determination part that determines whether to end the warm-up based on the thermal displacement amount;
a warm-up ending part that ends the warm-up when the warm-up end determination part determines to end the warm-up;
a warm-up restart determination part that calls up, from the thermal displacement amount storage unit, the thermal displacement
amount that is calculated every predetermined time period back to a time traced back by a previously set time period, after
the end of the warm-up, calculates a difference between a maximum value and minimum value out of the called thermal displacement
amounts, and compares the difference between the maximum value and the minimum value of the displacement amounts with a previously
set permissible value to determine whether or not to restart the warm-up; and

a warm-up restarting part that restarts the warm-up when the warm-up restart determination part determines to restart the
warm-up.

US Pat. No. 9,254,593

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding machine which comprises an injection device, a mold clamping device, an electric storage device configured
to supply electric power to the injection device and/or the mold clamping device, and a machine base, wherein
the machine base comprises an upper frame, a lower frame, and support means supporting the upper frame on the lower frame,
the injection device and the mold clamping device are disposed on the upper frame of the machine base,
the electric storage device comprises a case body and a separate electric storage unit housed in the case body and is disposed
on the lower frame of the machine base.

US Pat. No. 9,254,541

MACHINE TOOL HAVING ROTARY TABLE

FANUC CORPORATION, Yaman...

1. A machine tool that is configured to be controlled by a numerical controller, the machine tool comprising:
a rotary table on which a workpiece is to be mounted;
a clamping mechanism configured to clamp the rotary table against rotation;
a sensor configured to
detect completion of a clamping operation or unclamping operation of the clamping mechanism, and
output a completion signal;
a clamping mechanism operation time measuring unit, wherein when a machining program is executed and a clamp command or an
unclamp command is output by the numerical controller, the clamping mechanism operation time measuring unit is configured
to measure a clamping mechanism operation time

from a time when the clamp or unclamp command is output
to a time (i) when completion of the clamping or unclamping operation is detected by the sensor and (ii) the machine tool
starts a next operation;

a clamping mechanism operation time storage unit configured to store the measured clamping mechanism operation time; and
an actual clamping mechanism operation time calculating unit configured to determine an actual clamping mechanism operation
time by subtracting, from the stored clamping mechanism operation time, a preset amount of time required from completion of
clamping mechanism operation to start of the next operation by the machine tool,

wherein another clamp command or another unclamp command is output by the numerical controller at a cycle time corresponding
to the actual clamping mechanism operation time determined by the clamping mechanism operation time calculating unit for the
machine tool to start the next operation.

US Pat. No. 9,254,601

TEMPERATURE MONITORING DEVICE FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A temperature monitoring device for an injection molding machine with a heating cylinder covered by an openable shield,
the temperature monitoring device comprising:
a heating unit configured to heat the heating cylinder;
a detecting unit configured to detect a current temperature of or around the heating cylinder;
a storage unit configured to store a prohibited temperature at which the shield is prohibited from opening; and
a prohibition unit configured to prohibit the shield covering the heating cylinder from opening if the detected current temperature
exceeds the prohibited temperature.

US Pat. No. 9,877,418

MOTOR DRIVE DEVICE IN WHICH FAN MOTOR IS EXCHANGEABLE AND CONTROL PANEL INCLUDING SAME

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:
a motor control unit disposed in a control panel;
an attaching unit provided on one side of the motor control unit and having first surface directed toward a front of the control
panel and a second surface opposite to the first surface;

a heat sink attached to the one side of the motor control unit or the second surface of the attaching unit to absorb heat
of the motor control unit;

a first duct disposed in opposing relationship to the second surface of the attaching unit;
a second duct disposed at a side opposite to a side of the attaching unit at which the first duct is disposed and in opposing
relationship to the first duct; and

an air blower disposed in the second duct,
wherein:
between the first duct and the second duct, there are formed a first opening that allows communication between outside of
the first duct and inside of the second duct, and a second opening that allows communication between inside of the first duct
and inside of the second duct;

the first duct is provided so as to connect the heat sink and the second opening with each other;
the second duct is provided so as to connect the first opening and the second opening with each other; and
the air blower is disposed so as to generate an air flow from the first opening to the second opening or from the second opening
to the first opening.

US Pat. No. 10,018,990

NUMERICAL CONTROLLER INCLUDING DNC OPERATION UNIT

FANUC Corporation, Minam...

1. A numerical controller including a direct numerical control (DNC) operation unit, the numerical controller buffering a machining program loaded from an external storage or an external controller via a connection unit in an internal memory and performing automatic operation based on the buffered machining program by an automatic operation execution unit, whereinthe machining program includes one or a plurality of buffering point instructions that specify a breakpoint for the buffering of the machining program, and
the automatic operation execution unit includes
a buffering completion checking result holding unit for checking whether a portion of the machining program to be buffered includes the buffering point instruction and holding a result of the checking in the buffering of the portion of the machining program in the internal memory,
an execution checking result holding unit for, when the automatic operation execution unit executes a portion of the machining program buffered in the internal memory, checking whether the portion of the machining program to be executed includes the buffering point instruction and holding a result of the checking,
a comparison unit for comparing the result held by the buffering completion checking result holding unit with the result held by the execution checking result holding unit, and
an execution unit for performing any one of continuation, suspension, and resumption of the automatic operation based on a result of the comparison,
wherein, prior to performing the automatic operation based on the buffered machining program, a diagnosis is configured to be made for each of partial areas, which is sandwiched between two of the buffering point instructions, of an entire area of the machining program stored in the external storage or the external controller to determine whether a size of each partial area exceeds a predetermined area size of the internal memory.

US Pat. No. 9,364,956

MULTIPLE JOINTS ROBOT WITH MECHANISM FOR COOLING MOTOR

FANUC CORPORATION, Yaman...

1. A multiple joint robot, comprising:
a movable body;
a motor for generating power to actuate the movable body,
a motor housing accommodating the motor in an interior of the motor housing so as to isolate the motor from an exterior; and
a cooling structure for cooling the motor by dissipating heat generated from the motor,
wherein the motor has on a side of a motor body a heat generating surface on which heat is generated,
wherein the cooling structure includes a heat conductor situated in the interior of the motor housing, the heat conductor
forming a heat conducting path for conducting heat from the motor to the motor housing,

wherein the heat conductor has
a first contact surface adapted to be in contact with the heat generating surface of the motor, and
a second contact surface adapted to be in contact with an inner surface of the motor housing,
wherein the heat conducting path is formed by sliding at least one of the first contact surface and the second contact surface
on the opposed heat generating surface of the motor or inner surface of the motor housing to adjust a position of the heat
conductor, and then fixing the heat conductor by a fixture,

wherein the heat conductor comprises a metal plate, and
wherein the fixture is attached around the motor and the heat conductor.

US Pat. No. 9,751,219

UMBILICAL MEMBER CLAMPING DEVICE FOR CLAMPING UMBILICAL MEMBERS VIA ELASTIC BODY

Fanuc Corporation, Yaman...

1. An umbilical member clamping device configured to attach a plurality of umbilical members to an industrial robot, comprising:
a base member configured to be attached to a body of the robot;
an elastic body configured so as to surround a periphery of an umbilical member bundle including the umbilical members;
a clamp member secured to the base member and configured so as to press the umbilical member bundle to the base member via
the elastic body; and

a plurality of insert members inserted to a respective corner portion of a space which is configured to receive the umbilical
member bundle and which is defined by the clamp member and the base member when the clamp member is secured to the base member,
each of the insert members having a first side with a shape corresponding to a shape of the clamp member and a second side
having an arc shape corresponding to a shape of the elastic body, the insert members being spaced so as not to contact each
other, each of the insert members configured to allow a surface of the elastic body surrounding the umbilical members to contact
a surface of the clamp member;

wherein the first side of each of the plurality of insert members comprises a first surface perpendicular to a second surface
to define a corner; and

wherein the elastic body is provided in a form of a sheet which is configured to wind around the umbilical member bundle.

US Pat. No. 9,900,986

MOTOR DRIVING DEVICE WITH PRINTED BOARD INCLUDING INSULATING COMPONENT MOUNTED THEREON

FANUC CORPORATION, Yaman...

1. A motor driving device including:
a printed board on which electronic components and an insulating component is mounted,
wherein the insulating component consists of a plate-shaped insulation part formed by a heat resistance resin with an electrical
insulation property, and

a plate-shaped adhesive part provided at an end portion of the insulation part and being adhered to the printed board,
the insulation part and the adhesive part are formed integrally, and
the adhesive part has an electrical insulation property and consists of a thermoplastic resin being welded by heat,
wherein the insulating component is mounted between a first electronic component and a second electronic component so as to
realize insulation between the first electronic component and the second electronic component,

wherein the insulating component is configured to be detachable from the printed board and to be remountable on the printed
board by performing heat treatment on the adhesive part.

US Pat. No. 10,076,051

STRUCTURE FOR FIXING PRINTED BOARD IN ELECTRONIC DEVICE UNIT

FANUC Corporation, Minam...

1. A structure for fixing a printed board in an electronic device unit, whereinthe electronic device unit includes:
a printed board housing body;
a printed board; and
a front face panel to which the printed board is fixed,
the front face panel includes:
hooks on which first recessed parts or first protruding parts are provided at the tip of each of the hooks; and
knobs for disengaging the hooks,
wherein the printed board housing body includes engagement parts that engage with the hooks when the front face panel to which the printed board is fixed is attached thereto, each of the engagement parts being provided with a second protruding part to be fitted into the first recessed part or a second recessed part into which the first protruding part is fitted, wherein
the printed board housing body and the front face panel are configured so that pinching the knobs for removing the front face panel from the printed board housing body directly moves only the hooks and a top part of the knob, thereby causing the hooks to turn in a direction such that engagement between the hooks and the engagement parts and fitting between the first recessed parts and the second protruding part or between the first protruding parts and the second recessed parts are released.

US Pat. No. 9,228,509

MOTOR CONTROL APPARATUS THAT GENERATES PRELOAD TORQUE VALUE AS FUNCTION OF MOTOR ACCELERATION

Fanuc Corporation, Yaman...

1. A motor control apparatus for tandem control of a first motor and a second motor in order to drive single driven member,
said motor control apparatus comprising:
a torque command value generating unit which generates a first torque command value for said first motor and a second torque
command value for said second motor, based on at least one set selected from among a set comprising a position command value
for said first motor, position information of said first motor, and speed information of said first motor, a set comprising
a position command value for said second motor, position information of said second motor, and speed information of said second
motor, and a set comprising a position command value for said driven member, position information of said driven member, and
speed information of said driven member;

a first preload torque value generating unit which calculates first acceleration corresponding to acceleration of said first
motor, and calculates a first preload torque value to be a value which is proportional to an absolute value of said first
acceleration and is larger than said first torque command value, said first preload torque value being a torque value that
is appended in advance to said first torque command value so that the direction of force applied to a drive shaft of said
first motor and the direction of force applied to a drive shaft of said second motor will become opposite to each other;

a second preload torque value generating unit which calculates second acceleration corresponding to acceleration of said second
motor, and calculates a second preload torque value to be a value which is proportional to an absolute value of said second
acceleration and is larger than said second torque command value, said second preload torque value being a torque value that
is appended in advance to said second torque command value so that the direction of force applied to the drive shaft of said
first motor and the direction of force applied to the drive shaft of said second motor will become opposite to each other;

a first motor driving unit which drives said first motor based on said first torque command value and said first preload torque
value; and

a second motor driving unit which drives said second motor based on said second torque command value and said second preload
torque value.

US Pat. No. 10,070,557

ELECTRONIC DEVICE HAVING FAN MOTOR

FANUC CORPORATION, Yaman...

1. An electronic device comprising: a casing which has a upper wall part in which a ventilation hole is formed and which contains at least an electronic component; a fan motor which is disposed at the upper side of the ventilation hole in the upper wall part and which has a housing; and a fluid receiving part which is disposed beneath a lowermost point of a vane of the fan motor and which receives fluid, and wherein the fluid receiving part is formed by setting a radius of the ventilation hole to be smaller than a distance between the center of the ventilation hole and the lowermost point of a vane of the fan motor.

US Pat. No. 9,661,748

PRINTED CIRCUIT BOARD AND METHOD OF MANUFACTURING THE SAME

FANUC CORPORATION, Yaman...

1. A printed circuit board, comprising:
an insulating substrate;
a metal conductor formed on the insulating substrate;
a solder resist coating a part of the metal conductor, wherein the metal conductor has a scooped-out portion formed in a region
facing to an end of the solder resist; and

a solder layer coating and filled in the scooped-out portion.

US Pat. No. 9,091,600

TEMPERATURE ESTIMATION APPARATUS FOR ESTIMATING TEMPERATURE OF MOTOR

Fanuc Corporation, Yaman...

1. A temperature estimation apparatus comprising:
a loss calculating unit for calculating, in a preset period of time, a loss of a motor;
a detection temperature acquiring unit for sequentially acquiring a detection temperature detected by a temperature detection
device disposed in the motor which varies due to a difference in placement of the temperature detection device, in each preset
sampling period over the preset period of time;

a coefficient value acquiring unit for acquiring a value of a coefficient which corresponds to a relationship among a heat
generation amount of the motor generated due to the loss, a temperature variation amount of the motor, and a placement position
of the temperature detection device, by using the loss calculated by the loss calculating unit, the detection temperature
acquired by the detection temperature acquiring unit, and an ambient temperature of the motor;

a storage unit for storing a heat generation amount of an individual body of the motor, a temperature variation amount of
the motor, and a value of a coefficient due to a placement position of the temperature detection device as reference values,
which are obtained by using said coefficient value acquiring unit in the individual body of the motor serving as a reference;
and

a temperature estimating unit for estimating a temperature of the motor based on the value of the coefficient, a reference
value of the coefficient, the detection temperature acquired by the detection temperature acquiring unit, and the ambient
temperature of the motor.

US Pat. No. 9,302,398

ROBOT SYSTEM FOR DETERMINING OPERATOR BY BIOMETRIC AUTHENTICATION

FANUC CORPORATION, YAMAN...

1. A robot system comprising:
a robot configured to execute an operation according to a manual operation or a control program;
a controller configured to control the robot;
a portable operation panel configured to transmit to or receive from the controller signals and data,
the operation panel comprising a biometric information acquisition unit configured to acquire biometric information of an
operator who uses the operation panel, the robot system further comprising:

a biometric information storage unit configured to store biometric information of a plurality of operators;
an operator determination unit configured to determine, when the operation panel is activated or when a predetermined operation
is executed for the operation panel, the operator who uses the operation panel by matching the biometric information acquired
by the biometric information acquisition unit with the biometric information stored by the biometric information storage unit;
and

a limitation unit configured to individually limit executable functions for the operator determined by the operator determination
unit.

US Pat. No. 9,356,480

ELECTRIC MOTOR HAVING ROTOR STRUCTURE FOR AVOIDING DEFECT DUE TO STRAIN GENERATED BY TEMPERATURE CHANGE, AND PRODUCTION METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A production method of an electric motor comprising a stator and a rotor configured to be rotated relative to the stator,
wherein the method comprises the steps of:
constituting a rotor core by stacking magnetic steel plates;
aligning a plurality of permanent magnets in a direction of a rotation axis of the rotor and fixing the permanent magnets
to the magnetic steel plate by means of adhesives;

positioning an intervening member, which melts at a temperature higher than a curing temperature of the adhesives, between
the permanent magnets which are adjacent to each other in the direction of the rotation axis; and

heating the rotor after the adhesives are cured so that the intervening member melts and flows from between neighboring permanent
magnets,

wherein a thickness of the intervening member in the direction of the rotation axis is determined so that neighboring permanent
magnets, which are bonded to the rotor core within a manufacturing temperature range of the rotor, do not contact each other
at a lower limit of an operating temperature of the electric motor.

US Pat. No. 9,337,996

DATA RECOVERY CIRCUIT

FANUC CORPORATION, Yaman...

1. A data recovery circuit that samples serial data and recovers data, the data recovery circuit comprising:
an oversampling unit that samples serial data received through serial communication by using a clock having a frequency higher
than a communication rate of the serial data and outputs parallel data of n bits (here, n is an integer or two or more) and
another clock having a frequency that is 1/n of the frequency of the clock;

an edge detection unit that detects an edge position of the parallel data and outputs the detected edge position as edge data;
an edge position calculation unit that estimates a next edge position of the parallel data that is output by the oversampling
unit based on a phase control signal output by a phase comparison unit, outputs the estimated next edge position as edge estimated
position data, and outputs data acquired by shifting the edge estimated position data by a half phase as sampling position
data;

the phase comparison unit that compares the edge data output by the edge detection unit with the edge estimated position data
output by the edge position calculation unit and outputs the phase control signal; and

a data sampling unit that extracts data from the parallel data output by the oversampling unit by using information of the
sampling position data output by the edge position calculation unit and outputs the extracted data as recovery data together
with data enable representing validness of the recovery data.

US Pat. No. 9,413,199

ROTOR OF ELECTRIC MOTOR WITH MAGNET HOLDING STRUCTURE AND ELECTRIC MOTOR INCLUDING THE ROTOR

Fanuc Corporation, Yaman...

1. A rotor of an electric motor comprising a plurality of magnets arranged in a circumferential direction,
the rotor further comprising a holding member provided concentrically with the rotor on a radially outside of the plurality
of magnets so as to hold the plurality of magnets,

the holding member including a plurality of tubular members arranged concentrically with one another and having diameters
different from one another, the respective tubular members having expanded diameters such that compressive holding force acts
on the magnets radially inwardly, as a result of elastic restorative force of the holding member,

wherein any two tubular members of the plurality of tubular members which are adjacent to each other in a radial direction
are configured such that one of the two tubular members has an interference larger than that of the other tubular member situated
on a radially outside.

US Pat. No. 9,263,929

SQUIRREL-CAGE ROTOR AND ELECTRIC MOTOR HAVING SQUIRREL-CAGE ROTOR

Fanuc Corporation, Yaman...

1. A squirrel-cage rotor comprising:
a rotational axis extending in an axial direction;
a laminated core provided on an outer circumference of the rotational axis; and
a plurality of slots arranged in the laminated core so as to be spaced apart from each other in a circumferential direction,
and extending in the axial direction,

wherein each slot is a closed slot whose entire circumference is closed by the laminated core, and has a sectional shape in
a direction perpendicular to the axial direction,

wherein the sectional shape of each slot includes:
an inner circumferential edge and an outer circumferential edge, each of which extends in the circumferential direction of
the laminated core;

a first side portion and a second side portion, each of which extends in a radial direction of the laminated core;
a first curved corner connecting the inner circumferential edge to the first side portion;
a second curved corner connecting the inner circumferential edge to the second side portion;
a third curved corner connecting the outer circumferential edge to the first side portion; and
a fourth curved corner connecting the outer circumferential edge to the second side portion,
wherein the inner circumferential edge has a radius of curvature greater than that of the first curved corner and the second
curved corner, the inner circumferential edge protruding inwardly in the radial direction, and

wherein the outer circumferential edge has a radius of curvature greater than that of the third curved corner and the fourth
curved corner, the outer circumferential edge protruding outwardly in the radial direction.

US Pat. No. 9,457,444

MACHINE TOOL HAVING MOVABLE COVERS

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:
a cover covering a machining space;
a table;
a saddle; and
a pair of expandable and contractible movable covers respectively disposed on two side surfaces of the table or the saddle
in the moving direction thereof, wherein

one end of each of the expandable and contractible movable covers is fixed to a side surface of the table or the saddle and
the other end of each of the expandable and contractible movable covers is fixed to the cover;

upper surfaces of the movable covers are inclined in a direction perpendicular to the direction of expansion and contraction
of the movable covers in a manner such that they slope down from one side not fixed to any one of the table, cover or saddle
to the other side, and

a direction of inclination of the upper surface of one of the movable covers is opposite to that of the other of the movable
covers so that chips which have fallen onto the upper surfaces of the movable covers flow downward from the other sides of
the movable covers toward opposite sides of the table or saddle in opposite directions.

US Pat. No. 9,280,152

POWER SUPPLYING METHOD FOR INJECTION MOLDING MACHINE HAVING TRANSFORMER

FANUC CORPORATION, Yaman...

1. A power supplying method for an injection molding machine,
wherein the injection molding machine includes a first servo amplifier configured to operate with a first allowable voltage,
a second servo amplifier configured to operate with a second allowable voltage different from the first allowable voltage,
and a transformer having a primary side terminal and a secondary side terminal and configured to transform voltages mutually
in a voltage ratio between the first allowable voltage and the second allowable voltage,

the power supplying method comprising:
supplying a voltage by, when the voltage of a main power supply supplied to the injection molding machine is equal to the
first allowable voltage, connecting the primary side terminal of the transformer to the main power supply, and connecting
the first servo amplifier directly to the main power supply, while connecting the second servo amplifier to the secondary
side terminal of the transformer to cause the transformer to transform the voltage of the main power supply in the predetermined
voltage ratio; and

supplying a voltage by, when the voltage of a main power supply supplied to the injection molding machine is equal to the
second allowable voltage, connecting the secondary side terminal of the transformer to the main power supply, and connecting
the first servo amplifier to the primary side terminal of the transformer to cause the transformer to transform the voltage
of the main power supply in the reciprocal of the predetermined voltage ratio, while connecting the second servo amplifier
directly to the main power supply.

US Pat. No. 9,106,118

ROTOR HAVING PROJECTIONS FOR POSITIONING PERMANENT MAGNETS AND ELECTRIC MOTOR INCLUDING SUCH ROTOR

Fanuc Corporation, Yaman...

1. A rotor for an electric motor comprising:
a rotor core having a first end and a second end in a direction of a rotational axis and having an outer circumferential surface,
on which a plurality of projections extending from the first end toward the second end and projecting outwardly in a radial
direction are formed; and

a plurality of permanent magnets arranged between the plurality of projections and on the outer circumferential surface of
the rotor core,

wherein each of the plurality of projections has a first inclined side which inclines with respect to the direction of a rotational
axis, such that a space defined between the projections adjacent to each other becomes smaller in size at the second end than
at the first end,

wherein each of the plurality of permanent magnets has a second inclined side which inclines with respect to the direction
of a rotational axis, such that a width of the permanent magnet defined in a direction orthogonal to the direction of a rotational
axis becomes smaller at the second end than at the first end,

wherein the first inclined side of the projection and the second inclined side of the permanent magnet which face each other
incline, respectively, so as to define the same angle with respect to the direction of a rotational axis,

wherein the first inclined side of the projection and the second inclined side of the permanent magnet extend from the second
end toward the first end only on a part of the projection and the permanent magnet, respectively, and

wherein each of the plurality of projections has the first inclined side only on one side thereof, and each of the permanent
magnet has the second inclined side only on one side thereof.

US Pat. No. 9,061,455

INJECTION NOZZLE TOUCH MECHANISM FOR AN INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A nozzle touch mechanism of an injection molding machine, configured to press a nozzle on a distal end of a cylinder against
a mold attached to a stationary platen with a predetermined nozzle touch force, wherein
the stationary platen is secured to a base structure of the injection molding machine such that a front plate of an injection
device is located opposite the stationary platen and the cylinder is secured to the front plate, and the nozzle touch mechanism
of the injection molding machine comprises:

an injection device advancing/retracting unit configured to advance and retract the injection device; and
a plurality of connecting members arranged at the sides of the cylinder and provided to position the injection device, and
wherein

one of the stationary platen and the connecting members is provided with a magnetism generating unit comprising a permanent
magnet, and the other with a magnetic body, and

the magnetism generating unit is configured to generate magnetism to attract the magnetic body, thereby bringing the nozzle
into contact with the mold.

US Pat. No. 9,331,449

GAS LASER OSCILLATOR CAPABLE OF CONTROLLING GAS PRESSURE AND GAS CONSUMPTION AMOUNT

FANUC CORPORATION, Yaman...

1. A gas laser oscillator, comprising:
a gas container for containing a laser gas;
a first sensor for detecting a laser gas pressure in the gas container;
a gas supply source for supplying the laser gas into the gas container;
a vacuum pump for exhausting the laser gas from the gas container;
a first control valve capable of controlling a supply amount of laser gas supplied into the gas container by adjusting an
opening of the first control valve;

a second control valve capable of controlling an exhaust amount of the laser gas exhausted from the gas container by adjusting
an opening of the second control valve; and

a controller for controlling the openings of the first control valve and the second control valve, respectively,
the controller comprising:
a first storage unit for storing data that indicates a relationship between the laser gas pressure in the gas container, the
opening of the second control valve, and the exhaust amount of the laser gas;

a gas pressure control unit for controlling the openings of the first control valve and the second control valve, respectively,
such that the laser gas pressure in the gas container becomes closer to a reference gas pressure; and

a gas consumption amount control unit for controlling the openings of the first control valve and the second control valve,
respectively, such that the exhaust amount of the laser gas becomes closer to a target consumption amount.

US Pat. No. 9,254,602

INJECTION MOLDING MACHINE INCLUDING POSITION DETECTOR OF DIE OPENING/CLOSING DEVICE

FANUC CORPORATION, Yaman...

1. An injection molding machine including a position detector detecting a position of a die opening/closing device on a machine
frame,
wherein a shielding object is provided between the position detector and an oil scattering source of a mechanical section
of the injection molding machine, and

wherein the shielding object serves as a bracket for fixing the position detector.

US Pat. No. 9,116,527

MOTOR CONTROL SYSTEM THAT DETECTS VOLTAGE SATURATION

Fanuc Corporation, Yaman...

1. A motor control system comprising a plurality of control apparatuses for controlling a motor, and a host control apparatus
which provides a command to said control apparatus, wherein each of said control apparatuses include:
a position control unit which controls position based on a position command and commanded speed provided from said host control
apparatus;

a speed control unit which controls speed based on a speed command supplied from said position control unit;
a current control unit which controls current based on a current command supplied from said speed control unit; and
a current amplifier which amplifies current for driving said motor, based on a voltage command supplied from said current
control unit, and wherein

said current control unit includes:
a voltage saturation processing unit which determines whether said voltage command has exceeded supply voltage of said current
amplifier, and which outputs a result of said determination; and

a voltage saturation notifying unit which notifies said host control apparatus of the result of said determination made by
said voltage saturation processing unit.

US Pat. No. 9,065,314

ROTOR OF BURIED MAGNET-TYPE ELECTRIC MOTOR, MOTOR AND MACHINE TOOL HAVING THE ROTOR

FANUC CORPORATION, Yaman...

1. A rotor of a buried magnet-type electric motor, said rotor comprising:
magnetic poles each including two rows of magnets of the same pole wherein the two rows of magnets are placed side by side;
and

a core including, for each of the magnetic poles,
magnet slots in which said two rows of magnets are arranged, and
a core portion between the magnet slots,
wherein each of the magnet slots includes:
a bottom edge on an inner side in a radial direction of the rotor, and
connecting portions that connect the bottom edge to a corresponding outer edge of the core portion,
wherein said connecting portions include:
a first curved portion having a smaller curvature and connected to the bottom edge, and
a second curved portion having a larger curvature and connected to the corresponding outer edge of said core portion,
wherein a first tangential line at a first connecting point between the first curved portion and the bottom edge is a tangential
line common for the first curved portion and the bottom edge, and

wherein a second tangential line at a second connecting point between the second curved portion and the corresponding outer
edge of the core portion is a tangential line common for the second curved portion and the corresponding outer edge of the
core portion.

US Pat. No. 9,541,915

NUMERICAL CONTROLLER HAVING FUNCTION OF SWITCHING POSITION CONTROL GAIN DURING SYNCHRONOUS CONTROL

FANUC CORPORATION, Minam...

1. A numerical controller that outputs a position command corresponding to a synchronous position in consideration of a servo
delay of a slave axis, to the slave axis from a real position of a master axis, in order to perform position control of the
slave axis, thereby making a real position of the slave axis synchronously follow the real position of the master axis,
wherein a position control gain of the slave axis is changed based on a predetermined physical quantity during the synchronous
control and a compensation value for the position command for the slave axis is varied depending on the amount of change of
the position control gain of the slave axis.

US Pat. No. 9,505,073

ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. An electric discharge machine, comprising:
a hand operation panel; wherein
the hand operation panel has a manual pulse generator including a rotating part rotatable in clockwise and counterclockwise
directions,

the manual pulse generator is configured to generate a pulse signal corresponding to a rotation angle position of the rotating
part,

the manual pulse generator is configured to switch between and output any one of a move command for changing a relative distance
between a tool electrode and a workpiece and commands for changing set values other than the move command, based on the pulse
signal from the manual pulse generator.

US Pat. No. 9,482,093

IMPELLER, IMPELLER CUTTING JIG, AND METHOD OF MACHINING IMPELLER

FANUC CORPORATION, Yaman...

1. A method of machining an impeller, wherein
the impeller includes:
a base member configured to have a through hole engaging with a shaft part of a jig and configured to be rotatably attachable;
a plurality of blades configured to protrude from a front surface of the base member and provided in a circumferential direction,
and

a plurality of recessed parts or a plurality of protruded parts that are formed, on a rear surface of the base member, at
positions of a rotational symmetry around the through hole and at positions other than regions in which root portions of the
blades are projected onto the rear surface of the base member, and

the method of machining the impeller includes step of:
performing a cutting work on the impeller in a state where the impeller is fixed to a cutting jig in which protruded parts
or recessed parts are formed on a seating surface to be engaged with the recessed parts or the protruded parts of the base
member.

US Pat. No. 9,348,330

METHOD OF ADJUSTING THE POSITION OF ORIGIN OF A MACHINE AND A MACHINE HAVING A FUNCTION FOR ADJUSTING THE POSITION OF ORIGIN

FANUC Corporation, Minam...

1. A method of adjusting the position of mechanical origin of a machine having a moving part that is driven by a servo motor
equipped with a position detector, comprising the steps of:
moving said moving part in a predetermined direction to position said moving part at the position of mechanical origin;
reading a value of a reference counter that counts the value detected by said position detector and that is preset to a determined
value for every rotation of the servo motor, at a moment when said moving part is positioned;

reading a counter capacity of said reference counter; and
calculating the amount of adjusting said position of mechanical origin based on the value of the reference counter of when
said moving part is positioned and on the capacity of the reference counter,

wherein of the value of the reference counter is smaller than one-half the counter capacity, the amount of adjusting the position
of origin is set to the value of the reference counter, and if the value of the reference counter is not smaller than one-half
the counter capacity, a deviation obtained by subtracting the counter capacity from the value of the reference counter is
set as the amount of adjusting the position of origin.

US Pat. No. 9,178,398

STATOR OF ELECTRIC MOTOR

Fanuc Corporation, Yaman...

1. A stator of an electric motor comprising:
a coil,
a stator core which supports said coil, and
covers which are attached to said stator core so as to surround coil ends of said coil which stick out from end faces of the
stator core in the axial direction, wherein

said covers have outside diameters which are at least partially smaller than an outside diameter of said stator core,
said covers have coefficients of linear expansion which are larger than a coefficient of linear expansion of said stator core,
and

said covers expand by heat whereby said covers are made to closely contact a housing to be arranged around said stator.

US Pat. No. 9,061,418

CONTROL SYSTEM EQUIPPED WITH DETACHABLE CONTROL PANEL

Fanuc Corporation, Yaman...

1. A control system comprising a control apparatus for controlling a driven body, and a pendant having an emergency stop switch
for causing operation of said driven body to stop, wherein said control apparatus includes:
an emergency stop circuit which causes operation of said driven body to stop when said emergency stop switch is operated or
when said pendant is disconnected from said control apparatus;

a detach-ready setting switch which switches detach-ready setting information to “detach mode” or “normal mode”, said detach-ready
setting information being switched to “detach mode” when connecting or disconnecting said pendant to or from said control
apparatus and otherwise switched to “normal mode”; and

a connection state monitoring unit which monitors connection state between said pendant and said control apparatus, and wherein
said control apparatus disables operation of said emergency stop circuit when said detach-ready setting information is set
to “detach mode” and when said connection state information indicates that said pendant has been disconnected from said control
apparatus.

US Pat. No. 9,186,794

ROBOT CONTROLLER HAVING FUNCTION TO SIMPLIFY TEACHING OPERATION AND IMPROVE MOTION PERFORMANCE OF ROBOT

FANUC CORPORATION, Yaman...

6. The robot controller as set forth in claim 4, wherein the learning control part searches a learned motion from past learning data, before executing a regenerated motion
based on the learned motion speed-up ratio, and then, when the learned motion similar to the regenerated motion exists in
the past learning data, the learning control part corrects the motion speed-up ratio of the regenerated motion based on and
the motion speed-up ratio associated with the learned motion and a difference between motion information of the regenerated
motion and the learned motion.

US Pat. No. 9,334,911

SERVO CONTROLLER HAVING FUNCTION FOR REDUCING DROPPING WHEN BRAKING

FANUC CORPORATION, Yaman...

1. A servo controller for controlling a servomotor which drives a gravity axis of a machine tool or an industrial machine,
the servo controller comprising:
a brake signal outputting part configured to output a brake activation signal and a brake release signal to a mechanical brake
with a backlash for holding the gravity axis;

a torque command generating part which generates a torque command value for controlling a position of the servomotor; and
a torque limiting value generating part which generates a torque limiting value for limiting the torque command value generated
by the torque command generating part,

wherein the torque limiting value generating part continuously reduces the torque limiting value from a first value larger
than a torque corresponding to a gravity force to a second value smaller than the torque corresponding to the gravity force,
after the brake signal outputting part outputs the brake activation signal.

US Pat. No. 9,285,785

MOTOR CONTROL DEVICE FOR SUPPRESSING NATURAL VIBRATIONS

FANUC CORPORATION, Yaman...

1. A motor control device configured to output a control signal for controlling a motor, while suppressing natural vibrations
of a target object constituted of the motor and a driven member to be driven by the motor, the motor control device comprising:
a frequency component extracting unit configured to extract a frequency component included in the control signal at a first
frequency step size;

a frequency detection unit configured to detect a frequency corresponding to a natural frequency of the target object constituted
of the motor and the driven member to be driven by the motor from the frequency component extracted by the frequency component
extracting unit;

a frequency step size setting unit configured to set a second frequency step size smaller than the first frequency step size;
a center frequency changing unit configured to change a center frequency in such a manner that the second frequency step size
is successively added or subtracted to or from the center frequency, when the natural frequency is changed by an integral
multiple of 1 or more of the first frequency step size in detecting a frequency corresponding to the natural frequency by
the frequency detection unit;

a variable bandstop filter configured to input the control signal, and configured such that the center frequency is variable
by the center frequency changing unit in order to output the control signal after a frequency component corresponding to the
natural frequency after the change is removed from the control signal; and

an extraction range setting unit configured to set a frequency component range of the control signal to be extracted by the
frequency component extracting unit.

US Pat. No. 9,079,310

APPARATUS AND METHOD OF TAKING OUT BULK STORED ARTICLES BY ROBOT

FANUC Corporation, Minam...

1. An article take-out apparatus comprising:
a robot having a hand capable of holding an article;
a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space to acquire a 3D
point set composed of a plurality of 3D points;

a local maximum point selecting unit selecting from the 3D point set a 3D point, where a coordinate value with respect to
a predetermined coordinate axis is maximum, as a local maximum point;

a processing unit determining a hand position and posture including a target position and target posture of the hand enabling
an article near the local maximum point to be taken out, based on the local maximum point selected by the local maximum point
selecting unit; and

a robot control unit controlling the robot so as to move the hand to the hand position and posture determined by the processing
unit and take out the article from the hand position and posture,

wherein the processing unit comprises,
a first processing unit determining a local maximum point vicinity set which is a sub set of the 3D point set, the local maximum
point vicinity set including a set of 3D points including the local maximum point selected by the local maximum point selecting
unit,

a second processing unit determining a representative position which represents the local maximum point vicinity set, based
on positions of the 3D points included in the local maximum point vicinity set determined by the first processing unit, and

a third processing unit determining the hand position and posture corresponding to the representative position determined
by the second processing unit.

US Pat. No. 9,417,623

NUMERICAL CONTROL DEVICE WITH SERVO-OUTPUT DELAY UNIT

FANUC Corporation, Minam...

1. A numerical control device with a servo-output delay unit configured to receive pulse data from a manual pulse generator
by a communication unit and drive a motor, the numerical control device comprising:
a memory comprising a buffer area for storing the pulse data for each communication period;
a communication control unit configured to write the pulse data received by the communication unit to the buffer area;
a control unit configured to read the pulse data from the buffer area and output the pulse data to a servo processing unit
for driving the motor;

an accumulated pulse amount calculation unit configured to determine the amount of pulses to be accumulated in the buffer
area according to the frequency of occurrence of communication errors of the pulse data received by the communication unit;
and

a servo-output delay unit configured to command the control unit to start outputting to the servo processing unit after the
received pulses are accumulated to the amount determined by the accumulated pulse amount calculation unit.

US Pat. No. 9,377,771

NUMERICAL CONTROLLER FOR COMMUNICATION WITH I/O UNITS

FANUC Corporation, Minam...

1. A numerical controller for communication with I/O units, wherein the numerical controller is chain-connected with the I/O
units so that it transmits DI/DO signals to and receives DI/DO signals from the I/O units by master-slave communication, the
numerical controller comprising:
a timer circuit configured to generate a signal every predetermined period;
a counter unit configured to count the number of signals generated by the timer circuit up to a predetermined number;
an I/O unit transfer order setting unit configured to set, from among the I/O units, an I/O unit with which transfer of the
DI/DO signals is to be performed for each count value of the counter unit;

an I/O unit transfer period group setting unit configured to divide the I/O units into groups according to the transfer period
of the DI/DO signals; and

an automatic setting unit configured to automatically perform the setting of the I/O unit transfer order setting unit, based
on contents set by the I/O unit transfer period group setting unit;

wherein the DI/DO signals of the I/O units set in the I/O unit transfer order setting unit are transferred according to the
count value of the counter unit,

wherein information set in the I/O unit transfer period group setting unit comprises order information of the I/O units according
to a distance from the numerical controller, and

wherein the automatic setting unit sets the I/O units to which the DI/DO signals are transferred in the I/O unit transfer
order setting unit, based on the order information.

US Pat. No. 9,352,467

ROBOT PROGRAMMING APPARATUS FOR CREATING ROBOT PROGRAM FOR CAPTURING IMAGE OF WORKPIECE

FANUC CORPORATION, Yaman...

1. A robot programming apparatus for creating a robot program to be taught to a robot which is used to process a workpiece
arranged in a work space, the robot programming apparatus comprising:
a virtual space creation unit for creating a virtual space that expresses the work space in three-dimensions;
a target portion designation unit for designating a target portion whose image is to be captured by an image pickup device,
on a model of the workpiece arranged in the virtual space;

a position determination unit for determining at least one position of the image pickup device for capturing the image of
the target portion by the image pickup device in the virtual space;

a position storage unit for storing the at least one position of the image pickup device determined by the position determination
unit;

an image pickup program creation unit for creating an image pickup program to be taught to the robot so that the image pickup
device captures the image of the target portion according to the at least one position of the image pickup device stored in
the position storage unit; and

a judgment unit for judging whether or not the full image of the target portion can be captured when the image pickup device
is arranged in one position determined by the position determination unit,

wherein the position determination unit is configured to determine an additional position of the image pickup device different
from the one position when the judgment unit judges that the full image of the target portion cannot be captured, and

wherein the position determination unit is configured, when determining a plurality of positions of the image pickup device,
to determine the plurality of positions of the image pickup device so that the image pickup device in the respective positions
adjacent to each other has ranges of visual fields so as to superimpose on each other over a predetermined range,

the robot programming apparatus further comprising a processing program creation unit for creating a processing program for
processing the workpiece on a position of the target portion obtained by simulating the image pickup program in the virtual
space.

US Pat. No. 9,337,604

CARBON DIOXIDE GAS LASER OSCILLATOR WHICH CAN ESTIMATE COMPOSITION RATIO OF LASER GAS

Fanuc Corporation, Yaman...

1. A laser gas estimation device which estimates a composition ratio of laser gas mainly composed of one or a plurality of
carbon dioxide gas, nitrogen gas, and helium gas, the laser gas estimation device comprising:
a laser oscillator enclosing the laser gas and comprising a ventilator which circulates the laser gas, a discharge tube, a
ventilator power unit which supplies power to the ventilator, and a discharge tube power unit which supplies power to the
discharge tube;

a detection unit which detects at least one of a gas pressure of the laser gas enclosed in the laser oscillator, a ventilator
voltage applied to the ventilator, a ventilator current supplied to the ventilator, a discharge tube voltage applied to the
discharge tube, and a discharge tube current supplied to the discharge tube;

a composition ratio estimation unit which estimates the composition ratio of the laser gas based on a detected value detected
by the detection unit; and

a storage unit which stores a relationship between at least one of the gas pressure, the ventilator voltage, the ventilator
current, the discharge tube voltage, and the discharge tube current, and the composition ratio of the laser gas, wherein

the composition ratio estimation unit estimates the composition ratio corresponding to the detected value using the relationship
stored in the storage unit.

US Pat. No. 9,199,379

ROBOT SYSTEM DISPLAY DEVICE

Fanuc Corporation, Yaman...

1. A robot system display device comprising:
a storage unit for storing shape information and arrangement information of components of a robot system; and
a display unit for graphically displaying the components of the robot system based on the shape information and the arrangement
information of the components stored by the storage unit,

wherein the robot system at least comprises a robot and a vision sensor,
wherein the robot system display device further comprises:
a first acquisition unit for acquiring calibration data for associating a robot coordinate system which is a reference for
an operation control of the robot and a vision sensor coordinate system which is a reference for a measurement process of
the vision sensor with each other; and

a second acquisition unit for acquiring arrangement information of the vision sensor based on the calibration data acquired
by the first acquisition unit and shape information of the vision sensor stored by the storage unit,

wherein the display unit is adapted to display the vision sensor, based on the shape information of the vision sensor stored
by the storage unit and the arrangement information of the vision sensor acquired by the second acquisition unit.

US Pat. No. 10,117,354

MOTOR DRIVE UNIT PROVIDED WITH HOUSING FORMED WITH OPENING

FANUC CORPORATION, Yaman...

1. A motor drive unit mounted on a cabinet, comprising:an electronic component; and
a housing surrounding the electronic component, and including:
a back plate which is fixed to the cabinet and to which the electronic component is fixed;
a front plate opposite the back plate; and
a first side plate and a second side plate which extend from the back plate to the front plate so as to be opposite to each other, wherein
the first side plate includes an opening extending through the first side plate, the first side plate is slanted with respect to the back plate so as to approach the second side plate or separate from the second side plate the further from the back surface plate toward the front surface plate wherein the motor drive unit is mounted on the cabinet in close proximity to an other member the other member also having a side plate, wherein the first side plate faces and directly contacts the side plate of the other member and is slanted so as to form a gap between the first side plate and the side plate of the other member to allow an air flow through the opening and the gap to be generated.

US Pat. No. 9,518,846

REFLECTIVE OPTICAL ENCODER HAVING RESIN-MADE CODE PLATE

Fanuc Corporation, Yaman...

1. A reflective optical encoder comprising:
a code plate which is formed by resin material and has a first major surface and a second major surface opposed to the first
major surface;

a light emitting unit positioned near the first major surface of the code plate; and
a light receiving unit positioned near the first major surface of the code plate,
wherein the first major surface of the code plate has:
1) an incidence portion with a concavo-convex shape allowing light transmitted from the light emitting unit to enter the code
plate through the first major surface, and

2) an emission portion with a concavo-convex shape allowing the light to exit the code plate through the first major surface,
and

wherein the second major surface of the code plate has a code pattern section including:
1) a transmission portion formed from a V-shape, a triangular shape or a curved surface and configured to allow the light
to exit the code plate through the second major surface, and

2) a total reflection portion formed from a flat surface and configured to totally reflect the light from the second major
surface.

US Pat. No. 9,397,526

ELECTRIC MOTOR HAVING STRUCTURE FOR REDUCING COGGING TORQUE

Fanuc Corporation, Yaman...

1. A synchronous electric motor having s slots and 2p poles, wherein a lowest common multiple of s and p is an odd multiple
of p, the synchronous electric motor having a rotor comprising:
an iron core having a plurality of protrusions for positioning permanent magnets; and
a plurality of permanent magnets positioned on the iron core,
wherein the protrusions are arranged on the iron core so that one end of each permanent magnet is inclined towards one of
neighboring permanent magnets so as to be attracted to the one of the neighboring permanent magnets, and so that the other
end of each permanent magnet is inclined towards the other of neighboring permanent magnets so as to be attracted to the other
of the neighboring permanent magnets,

wherein each protrusion has a trapezoidal shape having a height in a direction of a rotation axis of the iron core,
wherein the iron core includes a first region and a second region defined by dividing the iron core into two halves in a direction
of a rotation axis thereof, and

wherein a first protrusion and a second protrusion are alternately positioned in a circumferential direction of the iron core,
the first protrusion having a long side positioned in the first re ion and a short side positioned in the second region, and
the second protrusion having a short side positioned in the first region and a long side positioned in the second region.

US Pat. No. 9,329,585

ARTICLE ASSEMBLING DEVICE USING ROBOT

FANUC CORPORATION, Yaman...

1. An article assembling device for taking out and aligning bolts, and attaching a first article to a second article by means
of the aligned bolt, the assembling device comprising:
a first detecting section which detects a position of at least one bolt to be taken out among a plurality of randomly located
bolts;

a first robot having a first robot hand configured to take out the bolt by using positional information of the bolt detected
by the first detecting section, and then align and locate the taken out bolt on a bolt placement table;

a second detecting section which detects a position of the first article;
a second robot having a second robot hand configured to grip the first article by using positional information of the first
article detected by the second detecting section, and then move the first article to an assembling position where a connecting
part of the first article and a connecting part of a second article located at a predetermined place contact each other;

a bolt holding and fastening section configured to take out and hold the bolt aligned and located on the bolt placement table,
and then rotate the bolt about an axial direction thereof; and

an external holding device which receives the first article conveyed to the assembling position by the second robot, and holds
the first article at the assembling position,

wherein the bolt holding and fastening section takes out and holds the bolt aligned and located on the bolt placement table,
and then assembles the first article and the second article by fastening the first and second articles with the bolt while
the connecting parts of the first and second articles contact each other, and

wherein the bolt holding and fastening section is mounted to the second robot, and the bolt holding fastening section mounted
to the second robot fastens the first article held by the external holding device and the second article.

US Pat. No. 9,321,178

MACHINE SYSTEM INCLUDING WIRELESS SENSOR

FANUC CORPORATION, Yaman...

1. A machine system comprising:
a machine device including a movable member driven by a motor;
a control device configured to control the machine device;
a sensor unit provided at a tip part of the movable member and configured to periodically detect a position, a speed or acceleration
of the tip part;

a wireless signal path through which a sensor signal indicating the position, the speed or the acceleration detected by the
sensor unit is transmitted from the machine device to the control device by wireless;

a data acquisition unit configured to acquire first time-series data of the position, the speed or the acceleration at the
tip part of the movable member corresponding to the sensor signal received via the wireless signal path;

a data calculation unit configured to calculate, based on a driving command of the motor, second time-series data of the position,
the speed or the acceleration at the tip part of the movable member corresponding to the first time-series data;

a delay time calculation unit configured to calculate a delay time of the first time-series data with respect to the second
time-series data according to a degree of correlation between first time-series data acquired by the data acquisition unit
and the second time-series data calculated by the data calculation unit; and

a correction unit configured to correct the first time-series data based on the delay time calculated by the delay time calculation
unit.

US Pat. No. 9,296,103

CONTROL DEVICE FOR ROBOT FOR CONVEYING WORKPIECE

FANUC CORPORATION, Yaman...

1. A control device for a robot, the robot comprising a tool for holding a workpiece, and a force measuring part for measuring
a force acting on the tool from the workpiece when the workpiece is held by the tool, the robot being adapted to hold and
convey the workpiece placed in a three-dimensional space, the control device comprising:
a center-of-gravity position calculating part configured to calculate, based on force data measured by the force measuring
part for a plurality of postures of the robot holding the workpiece, a center-of-gravity position of the workpiece held by
the tool when the robot holds and conveys the workpiece;

a processing part configured to carry out, based on a positional relationship between a position of the tool and the center-of-gravity
position of the workpiece, at least one of

an estimation process for estimating a holding state of the workpiece held by the tool,
a determination process for determining a type of the workpiece held by the tool, and
a testing process for testing a quality of the workpiece held by the tool,
wherein the estimation process pertains to
stability of the holding state of the workpiece held by the tool, or
a position and posture of the workpiece held by the tool, or
a longitudinal direction of the workpiece held by the tool, or
a face of the workpiece on which the workpiece is held by the tool; and
an operating command modifying part
configured to modify, based on a result of (i) the estimation process pertaining to stability of the holding state of the
workpiece held by the tool, or (ii) the position and posture of the workpiece held by the tool, or (iii) the longitudinal
direction of the workpiece held by the tool, an operating command to the robot, and at least one of operations:

changing a moving speed of the robot at the time of conveying the workpiece held by the tool;
correcting a position and posture of the workpiece at the time of conveying the workpiece; and
correcting a position and posture of the workpiece and moving the workpiece to a destination,
or configured to modify an operating command to the robot, based on a result of the estimation process on the holding state
of the workpiece pertaining to a face of the workpiece on which the workpiece is held by the tool,

or configured to modify an operating command to the robot and change a destination of conveyance of the workpiece, based on
the type of the workpiece held by the tool or on a result of the testing process on the workpiece.

US Pat. No. 9,050,722

PICKUP DEVICE CAPABLE OF DETERMINING HOLDING POSITION AND POSTURE OF ROBOT BASED ON SELECTION CONDITION

FANUC CORPORATION, Yaman...

1. A pickup device for picking up a target object from a plurality of objects, comprising:
a robot equipped with a tool adapted to hold the target object;
a sensor for measuring positions and postures of the plurality of objects;
a reference holding position and posture storing unit for storing a reference holding position and posture which serve as
a reference for a position and posture of the robot relative to the target object when the robot holds the target object by
the tool;

a holding position and posture modification range storing unit for storing a holding position and posture modification range
which corresponds to a range of modification which can be applied to the reference holding position and posture so as to hold
the target object by the tool;

a holding position and posture calculating unit for calculating a holding position and posture of the robot in which the robot
can hold the target object by the tool, based on the position and posture of the target object measured by the sensor and
on the reference holding position and posture;

a selection condition storing unit for storing at least one selection condition, based on which priority of the holding position
and posture of the robot can be determined; and

a holding position and posture selecting unit for selecting one of the holding positions and postures of the robot in accordance
with the priority determined by the selection condition, the holding positions and postures of the robot being obtained from
the holding position and posture calculated by the holding position and posture calculating unit and from the holding position
and posture modification range.

US Pat. No. 9,457,445

MACHINE TOOL WITH COVER ADAPTED FOR DISCHARGE OF CHIPS

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:
a bed;
a table on which a workpiece is to be placed;
a column comprising a spindle to be fitted with a tool for machining the workpiece, the table and the spindle being disposed
on the bed;

a cover comprising:
a front cover provided on a side opposite the column with the table therebetween, side covers provided on left and right sides
of the front cover, respectively, and

a bottom part connected to the bed through respective lower ends of the front cover and the side covers;
a first slope part provided between the front cover and the table, and comprising first left and right slopes declining from
a center of the front cover toward the left and right side covers, respectively;

a second slope part comprising second left and right slopes connected to lower ends of the first left and right slopes, respectively,
the second left and right slopes declining rearward relative to the machine tool away from the front cover;

a first left nozzle and a first right nozzle provided individually at a top of the first left slope and at a top of the first
right slope, respectively, the first left and right nozzles configured to discharge a cutting fluid onto the first left and
right slopes, respectively; and

a second left nozzle and a second right nozzle provided individually at a top of the second left slope and at a top of the
second right slope, respectively, the second left and right nozzles configured to discharge the cutting fluid onto the second
left and right slopes, respectively,

wherein
the first slope part and the second slope part are arranged below the table,
the second slope part comprises
left and right screw-conveyor-receiving spaces configured to receive screw conveyors, respectively, and
left and right space covers attachable to and detachable from the cover, and
when no screw conveyors are received in the left and right screw-conveyor-receiving spaces, the left and right space covers
are attached to the cover to cover the left and right screw-conveyor-receiving spaces and define the second left and right
slopes, respectively.

US Pat. No. 9,454,144

MACHINE TOOL PATH DISPLAY APPARATUS DISPLAYING RELATIVE TOOL VECTOR ANGLE

FANUC CORPORATION, Yaman...

1. A tool path display apparatus, comprising:
a display unit configured to display a program path together with at least one of a command path and an actual path to compare
the paths with each other, based on information from a numerical control apparatus for controlling a position of a tool tip
point of a machine tool,

the program path being a path of the tool tip point generated by connecting program coordinates calculated by a tool coordinate
calculating unit with shape data specified by a machining program,

the command path being a path of the tool tip point corresponding to a command signal to a drive unit of the machine tool,
and

the actual path being a path of the tool tip point detected by a detection device,
wherein the display unit further comprises a tool vector display unit configured to display at least one line segment as a
tool vector representative of a tool posture,

said at least one line segment connecting (a) the tool tip point passing through the program path, the command path or the
actual path and (b) a reference point distant from the tool tip point toward a tool base side by a predetermined distance,

wherein the tool vector display unit is configured to display each of the tool vectors for the at least two of the program
path, the command path and the actual path to compare the tool vectors with each other,

wherein the tool path display apparatus further comprises:
a tool vector selecting unit configured to select
a first tool vector for a first path which is one of the program path, the command path and the actual path, and
a second tool vector for a second path which is one of the program path, the command path and the actual path, and is different
from the first path; and

an angle calculating unit configured to calculate a relative angle defined by the first tool vector and the second tool vector,
and

wherein the display unit further comprises an angle display unit configured to numerically display the relative angle.

US Pat. No. 9,407,054

LASER PROCESSING APPARATUS CARRYING OUT CONTROL TO REDUCE CONSUMED POWER

FANUC CORPORATION, Yaman...

1. A laser processing apparatus, comprising:
a laser oscillator generating laser light, the laser oscillator having a discharge tube to which a discharge tube voltage
is applied and a shutter part provided at an output route of the laser light;

a laser processing machine carrying out laser processing by using the laser light output through the output route from the
laser oscillator; and

a control part controlling the laser oscillator and the laser processing machine in accordance with a processing program,
wherein

the control part comprises
a preparatory operation part controlling the laser processing machine so as to start a preparatory operation for the laser
processing if a preparatory operation command is output before a laser output command and,

a mode switching part controlling the discharge tube voltage applied to the discharge tube and switching an operating mode
of the laser oscillator between a standard standby mode before carrying out the laser processing and an energy saving mode
with less consumed power than the standard standby mode, and

the mode switching part controls the discharge tube voltage so as to switch the operating mode to the energy saving mode before
the preparatory operation command is output and to start a switching operation of the operating mode from the energy saving
mode to the standard standby mode at the same time the preparatory operation command Is output.

US Pat. No. 9,397,554

MOTOR DRIVE DEVICE HAVING FUNCTION OF ESTIMATING DEAD TIME IN OUTPUT STAGE

Fanuc Corporation, Yaman...

1. A motor drive device of a motor for driving a feed shaft and a main shaft of a machine tool, or arms of an industrial machine
or an industrial robot, comprising:
an inverter having a plurality of power elements, configured to generate an alternating current voltage for driving the motor
from a direct current voltage by switching of the plurality of power elements;

a current detection unit configured to detect a current to be inputted from said inverter to the motor;
a current controller configured to generate a voltage command from a current command and a current detection value detected
by said current detection unit;

a gate drive command generator configured to generate drive commands for the plurality of power elements upon receiving the
voltage command from said current controller, such that a dead time in an output stage, that is a period of time in which
both of the power elements for an upper arm and a lower arm that compose the output stage of said inverter are turned off,
becomes a predetermined value;

a gate drive circuit unit configured to output signals to drive gates of the plurality of power elements upon receiving the
drive commands from said gate drive command generator; and

a dead time estimator configured to estimate the dead time in the output stage that is produced by the signals to drive the
gates of the plurality of power elements, from a difference between the current command and the current detection value.

US Pat. No. 9,377,772

NUMERICAL CONTROLLER INCLUDING CORNER MULTIPLE CURVES INSERTING UNIT

FANUC Corporation, Minam...

1. A numerical controller configured to control a machine tool for machining a workpiece on a basis of a machining program
composed of a plurality of blocks, the numerical controller comprising: a processor and a memory, the processor configured
to execute:
a corner multiple curves inserting unit which inserts, between consecutive two blocks in the machining program, three cubic
polynomial curves in which a position, a direction and a curvature of each one of the three cubic polynomial curves are continuous
and distances from the two blocks are within a prescribed allowable tolerance, if the consecutive two blocks are linear blocks
and equal to or above a distance d from a vertex of a corner to a starting position of the curves and from the vertex of the
corner to an ending position of the curves,

wherein, the three cubic polynomial curves to be inserted are determined by evaluating the distance d and a magnitude |v|
of first-derivation vectors vs and ve at both ends of the curve, from an angle ? of the corner and an allowable tolerance /at the corner, on a basis of a relationship
among ?, d, and /which are previously evaluated in the three cubic polynomial curves,

wherein a relationship among ?, d, and l are previously evaluated so as to reduce a curvature and a curvature change in the
three cubic polynomial curves, and

wherein if a path of a tool center point on the workpiece is commanded by a machining program in a five-axis machine tool
having three linear axes and two rotational axes for controlling tool directions with respect to the workpiece, three cubic
polynomial curves are inserted into the path of the tool center point.

US Pat. No. 9,283,682

ROBOT SYSTEM HAVING WIRELESS ACCELERATION SENSOR

FANUC CORPORATION, Yaman...

1. A robot system comprising:
a robot having a movable part to which a wireless acceleration sensor is attached; and
a robot controller for controlling the robot,
wherein the wireless acceleration sensor comprises:
a timer for carrying out periodic measurement;
an acceleration measuring instrument which measures an acceleration of the movable part of the robot in each period of time
measured by the timer;

an identifying information adding part which adds identifying information to acceleration data measured by the acceleration
measuring instrument, the identifying information representing time series of the acceleration data;

a measurement information storing part which stores the acceleration data to which the identifying information is added;
a data set generating part which generates a data set which includes acceleration data in a plurality of periods of time,
among the acceleration data stored in the measurement information storing part; and

a first wireless communication part which transmits the data set to the robot controller by radio,
wherein the robot controller comprises:
a robot controlling part which operates the robot according to a predetermined operation program;
a second wireless communication part which carries out wireless communication with the first communication part and receives
the data set from the wireless acceleration sensor;

an acceleration data judging part which confirms the identifying information added to the acceleration data contained in the
data set, and judges as to whether the time series of the acceleration data is correctly received; and

a vibration suppression controlling part which calculates a corrected operation command value for correcting an operation
command value of the robot so as to suppress vibration of the robot, based on the operation command value of the robot, an
output value of a pulse encoder of the robot, and the time series of the acceleration data during the robot is operated based
on the operation program, and

wherein the robot controlling part re-executes the operation program using the corrected operation command value.

US Pat. No. 9,118,270

MOTOR CONTROL DEVICE INCLUDING ELECTRIC STORAGE DEVICE AND RESISTANCE DISCHARGE DEVICE

Fanuc Corporation, Yaman...

1. A motor control device comprising:
a rectifier that rectifies AC power supplied from an AC side to output DC power;
an inverter that is connected to a DC link at a DC side of the rectifier, and performs interconversion of electric power between
DC power at the DC link and drive power for a motor or regenerative electric power, which are AC power;

a voltage detecting unit that detects a DC voltage value at the DC link; a power failure detecting unit that detects power
failure at the AC side of the rectifier and detects the DC voltage value;

a discharging operation determining unit that does not output a discharging start command for operating the discharging unit
during a period from the time after the power failure detecting unit detects power failure to the time that a DC voltage value
detected by the voltage detecting unit becomes equal to or lower than a first threshold, and that outputs the discharging
start command for operating the discharging unit when a DC voltage value detected by the voltage detecting unit becomes equal
to or lower than the first threshold in response to the power failure detecting unit, wherein the first threshold is set to
be equal to or lower than a crest value of an input voltage at the AC side of the rectifier;

an electric storage device that is connected to the DC link, and stores DC power;
a charging unit that has a boosting function of charging the electric storage device at a voltage higher than a DC voltage
at the DC link;

a discharging unit that makes short-circuiting between the electric storage device and the DC link to discharge DC power stored
in the electric storage device to the DC link; and

a resistance discharge device that is connected to the DC link wherein after the power failure detecting unit detects power
failure, the resistance discharge device starts resistance discharging operation of consuming DC power of the DC link by resistance
discharging when a DC voltage value detected by the voltage detecting unit is equal to or higher than a resistance discharging
start level, and the resistance discharge device stops the resistance discharging operation when the DC voltage value detected
by the voltage detecting unit is equal to or lower than a resistance discharging stop level lower than the resistance discharging
start level.

US Pat. No. 9,079,314

ROBOT HAND FOR GRIPPING CYLINDRICAL OBJECT AND ROBOT HAVING THE ROBOT HAND

FANUC CORPORATION, Yaman...

1. A robot hand configured to grip an inner or outer peripheral portion of a cylindrical object and rotate the object about
a center axis of the object while gripping the object, the robot hand comprising:
a hand base attached to a front end of a robot arm;
N number of fingers movably attached to the hand base, wherein each finger extends parallel to the center axis of the object
gripped by the fingers and is positioned at each vertex of a N-sided polygon in a plane perpendicular to the center axis;

a first drive part which moves the N number of fingers relative to the hand base so that a circumcircle of the N-sided polygon
is arranged in a concentric pattern about the center axis;

N number of first rollers respectively attached to the N number of fingers, wherein each first roller is rotatable about an
axis parallel to the center axis and is configured to contact the inner or outer peripheral portion of the object by movement
of the finger relative to the hand base; and

a second drive part which rotates at least one of the N number of first rollers,
wherein N is a natural number of three or more; and
further including:
N number of linear moving parts respectively attached to the N number of fingers and configured to linearly move in the extending
direction of the finger;

a third drive part which linearly drive the linear moving parts relative to the respective fingers;
second rollers attached to the respective linear moving parts so that the second roller is rotatable about an axis along a
radial direction of the circumcircle; and

third rollers arranged on portions of the respective N number of fingers farther than the respective second rollers from the
hand ease in relation to the center axis wherein the third rollers have rotation axes parallel to rotation axes of the respective
second rollers.

US Pat. No. 9,073,218

MULTIPLE JOINTS ROBOT HAVING COVER ON END EFFECTOR ATTACHMENT

FANUC CORPORATION, Yaman...

1. A multiple joint robot, comprising:
an arm,
a wrist part provided at a tip end of the arm, and
a reduction gear unit provided at the wrist part and capable of receiving an end effector and of transmitting power to the
end effector,

wherein the reduction gear unit includes
a fixed part fixed to the wrist part by a fixing element,
a rotational part rotatable relative to the fixed part, and
a sealing element provided in a circumference of the rotational part,
wherein
the multiple joint robot further comprises a cover attached to the fixed part of the reduction gear unit, the cover being
adapted to cover a convex portion or a concave portion formed on the fixed part by the fixing element and to cover the sealing
element so as to prevent the sealing element from being exposed to an exterior,

the cover is a ring-shaped member including an outer circumferential portion and an inner circumferential portion, and
a thickness of the inner circumferential portion is less than a thickness of the outer circumferential portion.

US Pat. No. 9,730,334

MOUNTING STRUCTURE OF LEADED ELECTRONIC COMPONENT WHICH REDUCES OCCURRENCE OF BLOW HOLE

FANUC Corporation, Minam...

1. A leaded electronic component mounting structure in which a leaded electronic component and a printed wiring board are
electrically and mechanically joined by inserting a lead of the leaded electronic component into a through hole provided in
the printed wiring board and performing immersing into molten solder, the leaded electronic component mounting structure comprising:
a surface mount component mounted on a surface mount component pad provided on the printed wiring board; and
the leaded electronic component placed over the surface mount component, wherein
the surface mount component and the surface mount component pad form a tunnel-shaped air passage connecting a space formed
by the leaded electronic component and the printed wiring board to an outside, and

the surface mount component prevents the tunnel-shaped air passage from coming into contact with the leaded electronic component.

US Pat. No. 9,610,688

ROBOT PROGRAM GENERATION APPARATUS GENERATING ROBOT PROGRAM FOR REDUCING JERKS OF JOINTS OF ROBOT

FANUC CORPORATION, Yaman...

1. A robot program generation apparatus configured to generate a robot program for operating a robot including a plurality
of joints, the robot program generation apparatus comprising:
an allowable jerk value setting unit configured to set allowable jerk values to the joints of the robot;
a joint information calculation unit configured to simulate execution of a robot program in a virtual space and calculate
positions and jerks of the joints in association with time;

a jerk check unit configured to determine whether or not the jerks calculated by the joint information calculation unit are
excess jerks which exceed the allowable values;

a joint information identification unit configured to identify joints and positions of the joints in which the excess jerks
are generated; and

a robot program adjustment unit configured to adjust the robot program by modifying a teaching position within the neighborhood
of the positions of the joints in which the excess jerks are generated so that the jerks of the joints identified by the joint
information identification unit become equal to or smaller than the allowable values.

US Pat. No. 9,597,808

JOINT STRUCTURE CAPABLE OF OPTIMIZING MARGIN OF LENGTH OF UMBILICAL MEMBER, AND INDUSTRIAL ROBOT HAVING THE JOINT STRUCTURE

Fanuc Corporation, Yaman...

1. A joint structure of an industrial robot, the industrial robot comprising:
an upper arm;
a forearm having a forearm base rotatably connected to the upper arm; and
an umbilical member extending from a lateral side of the upper arm and introduced to a lateral side of the forearm base,
wherein a motion range of the forearm relative to the upper arm is variable,
wherein the umbilical member has a margin of length corresponding to the motion range of the forearm, between the lateral
side of the upper and the lateral side of the forearm base, and

wherein the umbilical member has a length portion in addition to and adjacent to the margin of length for adjusting an overall
length of the margin of length corresponding to a change in the motion range of the forearm, the length portion being contained
in or held by the upper arm or the forearm base.

US Pat. No. 9,517,563

ROBOT SYSTEM USING VISUAL FEEDBACK

FANUC CORPORATION, Yaman...

1. A robot system, comprising:
a robot that is controlled by a program including operational instructions for performing predetermined operations on an object
placed at a first object position on a plane by use of a device attached to an arm end of the robot;

a camera that is attached to the arm end to take an image of the object;
a first robot position storing unit configured to store, as a first robot position, a position of the arm end arranged in
a predetermined positional relationship relative to the first object position;

a target arrival state data storing unit configured to store, at least one feature quantity among a position, attitude and
size of the object on the image of the camera in a target arrival state where the object is placed at the first object position
while the arm end is positioned at the first robot position, as the target arrival state data;

a robot movement amount calculator configured to calculate an amount of movement from an arbitrary initial position of the
arm end in order to make, at least one feature quantity of the position, attitude and size on the image of the object when
the object placed at a second object position on the plane has been captured by the camera with the arm end of the robot positioned
at the arbitrary initial position, agree with the at least one feature quantity of the target arrival state data; and

a correction data calculator configured to calculate correction data for correcting a robot position taught in the program
based on a difference between the first robot position and a second robot position, wherein the second robot position is the
position of the arm end when the arm end has been moved based on the calculated amount of movement.

US Pat. No. 9,490,602

LASER SYSTEM ABLE TO ESTIMATE HERMETIC SEAL OF LASER GAS CONTAINER

Fanuc Corporation, Yaman...

1. A laser system comprising:
a laser gas container forming a gas channel through which laser gas circulates,
a laser oscillator oscillating laser light by using laser gas flowing through the gas channel as an excitation medium,
a gas pressure detector detecting a laser gas pressure in the laser gas container,
a pressure adjusting part adjusting the laser gas pressure in the laser gas container based on a value detected by the gas
pressure detector,

a pressure control unit controlling the pressure adjusting part so that when shutdown of the laser oscillator is instructed,
the laser gas pressure in the laser gas container becomes a first gas pressure lower than atmospheric pressure and so that
at a preparatory stage after startup of the laser oscillator and before radiation of the laser light to an outside, the laser
gas pressure in the laser gas container becomes a second gas pressure capable of oscillating laser light,

a laser control unit controlling the laser oscillator so that the laser oscillator executes an initial operation in which
the laser oscillator outputs laser light in accordance with a predetermined oscillation condition at the preparatory stage,

a laser detector detecting an output of the laser light in the initial operation of the laser oscillator or a physical quantity
having a correlative relationship with the output of the laser light in the initial operation of the laser oscillator, and

a hermetic seal estimating part estimating an extent of leakage in the hermetic seal of the laser gas container based on a
detection value obtained by the laser detector.

US Pat. No. 9,409,270

MACHINE TOOL HAVING ONBOARD MEASURING DEVICE

FANUC CORPORATION, Yaman...

1. A machine tool having an onboard measuring device, which has a plurality of drive axes, machines a machining object by
controlling the drive axis by a numerical controller so as to relatively move a tool and the machining object, and carries
out a measurement of the machining object by relatively moving the onboard measuring device and the machining object, the
onboard measuring device having a probe, the machine tool having the onboard measuring device comprising:
a position detector which detects a position of each of the drive axes;
an input unit which inputs a position which is detected by the position detector to the numerical controller;
a work determining unit which determines, based on the positions of the drive axes input by the input unit, whether machining
of the machining object is to be carried out, measurement of the machining object is to be carried out by the onboard measuring
device, washing of the machining object is to be carried out, or washing of the probe is to be carried out; and

an execution commanding unit which commands, based on the determination of the work determining unit, machining of the machining
object, measurement by the onboard measuring device, washing of the machining object or washing of the probe;

wherein
the tool and the onboard measuring device are attached to the same drive axis,
a moving range of the drive axes in which machining of the machining object by the tool is possible is assumed to be an effective
machining range, and a moving range of the drive axes in which measurement of the machining object by the onboard measuring
device is possible is assumed to be an effective measuring range,

the work determining unit determines:
that the drive axes are in a state where machining of the machining object by the tool is possible if the drive axes are in
the effective machining range;

that the drive axes are in a washing standby state if the drive axes are in a range which belongs to neither the effective
machining range nor the effective measuring range;

that the drive axes are in a washing effective state if the drives axes enter the effective measuring range from the washing
standby state;

that the washing has been finished if the washing is stopped after the washing is actually carried out for a predetermined
time from the washing effective state; or

that the drive axes are in a state where measurement of the machining object is possible if the drive axes are in the effective
measuring range and also in a state where the washing is finished.

US Pat. No. 9,384,569

WAVEFORM DISPLAY DEVICE WITH DATA MANAGEMENT FUNCTION

FANUC CORPORATION, Yaman...

1. An apparatus, comprising:
a waveform display device including a data management function, which is connected to a numerical controller configured to
drivingly control a machine tool, configured to acquire drive-axis data representative of an operation and/or state of the
machine tool obtained from the numerical controller, and display a waveform of the drive-axis data, the waveform display device
being configured to:

acquire the drive-axis data from the numerical controller;
acquire a parameter of the numerical controller from the numerical controller; and
manage the drive-axis data and the parameter in association with each other based on a time at which the drive axis data is
acquired and a time at which the parameter is acquired, wherein the time at which the drive-axis data is acquired and the
time at which the parameter is acquired are generated by a timer of the waveform display device;

adjust the time at which the drive-axis data is acquired and the time at which the parameter is changed based on a time lag
between the timer of the numerical controller and the timer waveform display device; and

acquire time data from the timer of the numerical controller and time data from the timer of the waveform display device simultaneously.

US Pat. No. 9,372,101

TRANSMISSIVE OPTICAL ENCODER HAVING OPTICAL WAVEGUIDE

Fanuc Corporation, Yaman...

1. A transmissive optical encoder comprising:
a light emitting element;
a light receiving element;
a rotatable disk provided with slits and rotatable together with an object of detection; and
an optical waveguide having an inlet facing the light emitting element and an outlet facing the light receiving element,
wherein the light emitting element and the light receiving element are arranged on the same side in relation to the rotatable
disk, and

wherein the optical waveguide is fixed independently of rotational movement of the rotatable disk, and
wherein the optical waveguide has an enlarged portion arranged at the inlet and/or the outlet thereof, such that sectional
area of the optical waveguide gradually increases at the enlarged portion.

US Pat. No. 9,370,850

MACHINING TOOL WITH CUTTING FLUID PASSAGEWAY HAVING OPENED UPPER PORTION

FANUC CORPORATION, Yaman...

1. A machining tool, comprising:
a cover that isolates the inside of the machining tool, which is a machining space, from the outside, wherein the machining
tool is configured to machine a workpiece by moving a tool attached to a spindle relative to the workpiece set on a table;
and

a cutting fluid passageway disposed inside the machine tool and configured to supply a cutting fluid to a predetermined position
inside the machine tool on which scattered chips are accumulated by machining,

wherein the cutting fluid passageway extends in a single straight line from a first side of the machining space to a second
side of the machining space, the second side opposite to the first side,

wherein the cutting fluid passageway has an end at the second side, and a side portion between the first side and the second
side, and

wherein the cutting fluid passageway has an opening in the upper portion thereof and along a passageway direction of the cutting
fluid passageway, and is configured to supply both (i) the cutting fluid that overflows from the side portion of the cutting
fluid passageway and (ii) the cutting fluid that flows out of the end of the cutting fluid passageway to said predetermined
position.

US Pat. No. 9,278,419

LENS SHAPE MACHINING METHOD AND LENS SHAPE MACHINING DEVICE FOR CARRYING OUT MEASUREMENT ALONG SPIRAL MEASUREMENT PATH

FANUC CORPORATION, Yaman...

1. A lens shape machining method of machining a lens shape by using a lens shape machining device which has an onboard measuring
device, and relatively moving a tool and a machining object along a spiral machining path, the method comprising the steps
of:
machining along the spiral machining path;
acquiring shape measurement data by relatively moving a probe of the onboard measuring device with respect to the machining
object along a spiral measurement path having a radius increasing and decreasing amount which is larger than a radius increasing
and decreasing amount of the spiral machining path, after the machining, and measuring the machining object at a measurement
point on the spiral measurement path by the onboard measuring device;

determining interpolated shape measurement data at an intersecting point of a plurality of radial lines passing through a
center of the lens shape and the spiral measurement path by interpolating the shape measurement data;

determining a shape error amount which is a deviation between the interpolated shape measurement data and reference data,
at the intersecting point of the radial lines and the spiral measurement path;

determining a compensated machining amount for removing the machining error at the machining point which is the intersecting
point of the radial lines and the spiral machining path, on the basis of the determined shape error amount;

determining a machining point compensated machining amount at each of the machining points on the spiral machining path, on
the basis of the determined compensated machining amount;

creating a compensated machining path on the basis of the determined machining point compensated machining amount; and
executing the machining of the machining object by relatively moving the tool of the lens shape machining device and the machining
object along the created compensated machining path.

US Pat. No. 9,872,388

PRINTED WIRING BOARD

FANUC CORPORATION, Yaman...

1. A printed wiring board on which an electronic component comprising electrode terminal rows on four peripheral sides or
two opposite sides thereof is mounted, the printed wiring board comprising:
pad rows corresponding to the electrode terminal rows; and
each of pads at the both ends of the pad rows comprises an extension extending outwardly relative to the other pads not at
the both ends of the pad rows, the extension extending outwardly relative to the other pads in the direction of arrangement
of the pads from the center of the electronic component, the extension having a shape obtained by diagonally cutting a corner
located farthest from the center of the electronic component, wherein

one of the pads of the printed wiring board is a corner pad overlapping a corner of the electronic component;
each of the pads at the both ends of the pad rows comprises a solder fillet formed on the pad and on the extension when the
electronic component is mounted on the printed wiring board, and

the solder fillet formed on the pads and the extension of the pads at the both ends of the pad rows is greater and thicker
than a solder fillet formed on the pad not at the both ends of the pad rows, and

wherein, in the direction of arrangement of the pads, each of pads at the both ends of the pad rows has a width greater than
widths of the other pads not arranged at the both ends of the pad rows.

US Pat. No. 9,454,148

MACHINE CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A machine control device, comprising:
a control unit body; and
a display operation device separated from the control unit body,
wherein
the control unit body includes:
a wireless power transmission circuit;
a light/magnetism generation unit configured to generate light or magnetism when the control unit body is turned on; and
a control-unit-side wireless communication circuit,
the display operation device includes:
a display unit including a display;
an operation unit including a keyboard;
a wireless power receiving circuit;
a charging circuit;
a battery configured to be charged by the charging circuit;
a switch configured to turn on the display operation device in response to the light or magnetism generated by the light/magnetism
generation unit of the control unit body;

a display operation device on/off state holding circuit configured to hold the on state of the switch until power is turned
off; and

a display-operation-device-side wireless communication circuit,
the control-unit-side wireless communication circuit and the display-operation-device-side wireless communication circuit
are configured to wirelessly transmit and receive data with each other,

the display operation device on/off state holding circuit is configured to be
turned on by a signal included in the data, and
turned off to turn off the display operation device, and
the wireless power receiving circuit of the display operation device is configured to receive the power wirelessly supplied
from the wireless power transmission circuit of the control unit body.

US Pat. No. 9,297,273

COOLING JACKET INCLUDING A GROOVE UNIT THROUGH WHICH COOLING MEDIUM PASSES, STATOR INCLUDING A COOLING JACKET, AND ROTARY ELECTRIC MACHINE INCLUDING A COOLING JACKET

FANUC CORPORATION, Yaman...

1. A cooling jacket on a radial outside of a stator of a rotary electric machine, the cooling jacket comprising:
a tubular main body including a first end face of one axial side and a second end face of the other axial side; and
a groove unit defining a flow channel of a cooling medium, the groove unit being successively disposed axially on an outer
periphery of the main body,

wherein the cooling jacket includes no portion located radially outward from a bottom of the groove unit between a first end
portion of the groove unit on the one axial side of the main body and the first end face of the main body and between a second
end portion of the groove unit on the other axial side of the main body and the second end face of the main body,

wherein the groove unit is a multi-thread groove successively extended axially on the main body in a spiral manner.

US Pat. No. 9,268,323

NUMERICAL CONTROLLER WITH MACHINING CURVE CREATING FUNCTION

FANUC Corporation, Minam...

1. A numerical controller with a machining curve creating function which performs machining by creating a machining curve
that is a curve for machining based on a command point sequence obtained from a machining program for a machine tool having
a plurality of drive axes including at least two linear axes, interpolating the machining curve, and driving the drive axes
to the interpolated positions on the machining curve, the numerical controller comprising:
a segment curve creating unit which divides the command point sequence into a plurality of segments, and creates a segment
curve that is a curve corresponding to a segment command point sequence of each of the segments, so that a distance of the
segment curve from the segment command point sequence is within a permissible value set in advance and a maximum number of
command points are included between a segment starting point that is a starting point of the segment command point sequence
and a segment ending point that is an ending point of the segment command point sequence; and

a machining curve creating unit which creates the machining curve by repetitively executing the process of the segment curve
creating unit from a starting point to an ending point of the command point sequence, wherein

the machining curve is interpolated and the drive axes are driven so as to move to the interpolated positions on the machining
curve.

US Pat. No. 9,203,340

TEMPERATURE ESTIMATION DEVICE ESTIMATING TEMPERATURE OF POWER SEMICONDUCTOR CHIP, AND MOTOR CONTROL DEVICE INCLUDING THE SAME

FANUC CORPORATION, Yaman...

1. A temperature estimation device estimating a temperature of one power semiconductor chip that is a temperature estimating
target and that is included in one or more power semiconductor chips contained in one power semiconductor module out of power
semiconductor modules whose number is equal to or larger than the number of a plurality of motors and that are arranged in
the same heat radiator for driving the plurality of motors, respectively, the temperature estimation device comprising:
a first electric power loss calculation unit calculating a first electric power loss corresponding to an electric power loss
generated in all power semiconductor chips of the power semiconductor module containing the one power semiconductor chip that
is the temperature estimating target;

a first temperature difference calculation unit calculating, on the basis of the first electric power loss, a first temperature
difference corresponding to a temperature difference between the heat radiator and the power semiconductor module containing
the one power semiconductor chip that is the temperature estimating target;

a second temperature difference calculation unit calculating, on the basis of the first electric power loss and a second electric
power loss, a second temperature difference corresponding to a temperature difference between the heat radiator and a reference
temperature, the second electric power loss corresponding to an electric power loss generated in all power semiconductor chips
of one or more power semiconductor modules other than the power semiconductor module containing the one power semiconductor
chip that is the temperature estimating target;

a temperature calculation unit calculating a temperature of the one power semiconductor chip that is the temperature estimating
target, on the basis of the reference temperature, the first temperature difference, and the second temperature difference;
and

a temperature output unit outputting the temperature calculated by the temperature calculation unit.

US Pat. No. 9,071,112

SQUIRREL-CAGE ROTOR AND PRODUCTION METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A squirrel-cage rotor, comprising:
a core;
a plurality of slot holes formed in the core and extending along a rotation axis of the core;
conductive bars arranged in the slot holes; and
a pair of conductive end rings arranged at both ends of the core defined in relation to a direction of the rotation axis of
the core and connected to each other by the conductive bars,

wherein the slot holes are opened at an outer periphery surface of the core, the conductive bars are formed by a coating material
which is formed by spraying solid-state conductor particles into the slot holes from the side of the outer periphery surface
of the core, and

wherein at least one of the pair of conductive end rings is configured by a coating material which is formed by a cold spraying
process in which solid-state conductor particles are sprayed.

US Pat. No. 9,054,620

MOTOR DRIVING DEVICE INCLUDING ELECTRIC STORAGE DEVICE

FANUC CORPORATION, Yaman...

1. A motor driving device comprising:
a rectifier that rectifies alternating current power supplied from an alternating current side to output direct current power;
an inverter that is connected to a direct current link on a direct current side of the rectifier and that mutually transforms
electric power between direct current power at the direct current link and alternating current power that is driving electric
power for a motor or electric power regenerated in the motor;

a power failure detecting unit for detecting a power failure on the alternating current side of the rectifier;
an electric storage device that is connected to the direct current link and that includes a capacity for storing direct current
power;

a charging unit that possesses a voltage boosting function of charging the electric storage device to a voltage higher than
a direct current voltage at the direct current link and that has a circuit device having a small current rating smaller than
a rating needed to charging the electric storage device during drive control of the motor when a power failure is not occurring;

a discharging unit for making a short-circuit between the electric storage device and the direct current link to cause direct
current power stored in the electric storage device to be discharged to the direct current link; and

a control unit that outputs a charging command for causing the charging unit to operate before drive of the motor is started,
and outputs a discharging command for causing the discharging unit to operate and a predetermined motor driving command for
causing the inverter to operate when the power failure detecting unit detects a power failure on the alternating side of the
rectifier.

US Pat. No. 9,527,184

ROTATION TABLE DEVICE

FANUC CORPORATION, Yaman...

1. A rotation table device, comprising:
a casing;
a pressure adjustment unit configured to maintain a pressure inside the casing to be higher than the atmospheric pressure
by air supplied from a purge air supply port, and to prevent the intrusion of a cutting fluid; and

a rotation member rotatably supported by the casing;
a work attachment portion at one end of the rotation member; and
a clamping mechanism configured to prohibit the rotation of the rotation member;
wherein the clamping mechanism comprises:
a brake disk fixed to the rotation member; and
a target braking member fixed to the casing, and
a braking member including a contact surface and configured to be operated in the axial direction of the rotation member by
air or working oil between a clamped and an unclamped state;

in the clamped state, the contact surface of the braking member presses the brake disk against the target braking member to
fix a position of the work attachment portion, and in the unclamped state, the contact surface of the braking member is spaced
from the brake disk to allow rotation of the work attachment portion,

the braking member comprises:
a groove or a hole that allows the pressure inside the casing on opposite sides of the contact surface to be fluidly connected
and maintained higher than the atmospheric pressure in both the clamped and unclamped states.

US Pat. No. 9,468,985

SYSTEM FOR CALCULATING THREAD PITCH

Fanuc Corporation, Yaman...

1. A system for calculating a thread pitch of threads formed on a workpiece by a synchronized operation between a rotary shaft
which rotates the workpiece and a feed shaft which feeds a tool, comprising:
a first detection part which detects a rotation angle of the rotary shaft;
a second detection part which detects a movement amount of the feed shaft; and
a calculation part which calculates the movement amount for each rotation of the rotary shaft when forming threads on the
workpiece, based on the rotation angle detected by the first detection part and on the movement amount detected by the second
detection part.

US Pat. No. 9,369,010

STATOR OF ELECTRIC MOTOR INCLUDING RESIN INJECTED BY INJECTION MOLDING

FANUC CORPORATION, Yaman...

1. A stator of an electric motor comprising:
a stator core which includes a core back and a plurality of teeth protruding inwardly from the core back; and
a resin molding portion formed in an inner circumferential portion and an outer circumferential portion of the stator core
by means of injection molding,

the stator comprising a partition member provided in an axial end portion of the stator and adapted to partition the inner
circumferential portion and the outer circumferential portion of the stator core,

wherein the partitioning member makes resin injected from the axial end portion flow in a bifurcated passage into the inner
circumferential portion and the outer circumferential portion.

US Pat. No. 9,327,408

ROBOT CONTROL DEVICE DETECTING CONTACT WITH EXTERNAL ENVIRONMENT

FANUC CORPORATION, Yaman...

1. A robot control device for controlling an articulated robot to which a force sensor is attached, comprising:
an internal force estimating unit for estimating a force generated at a point where the force sensor is attached as an internal
force, based on the weight of each of a robot arm and a hand attached to the tip of the robot arm in a state in which the
robot arm of the robot is not in contact with an external environment, and an inertial force generated by the operation of
each of the robot arm and the hand;

a storage unit in which each rotational operation region of a plurality of joints of the robot arm is divided into a plurality
of small regions depending on the angle, and for each of the small regions, an internal force estimated by the internal force
estimating unit is subtracted from an output of the force sensor in a state in which the robot arm is not in contact with
an external environment, thereby storing a force correction amount;

a force correction amount determining unit in which a force correction amount corresponding to each of the current angles
of the plurality of joints of the robot arm is determined by the storage unit; and

a contact force calculating unit in which a contact force when the robot arm is in contact with an external environment is
calculated by subtracting an internal force estimated by the internal force estimating unit and the force correction amount
determined by the force correction amount determining unit from a current output of the force sensor.

US Pat. No. 9,102,064

MULTI-JOINT ROBOT HAVING GAS SPRING, AND METHOD FOR ESTIMATING INNER PRESSURE OF THE GAS SPRING

Fanuc Corporation, Yaman...

1. A multi-joint robot comprising:
a robot mechanical unit having at least one arm;
a gas spring arranged on the arm; and
a controller which controls the robot mechanical unit,
wherein the gas spring comprises a cylinder, compressible inert gas enclosed within the cylinder and a piston rod configured
to slide in the cylinder, the gas spring being configured as a gas balancer for reducing a load of a servomotor which drives
the arm, and

wherein the controller has a function to calculate a total movement distance of the piston rod by integrating an amount of
back-and-forth motion of the piston rod relative to the cylinder, and calculate an amount of decrease in inner pressure of
the compressible inert gas based on the total movement distance.

US Pat. No. 9,085,037

WIRE ELECTRICAL DISCHARGE MACHINE AND WIRE ELECTRICAL DISCHARGE METHOD FOR REDUCING MACHINING DAMAGE DURING CUTTING MACHINING AND ESCAPE MACHINING

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine for machining a workpiece, the wire electrical discharge machine comprising:
at least one wire guide configured to move a wire electrode with respect to the workpiece to machine the workpiece by discharge
generated between the wire electrode and the workpiece; and

a numerical controller configured to cause the wire guide to relatively move the wire electrode with respect to the workpiece
while inclining the wire electrode within a plane parallel to a machining surface to which the wire electrode approaches in
an approach section, wherein

the wire electrode performs cutting machining on the machining surface of the workpiece, and
after the approach section, the numerical controller is configured to cause the wire guide to gradually reduce an inclination
of the wire electrode within the plane parallel to the machining surface for performing machining on the machining surface.

US Pat. No. 10,104,804

ELECTRONIC DEVICE

FANUC CORPORATION, Yaman...

1. An electronic device that is formed by housing one or more substrates in a casing, the one or more substrates being provided with an electronic part, and the casing including a plurality of heat dissipation slits formed in a top panel, wherein:the heat dissipation slits each have an elongated shape including a first short side and a second short side that extend in substantially parallel to an extension direction of the substrates, and a first long side and a second long side that extend in a direction substantially orthogonal to the extension direction and face each other, and include a first short sidewall, a second short sidewall, a first long sidewall and a second long sidewall that extend along a depth direction of the first short side, the second short side, the first long side and the second long side;
a projection portion is formed on at least one of the first long sidewall and the second long sidewall that face each other, and protrudes toward another of the first long sidewall and the second long sidewall, and the projection portion forms a step portion with the one of the first long sidewall and the second long sidewall;
the step portion slants away from the substrates as the step portion extends away from the substrates;
an inclined rib is formed in the casing near an end of the step portion closest to the projection portion and extend along the extension direction of the substrates so as to cross all of the heat dissipation slits;
the inclined rib increases in thickness along the extension direction, in a thickness direction orthogonal to the extension direction; and
a drain hole configured to discharge a droplet guided by the inclined rib is formed in a wall surface of the casing.

US Pat. No. 9,557,729

TOOL TRAJECTORY DISPLAY DEVICE INCLUDING DISPLAY UNIT FOR TRAJECTORY DATA

FANUC CORPORATION, Yaman...

1. A tool trajectory display device comprising:
a numerical control device that controls at least one drive shaft of a machine tool based on an instruction position in a
machining program;

an actual position data acquisition unit that acquires an actual position of the at least one drive shaft controlled by the
numerical control device;

a start point coordinate storing unit that stores a plurality of coordinate positions of the at least one drive shaft as start
point coordinate positions upon initiation of executing a plurality of repetition portions included in the machining program
for repeatedly machining identical shapes or symmetric shapes;

a movement amount determining unit that determines a movement amount of the at least one drive shaft from a first start point
coordinate position to a second start point coordinate position among the plurality of start point coordinate positions stored
in the start point coordinate storing unit;

a trajectory calculation unit that calculates a first actual trajectory of a tool tip point of the machine tool from the actual
position acquired by the actual position data acquisition unit based on the first start point coordinate position after adding
the movement amount and a repetition portion corresponding to the first start point coordinate position, 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 a repetition portion corresponding to the second start point coordinate position; and

a display unit that superimposes and displays the first actual trajectory and the second actual trajectory calculated by the
trajectory calculation unit.

US Pat. No. 9,423,785

TOOL TRAJECTORY DISPLAY DEVICE HAVING FUNCTION FOR DISPLAYING INVERSION POSITION OF SERVO AXIS

FANUC CORPORATION, Yaman...

1. A tool trajectory display device for displaying a trajectory of a tool center point of a machine tool with a plurality
of servo axes including at least one rotation axis controlled by a numerical controller, the tool trajectory display device
comprising:
a position information obtaining part which obtains position information of at least one servo axis of the plurality of servo
axes, by using a position detector which measures the position of the at least one servo axis;

a velocity information obtaining part which obtains velocity information of the at least one servo axis, by calculating the
velocity information based on the position information obtained by the position information obtaining part or by using a velocity
detector which measures a velocity of the at least one servo axis;

a tool coordinate calculating part which calculates a coordinate value of the tool center point based on the position information
of the at least one servo axis and information of a mechanical constitution of the machine tool;

an inversion position calculating part which calculates a plurality of inversion positions based on the velocity information
of the at least one servo axis and the coordinate value of the tool center point, the plurality of inversion positions including

a first inversion position where a polarity of the velocity of the at least one servo axis is changed from plus to minus,
and

a second inversion position where the polarity of the velocity of the at least one servo axis is changed from minus to plus;
and

a displaying part which
displays a trajectory of the tool center point based on the coordinate value of the tool center point, and
displays the plurality of inversion positions of the at least one servo axis on the trajectory of the tool center point,
wherein the plurality of servo axes includes a gravity axis, and the displaying part displays the first and second inversion
positions by using different display attributes, respectively, to indicate whether a moving direction of the gravity axis
is changed from upward to downward or from downward to upward, for evaluating an effect of gravity on a shape error of a workpiece
to be processed by the machine tool.

US Pat. No. 9,364,909

WIRE ELECTRIC DISCHARGE MACHINE AND WIRE ELECTRIC DISCHARGE MACHINING METHOD

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine configured to apply a voltage to a machining gap between a wire electrode and a workpiece
so that the workpiece is machined by electric discharge, the wire electric discharge machine comprising:
a power supply device for electric discharge machining comprising a plurality of DC power supply devices, supply voltage switching
means for changing the plurality of DC power supply devices, and current supply means for turning on and off the supply of
a discharge current to the machining gap from the DC power supply device changed by the supply voltage switching means; and

a controller configured to control the supply voltage switching means and the current supply means of the power supply device
for electric discharge machining, adjust the magnitude and the pulse width of a pulse voltage applied to the machining gap,
and adjust a peak current value of a total discharge current flowing to the wire electrode and the current pulse width within
ranges of 30 to 150 amperes and 0.3 to 6.4 microseconds, respectively,

the wire electric discharge machine being configured, when the material of the workpiece is graphite or a carbon composite,
to give a command from the controller to the supply voltage switching means, adjust the pulse voltage applied to the machining
gap and the pulse width of the pulse voltage, give a command from the controller to the current supply means, set the peak
current value of the total discharge current flowing to the wire electrode and the current pulse width so as to be suitable
for machining of the graphite or carbon composite material, and perform the machining with a gentle rise of a machining current,
the peak current value reduced, and the current pulse width increased.

US Pat. No. 9,360,494

ROTATION DETECTOR AND METHOD OF PRODUCING A ROTOR IN THE ROTATION DETECTOR

FANUC CORPORATION, Yaman...

1. A rotation detector including a rotor, a magnetic field generator fixed to face said rotor and generates a magnetic field,
and a detector unit arranged between said rotor and said magnetic field generator to detect signals that vary responsive to
changes in said magnetic field caused the rotation of said rotor; wherein
said rotor includes a first cylindrical portion having one or a plurality of steps, and a second cylindrical portion having
one or a plurality of steps and arranged concentrically with said first cylindrical portion and being deviated in the axial
direction; and

said second cylindrical portion includes a first partial circumferential surface having a width narrower than that of said
first cylindrical portion in the circumferential direction, and a second partial circumferential surface having a radius smaller
than a radius of said first partial circumferential surface;

said rotor, further, including:
a first to-be-detected portion having a plurality of teeth formed on each of the steps of said first cylindrical portion;
and

a second to-be-detected portion having at least one tooth in phase with, and in the same shape and size as, the tooth of said
first to-be-detected portion, said at least one tooth being formed on said first partial circumferential surface of said second
cylindrical portion;

wherein said at least one tooth of said second cylindrical portion and a tooth of said first cylindrical portion corresponding
to said at least one tooth are formed in one operation by machining; and

wherein said second partial circumferential surface of said second cylindrical portion is positioned on the inside of the
bottom of teeth of said first to-be-detected portion in the radial direction.

US Pat. No. 9,350,134

LASER OSCILLATOR PROVIDED WITH LASER MEDIUM FLOW PATH

FANUC CORPORATION, Yaman...

1. A laser oscillator comprising:
a first discharge tube and a second discharge tube;
a first light guide arranged between a first end of the first discharge tube and a first end of the second discharge tube;
a laser medium flow path which is in fluid communication with each of the first discharge tube, the second discharge tube,
and the first light guide; and

a blower arranged in the laser medium flow path so as to circulate a laser medium to the laser medium flow path, the first
discharge tube, and the second discharge tube, wherein

a flow resistance of the laser medium flow path between a discharge opening of the blower and the first end of the first discharge
tube is equal to a flow resistance of the laser medium flow path between the discharge opening and the first end of the second
discharge tube,

a flow resistance of the laser medium flow path between an intake opening of the blower and a second end of the first discharge
tube opposite the first end of the first discharge tube is equal to a flow resistance of the laser medium flow path between
the intake opening and a second end of the second discharge tube opposite the first end of the second discharge tube, and

a flow resistance of the laser medium flow path between the discharge opening and a first end of the first light guide is
different from a flow resistance of the laser medium flow path between the discharge opening and a second end of the first
light guide opposite the first end of the first light guide.

US Pat. No. 9,339,958

MOLD MOUNTING PLATEN FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A mold mounting platen for an injection molding machine, the mold mounting platen comprising:
a mold mounting member; and
a clamping force transmission member;
wherein
at least one of the mold mounting member and the clamping force transmission member comprises:
a central bearing surface in a central portion of said at least one of the mold mounting member and the clamping force transmission
member;

a peripheral bearing surface surrounding the central bearing surface; and
a recessed portion provided between the central bearing surface and the peripheral bearing surface, and
an amount of protrusion of the central bearing surface in a direction opposite to a direction of depth of the recessed portion
and parallel to a mold opening/closing direction is larger than that of the peripheral bearing surface.

US Pat. No. 9,257,932

CONTROL DEVICE FOR SERVOMOTOR

FANUC CORPORATION, Yaman...

1. A control device of a servomotor for driving a machine tool, comprising:
a current control loop selecting unit configured to select a first current control loop or a second current control loop having
a response speed slower than that of the first current control loop, as a current control loop to be used in controlling a
current flowing through the servomotor based on an input current command value;

a filter configured to attenuate an input or an output of the first current control loop or the second current control loop
selected by the current control loop selecting unit in accordance with a set attenuation ratio in a specific frequency range;
and

a filter attenuation ratio setting unit configured to set, as the attenuation ratio of the filter, a first attenuation ratio
when the first current control loop is selected by the current control loop selecting unit, and a second attenuation ratio
smaller than the first attenuation ratio when the second current control loop is selected, wherein

a compensator provided in the first current control loop is a PI compensator, and a compensator provided in the second current
control loop is an I-P compensator.

US Pat. No. 9,162,336

MACHINE TOOL PROVIED WITH TABLE HAVING WIPER FOR REMOVING CHIPS DEPOSITED ON MOVABLE COVER

FANUC CORPORATION, Yaman...

1. A machine tool comprising:
a saddle which is supported by a first guide member provided in a bed and moves relative to the bed in a first direction;
and

a table which is supported by a second support member provided in the saddle and moves relative to the saddle in a second
direction intersecting the first direction,

the machine tool moving a tool attached to a spindle relative to a workpiece placed on the table to work the workpiece,
wherein the machine tool further comprises a telescopic movable cover which is provided in the saddle and protects the first
guide member, and a wiper which is fixed to a side surface of the table in the first direction and removes chips deposited
on an outermost portion of the telescopic movable cover.

US Pat. No. 9,127,810

INJECTION MOLDING MACHINE WITH MOTOR POWER INTERRUPTION FUNCTION

FANUC CORPORATION, Yaman...

1. An injection molding machine with motor power interruption function, in which said injection molding machine has at least
two motor power interruption units which drive a moving part of the injection molding machine by means of a motor and are
configured to switch between power supply to the motor and interruption of power supply to the motor according to an open/close
state of a safety door, said injection molding machine comprising:
a first safety-door state detection unit configured to detect the open/close state of the safety door;
a first determination unit configured to determine whether or not to interrupt power supply to the motor, based on a first
safety-door state signal output from the first safety-door state detection unit, an operating state of the injection molding
machine, and a first interruption criterion setting previously set in the injection molding machine, and to output a first
motor power interrupt signal;

a first motor power interruption unit configured to interrupt power supply to the motor in response to the first motor power
interrupt signal output from the first determination unit;

a second safety-door state detection unit configured to detect the open/close state of the safety door;
a second determination unit configured to determine whether or not to interrupt power supply to the motor, based on a second
safety-door state signal output from the second safety-door state detection unit, the operating state of the injection molding
machine, and a second interruption criterion setting previously set in the injection molding machine, and to output a second
motor power interrupt signal;

a second motor power interruption unit connected in series with the first motor power interruption unit and configured to
interrupt power supply to the motor in response to the second motor power interrupt signal output from the second determination
unit; and

a third determination unit configured to determine whether or not the respective contents of the first and second interruption
criterion settings are different from each other and output a third motor power interrupt signal if the contents of the two
settings are different, wherein

one of the at least two motor power interruption units is interrupted by the third motor power interrupt signal output by
the third determination unit, thereby interrupting power supply to the motor.

US Pat. No. 9,429,933

NUMERICAL CONTROLLER FOR MACHINE HAVING COMPONENT INSPECTION TIMING NOTIFICATION FUNCTION

FANUC Corporation, Minam...

1. A numerical controller for a machine, having function of notifying a timing for inspection of at least one of a plurality
of components used in the machine, the numerical controller comprising:
inspection cycle storage means for storing a plurality of inspection cycles for the component;
inspection cycle selecting threshold storage means for storing a first threshold for the selection of an inspection cycle
for the component based on an amount of change in state quantity of the component;

state quantity storage means for storing inspection dates for the component and state quantities measured on the inspection
dates in association with one another;

amount-of-change calculation means for calculating the amount of change in state quantity based on at least two inspection
dates stored in the state quantity storage means and state quantities measured on the at least two inspection dates;

inspection cycle selection means for selecting one of the inspection cycles stored in the inspection cycle storage means by
comparing the amount of change in state quantity calculated by the amount-of-change calculation means with the first threshold;

next inspection date calculation means for calculating the next inspection date based on the last inspection date for the
component and the inspection cycle selected by the inspection cycle selection means; and

inspection date notification means for notifying the next inspection date calculated by the next inspection date calculation
means.

US Pat. No. 9,370,837

WIRE ELECTRIC DISCHARGE MACHINE THAT AUTOMATICALLY CORRECTS MACHINING ROUTE ACCORDING TO CORNER ANGLE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine that creates a machining route based on an axial movement command of a machining program,
corrects the created machining program, at a corner portion formed by two consecutive moving blocks within the created machining
route, by extending an end point of a block to be machined first to form a new block, removing a portion extending from a
start point of a block to be machined subsequently to an intermediate point to form another new block, and connecting the
end point of the new block and the start point of the other new block by a straight line or an arc, and carries out discharge
machining according to the corrected machining program, the wire electric discharge machine comprising:
a corner angle acquiring unit that calculates a corner angle of the corner portion; and
a machining route correcting unit that corrects the machining route according to the corner angle, wherein
the machining route correcting unit sets, when the end point of the block to be machined first is extended, an extension distance
of the end point as a correction distance a, and also sets a length of the portion to be removed extending from the start
point of the block to be machined subsequently to the intermediate point as a return distance b, and corrects the machining
route at the corner portion so that the larger the corner angle, the smaller any one of or both of the correction distance
a and the return distance b.

US Pat. No. 9,343,867

GAS LASER SYSTEM RE-ACTIVATABLE WITHOUT ANY DAMAGE WITHIN SHORT TIME DURING RECOVERY OF POWER SUPPLY

FANUC CORPORATION, Yaman...

1. A gas laser system comprising:
a power source unit;
a laser oscillator operated by power supplied from the power source unit and including a device, a predetermined standby time
being needed until the device normally starts an operation after the device stops the operation due to reduction of the power
supplied from the power source unit;

a controller configured to control the laser oscillator;
a power reduction detection unit configured to detect the reduction of the power supplied from the power source unit, in which
the power is lowered than a power value operable normally the laser oscillator; and

a nonvolatile storage unit configured to store time data of a first time point when the reduction of the supplied power is
detected by the power reduction detection unit,

wherein the controller calculates an operation stop time of the device, based on time from the first time point acquired from
the time data stored in the nonvolatile storage unit to a second point time when a next system activation command is output,
permits operation resumption of the device when the operation stop time exceeds the predetermined standby time, and inhibits
the operation resumption of the device when the operation stop time is within the predetermined standby time.

US Pat. No. 9,225,270

CURRENT CONTROL DEVICE OF SYNCHRONOUS MOTOR

FANUC CORPORATION, Yaman...

1. A current control device of a synchronous motor, generating a current command in a predetermined sampling period on the
basis of an orthogonal dq coordinate system, the current control device comprising:
a provisional d-phase current command calculation unit calculating a provisional d-phase current command on the basis of a
torque command, a current at no load, and a current at maximum load;

a voltage amplitude calculation unit obtaining a voltage command vector, which is an output of a current control in a previous
sampling period, that is one cycle prior to the present sampling period, and calculating a magnitude of the voltage command
vector;

a voltage ratio calculation unit determining a voltage ratio between the magnitude of the voltage command vector and a maximum
output voltage of an amplifier;

a target d-phase current calculation unit obtaining a d-phase current command in the previous sampling period, and calculating
a target d-phase current command from the voltage ratio and the d-phase current command;

a correction value calculation unit determining a correction value by passing a difference between the provisional d-phase
current command in the present sampling period and the target d-phase current command through a low-pass filter; and

an adder adding the correction value to the provisional d-phase current command in the present sampling period in order to
calculate a new d-phase current command.

US Pat. No. 9,199,326

WIRE ELECTRIC DISCHARGE MACHINE AND AUTOMATIC PROGRAMMING DEVICE FOR WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine which relatively moves a wire electrode containing brass and a workpiece in accordance
with a machining program to machine the workpiece by electric discharge produced between the wire electrode and the workpiece,
the wire electric discharge machine configured to:
obtain a machining shape from the machining program;
calculate a position of a center of gravity of the machining shape and set an attachment/deposition region in which machining
chips containing brass produced during machining are attached and deposited to the workpiece at intersections of two orthogonal
straight lines, each passing through the position of the center of gravity of the machining shape, with the machining shape;
and

attach and deposit machining chips containing brass produced during machining to the workpiece according to the set attachment/deposition
region.

US Pat. No. 9,090,015

CONTROLLER OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A controller of an injection molding machine,
wherein the injection molding machine is provided with an injection member,
the controller controls the injection molding machine to perform metering and plasticization of a resin up to a metering completion
position in a metering process, to move forward the injection member while switching an injection speed at an injection speed
switching position in an injection process, and to proceed to a hold pressure process when a predetermined injection hold-pressure
switching condition is satisfied,

the controller includes:
an injection member position setting unit that sets a process value with respect to a process position of the injection member
and sets the process position of the injection member according to the set process value; and

a correction value setting unit that sets a correction value to correct the process position of the injection member, and
the injection member position setting unit sets the metering completion position and the injection speed switching position
as the process position of the injection member, at every predetermined cycle, using the correction value.

US Pat. No. 9,060,114

IMAGE PROCESSING DEVICE AND IMAGE PROCESSING METHOD FOR EXECUTING IMAGE PROCESSING TO DETECT OBJECT IN IMAGE

FANUC CORPORATION, Yaman...

1. An image processing device executing image processing in order to detect an object in an image imaged by an imaging device,
comprising:
an imaging command unit for commanding the imaging device to image the object;
an image acquisition unit for acquiring a first image imaged by the imaging device in accordance with a command of the imaging
command unit;

an image production unit for producing a second image where any of shade values is set with respect to each pixel so as to
have a brightness distribution opposite to a brightness distribution of the first image, based on the first image;

a projection command unit for commanding a projection device to project the second image on the object; and
an object information acquisition unit for acquiring information on the object based on a third image acquired by the image
acquisition unit by imaging the object projected with the second image using the imaging device in accordance with a command
of the imaging command unit.

US Pat. No. 9,519,736

DATA GENERATION DEVICE FOR VISION SENSOR AND DETECTION SIMULATION SYSTEM

FANUC CORPORATION, Yaman...

1. A data generation device configured to generate data used in a detection process using a vision sensor, based on positions
of a three-dimensional model of a robot, a three-dimensional model of the vision sensor and a three-dimensional model of an
object which are positioned in a virtual space, the data generation device comprising:
a robot placement position designating part configured to designate a placement position of the three-dimensional model of
the robot in the virtual space based on a reference coordinate system defined in the virtual space;

a vision sensor placement position designating part configured to designate a placement position of the three-dimensional
model of the vision sensor in the virtual space based on the reference coordinate system;

a placement position storing part configured to store the placement positions of the three-dimensional model of the robot
and the three-dimensional model of the vision sensor;

a positional relationship calculating part configured to calculate a positional relationship between a robot coordinate system
defined in relation to the three-dimensional model of the robot and a sensor coordinate system defined in relation to the
three-dimensional model of the vision sensor, based on the placement positions of the three-dimensional model of the robot
and the three-dimensional model of the vision sensor, without carrying out a calibration for associating the robot with the
vision sensor; and

a positional relationship storing part configured to store the positional relationship between the robot coordinate system
and the sensor coordinate system as data used in a detection process of the vision sensor.

US Pat. No. 9,242,382

WRIST STRUCTURE UNIT OF INDUSTRIAL ROBOT

Fanuc Corporation, Yaman...

1. A wrist structure unit connected to a tip of an arm of a robot and having a plurality of degrees of operational freedom,
the wrist structure unit comprising:
a wrist housing machine frame that forms different wrist chambers separated from each other in a wrist machine frame;
a wrist inner frame that is rotatably retained in a first one of the wrist chambers;
a wrist inner frame driving motor that is arranged in a second one of the wrist chambers such that an output shaft of the
motor is parallel to a rotational axis of the wrist inner frame and drives the wrist inner frame;

a driving motor different from the wrist inner frame driving motor, the driving motor being housed in the wrist inner frame
and outputting a rotational output orthogonal to the rotational axis of the wrist inner frame;

a cover that covers one side of the wrist housing machine frame to form a decelerator chamber; and
a spur gear deceleration mechanism unit that is arranged in the decelerator chamber and includes a multi-stage spur gear train
for decelerating and transmitting rotational power applied from the output shaft of the wrist inner frame driving motor to
the wrist inner frame,

the spur gear deceleration mechanism unit being adapted to be driven in a first deceleration ratio structure or a second deceleration
ratio structure, wherein

in the first deceleration ratio structure, the wrist inner frame driving motor is attached to a first attachment position
in the second wrist chamber;

the first deceleration ratio structure is adapted to use at least a first spur gear attached to the output shaft of the wrist
inner frame driving motor and a second spur gear rotatably supported by a first auxiliary shaft attached to the wrist housing
machine frame, having a larger diameter than the first spur gear, and engaged with the first spur gear;

in the second deceleration ratio structure, the wrist inner frame driving motor is attached to a second attachment position,
which is located farther from the wrist inner frame than the first attachment position, in the second wrist chamber;

the second deceleration ratio structure is adapted to use at least the first spur gear, a first additional spur gear rotatably
supported by an additional auxiliary shaft supported by a support member between the output shaft of the wrist inner frame
driving motor and the first auxiliary shaft, having a larger diameter than the first spur gear, and engaged with the first
spur gear, and a second additional spur gear rotatably supported integrally with the first additional spur gear by the additional
auxiliary shaft, having a smaller diameter than the first additional spur gear, and engaged with the second spur gear;

in the second deceleration ratio structure, the output shaft of the wrist inner frame driving motor and the additional auxillary
shaft are arranged in a common single through hole passing through the wrist housing machine frame of the wrist machine frame;
and

the support member includes a flat portion retaining the wrist inner frame driving motor, an opening portion, through which
the output shaft of the wrist inner frame driving motor passes, is formed on the flat portion.

US Pat. No. 9,193,074

MULTI-JOINT ROBOT HAVING GAS SPRING, AND METHOD FOR ESTIMATING INNER PRESSURE OF THE GAS SPRING

Fanuc Corporation, Yaman...

1. A multi-joint robot comprising:
a robot mechanical unit having at least one arm;
a gas spring arranged on the arm; and
a controller which controls the robot mechanical unit,
wherein the gas spring comprises a cylinder, compressible inert gas enclosed within the cylinder and a piston rod configured
to slide in the cylinder, the gas spring being configured as a gas balancer for reducing a load of a servomotor which drives
the arm, and

wherein the controller has a function to obtain a reference current value of a servomotor for driving the arm at a reference
point in time when the servomotor is energized and controlled; obtain an object current value of the servomotor at a point
in time, which is different from the reference point in time, when the servomotor is energized and controlled under the same
operating condition as the reference point in time; calculate a difference between the reference current value and the object
current value; and calculate an amount of decrease in inner pressure of the compressible inert gas of the gas spring, based
on the difference.

US Pat. No. 9,483,045

NUMERICAL CONTROLLER

FANUC Corporation, Minam...

1. A numerical controller comprising:
a central processing unit (CPU);
a memory;
a memory control circuit that controls the memory;
an axis control circuit that controls axes;
a display control circuit that controls display;
a system bus;
a bus control circuit that controls the system bus; and
a determination section in which alarm mask information is preset,
the system bus connecting the memory control circuit, the axis control circuit, the display control circuit, and the bus control
circuit together,

wherein the determination section is configured to execute a process of comparing the alarm mask information with alarm factor
information output from any of the memory control circuit, the axis control circuit, the display control circuit, and the
bus control circuit as a result of detection of an abnormality in data or a bus cycle, to provide masking so as to omit delivery
of an alarm to the central processing unit depending on a comparison result.

US Pat. No. 9,436,177

NUMERICAL CONTROL SYSTEM HAVING MULTI-CORE PROCESSOR

FANUC Corporation, Minam...

1. A numerical control system having a motor driving amplifier which drives a motor included in a machine and a numerical
controller connected to the motor driving amplifier via communication, the numerical controller comprising:
a numerical control processor outputting a moving instruction;
a motor control processor outputting an instruction for driving the motor based on the moving instruction from the numerical
control processor;

a communication interface of the motor driving amplifier which drives the motor based on the instruction from the motor control
processor; and

an amplifier interface unit connecting the numerical control processor and the motor control processor together, wherein
the motor control processor is a multi-core processor, and wherein the numerical control processor is allocated to a core
of the multi-core processor.

US Pat. No. 9,364,899

TOOL HOLDER ON WHICH NONROTATIONAL TOOL OF MACHINING CENTER IS MOUNTED

FANUC CORPORATION, Yaman...

1. A tool holder which is detachably attachable to a spindle of a machining center, and on which tool holder a nonrotational
cutting tool is mounted, the tool holder comprising:
a sleeve that is fitted to the spindle, on which spindle the tool holder is mounted;
a drive shaft that is connected to the sleeve;
a tool holder body that is supported to be rotatable relative to the drive shaft; and
a tool holding unit which is fixed to the tool holder body and on which the nonrotational tool is mounted,
wherein the tool holder body includes a positioning pin that is inserted into the machining center, and the tool holder body
also includes a locking mechanism,

the locking mechanism locks the rotation of the tool holder body relative to the drive shaft when the positioning pin is not
inserted into the machining center, and

the locking mechanism allows the rotation of the tool holder body relative to the drive shaft when the positioning pin is
inserted into the machining center.

US Pat. No. 9,364,911

WORKING FLUID SUPPLY DEVICE OF ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A working fluid supply device of an electric discharge machine, wherein the electric discharge machine is configured to
machine a workpiece immersed in a working fluid in a working tank the working fluid supply device configured to supply the
working fluid to the working tank and comprising:
a cleaned-fluid tank;
an ion-exchange resin;
a refrigerator;
a pump configured to draw up a cleaned fluid from the cleaned-fluid tank;
a first fluid circuit configured to supply the cleaned fluid drawn up by the pump to the working tank;
a second fluid circuit configured to supply the cleaned fluid drawn up by the pump to the ion-exchange resin and the refrigerator;
a first valve provided in the first fluid circuit;
a second valve provided in the second fluid circuit; and
a controller configured to open and close each of the first and second valves so that the cleaned fluid drawn up by the pump
is alternatively supplied to the first fluid circuit and the second fluid circuit.

US Pat. No. 9,346,174

UMBILICAL MEMBER ARRANGEMENT STRUCTURE OF INDUSTRIAL ROBOT HAVING HOLLOW MEMBER

FANUC CORPORATION, Yaman...

1. An arrangement structure for an umbilical member, comprising:
a forearm having a base part and a first wrist element, the first wrist element being rotatable relative to the base part
about a first axis along a longitudinal direction of the forearm;

a second wrist element rotatable relative to the first wrist element about a second axis which intersects with the first axis
at a right angle; and

a work tool rotatable relative to the second wrist element about a third axis which intersects with the second axis at a right
angle, the arrangement structure being configured to arrange a first umbilical member including at least one of a wire and
a tube connected to the work tool,

wherein a speed reducer having a hollow structure, which drives and rotates the first wrist element about the first axis,
is disposed between the base part and the first wrist element so that a rotation axis of the speed reducer coincides with
the first axis,

wherein a first opening is formed on a lateral side of the first wrist element, and a bent hollow member having a first flange,
through which the first umbilical member is inserted, is attached to the first opening via a first seal member, the bent hollow
member having a hollow portion with at least one bent portion,

wherein a second opening is formed on a rear side of the base part, and a cylindrical hollow member having a second flange,
through which the first umbilical member is inserted, is attached to the second opening via a second seal member, so that
the cylindrical hollow member extends through inside the speed reducer having the hollow structure,

wherein the bent hollow member is rotatably attached to the cylindrical hollow member within the first wrist element via a
bearing and an oil seal,

wherein a second umbilical member, which is a control cable for controlling a motor for driving the second wrist element or
the work tool, is arranged outside the cylindrical hollow member, and

wherein an inner diameter of the bent hollow member and an inner diameter of the cylindrical hollow member are equal to each
other at a connecting point between the bent hollow member and the cylindrical hollow member.

US Pat. No. 9,302,417

INJECTION MOLDING MACHINE FOR CONTINUING OPERATION IN EVENT OF POWER OUTAGE

FANUC CORPORATION, Yaman...

1. A control device for an injection molding machine for continuing operation in the event of a power outage and driving an
axis by a servo-motor, comprising:
a driving device configured to drive the servo-motor;
a power outage detection unit configured to detect a power outage of a power supply to the driving device;
a molding operation control unit configured to control a molding operation;
a control instruction value change unit configured to, instruct a change of a control instruction value output from the molding
operation control unit to the driving device for each axis to the molding operation control unit, and,
output an instruction of decreasing the control instruction value for each axis when the power outage detection unit detects
a power outage and output an instruction of returning the control instruction value for each axis to an original value to
the molding operation control unit when the power outage detection unit detects a power recovery.

US Pat. No. 9,483,044

CONTROL DEVICE FOR MACHINE TOOL WITH TIME ESTIMATION UNIT FOR ESTIMATING TIME UNTIL MOTOR REACHES OVERHEAT TEMPERATURE

FANUC CORPORATION, Yaman...

1. A control device for a machine tool including a motor for driving a spindle, the control device comprising:
a current detection unit that detects a current driving the motor;
a storage unit that stores overheat temperature specified for the motor;
a temperature detection unit that detects temperature of the motor;
a time estimation unit that estimates, by using the temperature detected by the temperature detection unit and the overheat
temperature, time from when present estimation takes place until the motor reaches the overheat temperature, under a condition
in which the current detected by the current detection unit continuously passes through the motor; and

a provision unit that provides the time estimated by the time estimation unit.

US Pat. No. 9,470,515

ARRANGEMENT EVALUATION APPARATUS FOR EVALUATING ARRANGEMENT POSITION OF RANGE SENSOR

Fanuc Corporation, Yaman...

1. An arrangement evaluation apparatus of a range sensor which evaluates by simulation an arrangement position of a range
sensor having a pair of cameras and a projector for projecting a stripe pattern light, comprising:
an article arrangement unit which arranges an article model corresponding to a plurality of stacked articles in a predetermined
area in a three-dimensional virtual space;

a sensor arrangement unit which arranges a sensor model, which is a sensor model corresponding to the range sensor and includes
a pair of camera models corresponding to the pair of cameras and a projector model corresponding to the projector, in the
virtual space so that the predetermined area is included in a measurement range;

a first plane group generation unit which generates a plurality of first planes including a plurality of division lines obtained
by dividing a virtual plane at a regular interval in the predetermined area opposing the pair of camera models and a camera
sight line extending toward the respective division lines from the pair of camera models;

a second plane group generation unit which generates a plurality of second planes by boundary surfaces of stripe pattern light
when it is assumed that the stripe pattern light has been projected from the projector model to the virtual plane;

an intersection line calculation unit which calculates a plurality of intersection lines at which the plurality of first planes
and the plurality of second planes intersect each other;

an intersection number calculation unit which counts a number of intersection points between the plurality of intersection
lines and a surface of the article model facing the pair of camera models; and

an arrangement evaluation unit which evaluates an arrangement position of the sensor model on the basis of the number of the
intersection points counted by the intersection number calculation unit.

US Pat. No. 9,431,886

METHOD OF MANUFACTURING A MAGNET PLATE FOR A LINEAR MOTOR

FANUC CORPORATION, Yaman...

1. A method for producing a magnet plate for a linear motor, the magnet plate comprising a base plate and a plurality of magnets
juxtaposed to one another on a surface of the base plate, the method comprising:
providing the plurality of magnets on the surface of the base plate at a certain interval such that there is direct contact
between the plurality of magnets and the base plate;

placing the base plate into a hollow portion of a mold;
supplying a resin material into the mold, so as to form a resin molding covering the plurality of magnets on the surface of
the base plate by means of injection molding; and

magnetizing the plurality of magnets,
wherein the base plate is a rectangular plate having a length, a width and a height, the height smaller than the length and
the width, wherein a first surface of the base plate is established on a side normal to a direction in the height direction,
and wherein the magnets are directly supported on the first surface of the base plate, and

wherein the magnets are rectangular magnets, the magnets having a length, a width and a height, the respective heights of
the magnets smaller than the respective lengths and respective widths of the magnets, wherein a second surface is established
on a side of the magnet normal to a direction in the height direction of the magnet, and wherein the second surface is parallel
to the first surface.

US Pat. No. 9,387,561

SCREW FASTENING DEVICE

Fanuc Corporation, Yaman...

1. A robot system comprising:
a robot; and
a screw fastening device which is attached to a front end of the robot;
wherein the screw fastening device includes;
(i) a base part which is fixed to the front end of the robot,
(ii) an extended part with one end which is attached to said base part in a pivotable manner,
(iii) a tool part which is fastened to another end of said extended part and is configured to rotate a screw,
(iv) a pushing mechanism which pushes said tool part against said screw through said extended part in an axial direction of
said screw,

(v) a guide part which is fastened to said base part, and
(vi) a torque generating part which generates a torque which makes said extended part rotate along said guide part in a radial
fastening direction of said screw,

wherein, in a screw fastening operation, when the robot is made to rotate about the tool part in the radial fastening direction,
the torque generating part generates a certain torque so that the extended part rotates along the guide part in the radial
fastening direction of the screw thereby rotating the tool part and the screw that is pushed against said tool part.

US Pat. No. 9,381,651

TRANSFER DEVICE SUCKING AND TRANSFERRING OBJECT

Fanuc Corporation, Yaman...

1. A transfer device comprising:
a suction unit capable of sucking an object; and
a transfer unit moving the suction unit, wherein the suction unit comprises:
a base member attached to the transfer unit;
a plurality of nozzles provided for a plurality of types of objects, each of the nozzles including an air inlet at an end
portion and an air outlet at another end portion;

a housing chamber formation unit attached to the base member, forming a chamber for housing said another end portion of each
of the plurality of nozzles, and including a sealing unit located at an end of said chamber and facing the air outlets of
the plurality of nozzles;

a negative pressure generation unit generating negative pressure inside the chamber; and
a drive unit driving the plurality of nozzles such that the air outlet of a nozzle selected from the plurality of nozzles
in accordance with a type of the object is separated from the sealing unit, and the air outlet of a non-selected nozzle is
positioned against the sealing unit to be sealed.

US Pat. No. 9,304,036

BEAM PROFILER MEASURING INTENSITY DISTRIBUTION OF LASER BEAM, LASER OSCILLATOR, AND LASER PROCESSING DEVICE

FANUC CORPORATION, Yaman...

1. A beam profiler for measuring an intensity distribution of a laser beam, comprising:
a partial reflecting mirror;
a plurality of light receiving parts receiving a laser beam passing through the partial reflecting mirror; and
a plurality of laser intensity sensors individually attached to the plurality of light receiving parts and sensing the intensity
of the laser beam received by the light receiving parts, wherein

the plurality of light receiving parts at least includes:
a first light receiving part receiving a first region of a laser irradiation region of the laser beam, the first region having
a center part of the laser beam; and

a second light receiving part thermally-insulated from the first light receiving part and receiving a second region of the
laser irradiation region which is different from the first region.

US Pat. No. 9,283,705

INJECTION UNIT FOR AN INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection unit of an injection molding machine which moves an injection screw in a longitudinal direction, the injection
unit comprising:
a first member which is disposed to be movable in the longitudinal direction and to which the injection screw is attached;
a second member capable of being connected to the first member at the back thereof by a connection member; and
drive means attached to the second member and capable of causing the second member to move the first member in the longitudinal
direction,

wherein the connection between the first and second members by the connection member is removable, and the first and second
members are supported by different support members when the connection between the first and second members by the connection
member is removed.

US Pat. No. 9,254,597

ADJUSTMENT MECHANISM FOR MOVABLE PLATEN

FANUC CORPORATION, Yaman...

1. An adjustment mechanism for a movable platen used in a mold clamping unit of an injection molding machine, wherein
the mold clamping unit comprises a fixed platen fixed on a base and a movable platen placed substantially parallel to the
fixed platen on the base; the adjustment mechanism for the movable platen comprising:

a push bolt configured to apply a force to push up the movable platen against a gravitational force; and
a pull bolt configured to apply a force to draw in the movable platen in the direction of gravity, wherein
the height of the movable platen above the base of the injection molding machine in a plurality of positions at different
distances from the fixed platen is adjusted using the push bolt and the pull bolt so that the height and inclination of the
movable platen with respect to the fixed platen are adjusted.

US Pat. No. 9,195,227

MOTOR CONTROL DEVICE FOR COMPENSATING BACKLASH

Fanuc Corporation, Yaman...

1. A motor control device for compensating backlash between a movable unit driven by a motor and a driven unit driven by the
movable unit, the motor control device comprising:
a position command generating unit for generating a position command for the driven unit;
a first position detecting unit for detecting a position of the movable unit;
a second position detecting unit for detecting a position of the driven unit;
a difference calculating unit for calculating a difference between a first positional detection value detected by the first
position detecting unit and a second positional detection value detected by the second position detecting unit;

a judging unit for judging whether or not the movable unit is engaged with the driven unit when the movable unit is driven
in a first direction and in a second direction opposite to the first direction;

a retaining unit for retaining the difference calculated by the difference calculating unit as an engaging difference, in
association with the first direction or the second direction, when the judging unit determines that the movable unit is engaged
with the driven unit; and

a compensation amount calculating unit for calculating a backlash compensation amount, based on the difference calculated
by the difference calculating unit, and the engaging difference retained by the retaining unit,

wherein the judging unit is adapted to determine that the movable unit is engaged with the driven unit when a movement amount
of the driven unit exceeds a threshold.

US Pat. No. 9,071,174

MOTOR CONTROL DEVICE CONTROLLING A PLURALITY OF MOTORS THAT DRIVE ONE DRIVEN BODY

FANUC CORPORATION, Yaman...

1. A motor control device controlling a plurality of motors that drive one driven body moving along one movement shaft, the
motor control device comprising:
a first physical quantity detecting unit which detects a first physical quantity concerning either the driven body or the
motor when the plurality of motors are in excited states;

an alarm generating unit which generates an alarm for at least one motor among the plurality of motors at a first timing in
accordance with a state of the motor;

a first state switching unit which switches the state of the motor that has caused the alarm, from an excited state to an
un-excited state at the first timing;

a brake commanding unit which outputs, to a brake that brakes the driven body, a command for switching a state of the brake
from a releasing state to a fastening state at a second timing that is a timing when a brake operation completing period of
time set in advance lapses from an alarm generation timing;

a state switch timing setting unit which sets a state switch timing to be either the first timing or the second timing on
the basis of the first physical quantity, wherein the state switch timing is a timing when the state of the motor other than
the motor that has caused the alarm is switched from an excited state to an un-excited state; and

a second state switching unit which switches the state of the motor other than the motor that has caused the alarm, from an
excited state to an un-excited state at the state switch timing, wherein

when the first physical quantity is at least either a magnitude of torque generated by a motor other than the motor that has
caused an alarm during the generation of the alarm, or a moving speed of the driven body moving along the moving shaft during
the generation of the alarm, said state switch timing setting unit sets said state switch timing to said first timing when
said magnitude of torque becomes more than or equal to a first predetermined value or said speed becomes more than or equal
to a second predetermined value, and sets said state switch timing to said second timing when said magnitude of torque becomes
lower than said first predetermined value and said speed becomes lower than said second predetermined value.

US Pat. No. 9,356,550

MOTOR CONTROLLER HAVING ABNORMALITY DETECTION FUNCTION OF POWER TRANSMISSION UNIT BETWEEN MOTOR AND MAIN SHAFT

FANUC CORPORATION, Yaman...

1. A motor controller which controls the rotation drive of a motor in which a rotational power is transmitted to a main shaft
via a power transmission unit, comprising:
a motor rotation angle acquisition unit acquiring the rotation angle of the motor;
a main shaft rotation angle acquisition unit acquiring the rotation angle of the main shaft;
a one-rotation signal acquisition unit acquiring a one-rotation signal output every time the main shaft rotates once;
a motor rotation speed calculation unit calculating the rotation speed of the motor from the acquired rotation angle of the
motor;

a main shaft speed calculation unit calculating the rotation speed of the main shaft from the acquired rotation angle of the
main shaft;

a first temporary determination unit in which, when a change amount of the rotation angle of the motor acquired between the
time when a one-rotation signal is acquired and the time when the next one-rotation signal is acquired deviates from a first
range, it is temporarily determined that an abnormality has occurred in the power transmission unit;

a second temporary determination unit in which, when the difference between the rotation speed of the motor and the rotation
speed of the main shaft deviates from a second range, it is temporarily determined that an abnormality has occurred in the
power transmission unit; and

an abnormality determination unit in which, when at least one of the first temporary determination unit and the second temporary
determination unit temporarily determines that an abnormality has occurred in the power transmission unit, it is determined
that an abnormality has occurred in the power transmission unit.

US Pat. No. 9,541,914

WIRE ELECTRIC DISCHARGE MACHINE AND CALCULATION METHOD FOR WIRE SUPPORT POSITIONS OF WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine that performs machining by moving a wire electrode stretched between an upper wire guide
and a lower wire guide relative to a table on which a workpiece is placed, the wire electric discharge machine comprising:
a wire guide moving means for slanting the wire electrode at a predetermined angle;
a contact detector disposed on the upper wire guide;
a means for calculating a taper angle of a tapered section of a tapered workpiece mounted on the table, based on positions
obtained through measurement, by the contact detector, of two points at arbitrary heights on the tapered section; and

a means for calculating wire support positions of the upper wire guide and the lower wire guide that give a target taper angle
and a target shape dimension, based on a position of any one of the two points measured, the calculated taper angle, the upper
surface position of the workpiece obtained through measurement by the contact detector, and a position at which the tapered
section and the upper surface of the workpiece intersect when there is no machining error.

US Pat. No. 9,314,950

FIXED PLATEN OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A fixed platen for an injection molding machine, the fixed platen comprising:
a mold mounting portion;
a tie bar support portion that is disposed to be spaced apart from the mold mounting portion and has a tie bar insertion portion
configured to fix a tie bar; and

a load transmitting portion that connects the mold mounting portion with the tie bar support portion,
wherein
the mold mounting portion has a mold mounting surface configured to mount a mold thereon, the mold mounting surface is on
a side opposite the load transmitting portion,

the load transmitting portion includes:
a cross-shaped connecting portion that has a central portion and a plurality of connecting members each of which extends from
the central portion to a vicinity of an outer circumferential portion of the mold mounting portion, and

an extension connecting portion that extends along the outer circumferential portion of the mold mounting portion from a location
where a corresponding connecting member among the plurality of connecting members of the cross-shaped connecting portion extends
to the vicinity of the outer circumferential portion of the mold mounting portion, and

an end portion of the extension connecting portion is spaced apart from the tie bar insertion portion.

US Pat. No. 9,248,524

METHOD AND SYSTEM FOR LASER DRILLING

FANUC CORPORATION, Yaman...

1. A laser processing method performed by a laser processing system,
the laser processing system comprising:
a processing head configured to
focus a laser beam emitted from a laser oscillator so as to irradiate a workpiece with the laser beam, and
blow an assist gas from a front end face of a processing nozzle onto the workpiece, and
a control section configured to control an operation of said processing head,
the method comprising:
controlling, by the control section,
a first step of irradiating a surface of said workpiece with said laser beam in a state where a focal point is spaced from
the surface by at least a predetermined distance and is located between the processing head and the surface, so as to form
a bottomed hole on the workpiece, the bottomed hole being defined with

a tubular inner circumferential face opening at the surface and extending in a vertical direction with respect to the surface,
and

a bottom face closing an end of the tubular inner circumferential face; and
a second step of (i) irradiating said bottom face of said bottomed hole with said laser beam and (ii) blowing the assist gas
in a state in which a gap between the front end face and the surface, a performance condition of the laser beam and a pressure
of the assist gas are changed with respect to the first step, so that said assist gas is blown into an opening of said bottomed
hole but not blown onto an area surrounding the opening, so as to form a through hole penetrating through said workpiece,

wherein the control section controls said first step in such a manner that said bottomed hole is formed into a shape allowing
said assist gas, flowing out from said bottomed hole during said second step, not to flow along said area surrounding said
opening.