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. 10,231,355

COOLING STRUCTURE FOR ELECTRONIC DEVICE

FANUC CORPORATION, Yaman...

1. A cooling structure for an electronic device, which is configured to include a first heat dissipating member accommodated inside a casing together with being disposed on a circuit substrate, and a second heat dissipating member adapted to dissipate heat transmitted from the first heat dissipating member to the exterior of the casing, wherein:the first heat dissipating member includes a first heat dissipating blade member; and
the second heat dissipating member includes a heat input blade member which is fitted into, and in direct contact with, the first heat dissipating blade member, a second heat dissipating blade member which is exposed externally of the casing, and a heat transfer part interposed between the heat input blade member and the second heat dissipating blade member, and which is adapted to transmit heat from the heat input blade member to the second heat dissipating blade member.

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. 9,248,524

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.

US Pat. No. 10,139,805

LADDER DIAGRAM MONITORING DEVICE CAPABLE OF ADDITIONALLY DISPLAYING OPERATION SITUATION OF CNC IN COMMENT

FANUC CORPORATION, Yaman...

1. A ladder diagram monitoring device which displays an operation situation of a ladder program on a monitor and is capable of describing, in the ladder program, comment information added to a circuit executed on a programmable controller built in a numerical controller,Wherein the comment information added to the circuit is provided with a region for displaying information on an operation situation of the numerical controller, and
the ladder diagram monitoring device comprises: memory and processor to execute:
a ladder program operation situation acquisition unit that acquires information on the operation situation of the ladder program;
a CNC operation situation acquisition unit that acquires the information on the operation situation of the numerical controller;
a display data generation unit that generates display data, which reflects the operation situation of the ladder program and is for displaying the operation situation of the numerical controller, in the region in the comment information added to the circuit, based on the ladder program, the information on the operation situation of the ladder program, and the information on the operation situation of the numerical controller; and
a display unit that displays the display data, wherein the region in the comment information added to the circuit presents a keyword corresponding to the information on the operation situation of the numerical controller, and the display data generation unit is configured to generate the display data by replacing the keyword in the comment information added to the circuit by the information on the operation situation of the numerical controller corresponding to the keyword.

US Pat. No. 9,653,957

STATOR WITH COIL FIXING MEMBER AND ELECTRIC MOTOR WITH THE STATOR

FANUC CORPORATION, Yaman...

1. A stator of an electric motor, comprising:
a stator core having a yoke and teeth projecting from the yoke;
coils attached to the stator core so as to surround the teeth; and
coil fixing members which are each arranged at at least one of opposite ends of the stator core in a gap formed between an
end face of the tooth and an inner side of the coil facing the end face to fix the coil,

wherein each of the coil fixing member comprises a locking part that projects on an opposite side from the end face of the
tooth to lock the coil and a projection that projects on an opposite side from the locking part, and the projection is inserted
into an insert hole formed on the stator core,

wherein the locking part is provided at a tip end side of the tooth.

US Pat. No. 10,709,037

MOTOR DRIVE DEVICE INCLUDING FAN UNIT

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:a mounting member formed with a mounting hole;
a fan unit fixed to the mounting member, the fan unit including:
a lid disposed to face the mounting member so as to cover at least a part of the mounting hole; and
a sealing member provided on a surface of the lid that faces the mounting member; and
at least one restricting member attached to the lid so as to be movable with respect to the lid, the restricting member being movable between a restriction position, in which the restricting member engages the mounting member and restricts the lid from moving in a separating direction away from the mounting member, and a non-restriction position, in which the restricting member disengages from the mounting member and allows the lid to move in the separating direction,
wherein the mounting member includes:
a first surface facing the separating direction and extending around the mounting hole; and
a second surface facing the separating direction and disposed separate away from the first surface in the separating direction,
wherein, when the at least one restricting member is disposed at the restriction position, the surface of the lid contacts the second surface, and the sealing member is held between the surface of the lid and the first surface so as to seal a gap between the surface of the lid and the first surface.

US Pat. No. 10,624,231

CONTROLLER FOR MACHINE

FANUC CORPORATION, Yaman...

1. A controller for a machine comprising:a housing;
a humidity sensor housed in the housing;
a fan attached to the housing and blowing air in the housing;
a first window formed to be openable and closable relative to a first opening formed at the housing;
a tank with an opening part located at a neighboring position of the first opening and storing a liquid containing water;
a pipe having a part extending in the housing, and being connected to the tank to let the liquid pass through; and
a panel controller configured to perform the following operations to control humidity in the housing;
if a humidity sensed by the humidity sensor is lower than a predetermined value, the panel controller opens the first window, and operates the fan so as to take moisture generated from the tank into the housing, and
if the humidity sensed by the humidity sensor is higher than the predetermined value, the panel controller closes the first window, and operates the fan so as to feed an atmosphere in the housing toward the part of the pipe.

US Pat. No. 10,116,179

THREE-PHASE ALTERNATING CURRENT MOTOR

FANUC CORPORATION, Yaman...

1. A three-phase alternating current motor comprising:a rotor having a plurality of pairs of magnetic poles;
a stator having a plurality of slots each formed in the direction of a rotation axis of the rotor and arranged in a circumferential direction, the stator is disposed opposite the rotor in a radial direction; and
a plurality of windings wound in the stator so as to be inserted into the slots, wherein
when 2P represents the number of the poles of the rotor and N represents the number of the slots for inserting the windings of the stator therethrough, the division of the slot number N by the number of the pole pairs P is not an integer,
when X represents the quotient of the division of the slot number N of the stator by the number of the poles 2P, the stator includes:
a first annular winding portion made of one set of coils, i.e., wound a predetermined number of turns having a diameter larger than the inner diameter of the stator by the winding of each phase, the first annular winding portion is wound 360 degrees in the circumferential direction through the slots by wave winding at alternating slot pitches such that the first annular winding portion has at least two adjacent slot pitches corresponding to X and X+1, respectively;
a second annular winding portion made of another coil, i.e., wound in a like manner as the first annular winding portion by the wave winding at alternating slot pitches such that the second annular winding portion has at least two adjacent slot pitches corresponding to X and X+1, respectively,
the second annular winding portion is wound in the position not to coincide with the first annular winding portion; and
a plurality of third winding portions each made of the one or more wires distinct from the wires of the first annular winding portion and the second annular winding portion, the one or more wires of the third winding portions being wound around two of the slots, and
the first annular winding portion, the second annular winding portion, and the plurality of third winding portions are connected in series on a phase-by-phase basis.

US Pat. No. 10,061,291

NUMERICAL CONTROL DEVICE INSPECTING SCREW HOLES

FANUC Corporation, Minam...

1. A numerical control device controlling a feed-axis motor and a main-axis motor that drive a main axis of a machining tool that performs screw-hole machining on a workpiece based on a machining program, whereina screw-hole inspection gauge is attachable to the main axis of the machining tool, and
the numerical control device comprises:
a control unit that performs control in such a way that the feed-axis motor and the main-axis motor that drive the main axis with the screw hole inspection gauge attached thereto perform a screw-hole inspection operation based on the machining program; and
a determining unit that determines acceptance/defect of inspection of a screw hole machined on the workpiece based on a condition of the feed-axis motor or a condition of the main-axis motor during control by the control unit, further comprising
a soft floating setting unit that lowers a torque limit of the feed-axis motor and a torque limit of the main-axis motor before the screw-hole inspection gauge is inserted into the screw hole machined on the workpiece, and makes a limit of a positional deviation amount of the feed-axis motor changeable temporarily, wherein
in insertion of the screw-hole inspection gauge into the screw hole machined on the workpiece, the control unit drives the feed-axis motor in a direction that the screw-hole inspection gauge is inserted into the screw hole, and when the positional deviation amount of the feed-axis motor exceeds the limit of the positional deviation amount of the feed-axis motor, the control unit temporarily stops the feed-axis motor, rotates the main-axis motor in a screw-in direction, and re-drives the feed-axis motor at a time point at which the positional deviation of the feed-axis motor is eliminated.

US Pat. No. 9,933,034

MOTOR DRIVE APPARATUS EQUIPPED WITH LIFE PREDICTION FUNCTION FOR MOTOR BRAKE

FANUC CORPORATION, Yaman...

1. A motor drive apparatus including a brake apparatus that applies brake to a motor by pressing an armature with an elastic force of a spring against a friction plate coupled to a motor shaft and releases the brake of the motor by pulling the armature away from the friction plate with an electromagnetic force generated by application of a brake coil voltage to a brake coil, the motor drive apparatus, comprising:a motor current detection unit that detects a motor current which flows through the motor;
a brake release determination unit that determines that the brake is not released when the motor current detected by the motor current detection unit when the motor is operated under a predetermined load in a state in which the brake coil voltage is applied to the brake coil when a brake release command is received is larger than a current for when the brake is normally released which is previously stored, and determines that the brake is released when the motor current is smaller than or equal to the current for when the brake is normally released;
a brake coil voltage change unit that when the brake release determination unit determines that the brake is not released, changes the brake coil voltage applied to the brake coil to a value larger than that applied when the brake release command was received last time;
a change history storage unit that stores the brake coil voltage after being changed by the brake coil voltage change unit and change date and time; and
a life prediction unit that calculates a predicted life of the brake apparatus based on the brake coil voltage and the change date and time which are stored in the change history storage unit and a previously stored failure-time brake coil voltage.

US Pat. No. 9,496,818

MOTOR DRIVING APPARATUS WITH ABNORMALITY DETECTION FUNCTION

Fanuc Corporation, Yaman...

1. A motor driving apparatus comprising:
a power semiconductor device adapted for power conversion;
a driving unit configured to control driving of the power semiconductor device so as to supply power to a motor;
a heat transmission structure configured to transfer a heat generated from the power semiconductor device to a cooling medium
via a heat conduction member;

a temperature detection unit configured to detect a real temperature of the heat conduction member;
a current detection unit configured to detect a current value of an output current from the power semiconductor device to
the motor;

a temperature estimation unit configured to calculate an estimated temperature of the heat conduction member based on the
output current value; and

an abnormality detection unit configured to determine presence or absence of an abnormality in the heat transmission structure
based on a difference between the real temperature and the estimated temperature.

US Pat. No. 10,088,823

NUMERICALLY CONTROLLED MACHINE TOOL FOR DIRECT AND MANUAL OPERATION OF MOVABLE PART

FANUC Corporation, Minam...

1. A numerically controlled machine tool comprising a numerical controller that drives and controls servo motors for driving a plurality of feed axes to move a movable part, the numerically controlled machine tool comprising:a sensor provided on the movable part to sense force from outside applied to the movable part and a direction of the force;
a movement command generation unit that generates a movement command for moving, in the direction of the force detected by the sensor, the movable part in which the force is detected, and
a safety switch which is configured to block transmission of a signal detected by the sensor in order not to transmit the detected signal to the numerical controller, thereby preventing the movable part from moving despite the intention of an operator who applies a force on the movable part,
wherein
the servo motors are driven based on the movement command generated by the movement command generation unit, wherein
the sensor is a force sensor that detects magnitude of the force and the direction of the force,
the movement command generation unit is configured to generate the movement command by changing a movement velocity according to a change in the magnitude of the force detected by the sensor,
the movement command generation unit is configured to move the moveable part when continuous application of a force equal to or greater than a predetermined value for a time longer than a set threshold is sensed, and
the numerically controlled machine tool is further configured to issue an alarm and stop the movement of the movable part when a force in a same direction of the movement of the movable art is applied to the movable part for a time longer than a predetermined time or a force greater than a predetermined value is applied to the movable part for a time longer than a predetermined time.

US Pat. No. 10,073,433

NUMERICAL CONTROLLER OPERATING BASED ON TABULAR DATA

FANUC Corporation, Minam...

1. A numerical controller which controls a position of a control axis in synchronization with a reference value by using tabular data for instructing a position of each control axis based on the reference value which is a time, a position of an axis, or a position of a spindle, the numerical controller comprising:non-transitory computer readable memory;
one or more hardware processors coupled to the non-transitory memory and configured to read instructions from the non-transitory memory to cause the numerical controller to perform operations comprising:
sequentially reading a command block from the tabular data and analyzing the command block so as to acquire and output a reference value and a coordinate value of a control point;
making, if a command block includes a shift command for shifting a reference value, the shift of reference value valid in command blocks subsequent to the command block, and outputting the reference value of the control point which is shifted based on a shift amount specified by the shift command; and
producing a movement amount for an axis to be controlled by the tabular data, based on the reference value outputted and the coordinate value of the control point outputted; wherein
the reference value of the control point is outputted if the shift of a reference value is invalid.

US Pat. No. 9,964,939

TRAJECTORY DISPLAY DEVICE FOR DISPLAYING TRAJECTORY OF TOOL AXIS

FANUC CORPORATION, Yaman...

1. A trajectory display device of a machine tool, the trajectory display device for displaying a trajectory of a tool axis comprising:a processor configured to:
acquire position information of a drive axis of the machine tool over a time series;
calculate a coordinate value of a tool tip point based on the position information and information on the configuration of the machine tool;
set a tool vector connecting the tool tip point and a point away from the tool tip point along the tool axis by a predetermined length;
calculate the coordinate values of intersection points of the tool vector with a predetermined flat plane, the predetermined flat plane intersecting a workpiece to be machined by the machine tool; and
a display which displays a trajectory of the tool axis in the flat plane, obtained by connecting the intersection points by a line, the trajectory corresponding to a cross-sectional shape of the workpiece to be machined by the machine tool.

US Pat. No. 9,813,010

MOTOR CONTROL APPARATUS HAVING A FUNCTION OF DETECTING MISWIRING

FANUC CORPORATION, Yaman...

5. A motor control apparatus configured to be connected to n (n?2) motors via wiring lines, comprising:
n motor drivers for driving the respective n motors based on current command through the wiring lines connected between the
motor drivers and the motors;

n current commanders for commanding supply of current including reactive current to the n motor drivers through the wiring
lines; and,

miswiring detectors that respectively acquire motor temperature-indicating signals detected by n motor temperature detectors
provided for each motor through wiring lines to detect miswiring of the wiring lines connected to the n motors,

wherein when the m-th (m?n) current commander commands to the m-th motor supply of reactive current which is phase current
that does not contribute to rotation of the motor, the miswiring detectors detect presence or absence of miswiring based on
the change of the motor temperature of the m-th motor.

US Pat. No. 10,624,234

HOUSING AND COOLING STRUCTURE INCLUDING PARTITION PROVIDING DEDICATED AIRFLOW SPACE

FANUC CORPORATION, Yaman...

1. A cooling structure including a housing, and a fan configured to cool interior of the housing by generating air flow inside the housing, the cooling structure comprising:a partition provided in the housing and configured to divide the interior of the housing into a first space and a second space;
a first electronic component is arranged in the first space; and
a second electronic component different from the first electronic component is arranged in the second space;
wherein the air flow containing oil mist is taken in from outside and passed through the first space, by driving the fan,
wherein the second space is enclosed by the partition in the housing so as not to come into contact with the oil mist,
wherein the housing is arranged on a back face of a display device, and the partition is formed inside the housing so that air flow flows inside the first space in a direction along the back face of the display device,
wherein heat generated from the second electronic component is radiated into the first space via the partition,
wherein the first electronic component and the second electronic component are control boards configured to control the display device;
slots accommodating the control boards are provided in the housing in a direction along the back face; and
the slots form part of the partition.

US Pat. No. 9,753,456

DEVICE FOR DETECTING DECREASE IN ROTATIONAL SPEED OF COOLING FAN OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool including a cooling fan, the machine tool comprising:
a user interface unit configured to give a notice of a state of the machine tool;
a current measuring unit configured to measure an input current to the cooling fan;
a voltage measuring unit configured to measure an input power source voltage to the machine tool;
a first storage unit storing a threshold of the input current corresponding to the input power source voltage, the first storage
unit storing a plurality of voltage values stored in an ascending order; and

a rotation-reduction determining unit configured
to acquire, based on a measured current value measured by the current measuring unit and a measured voltage value measured
by the voltage measuring unit, a threshold of the input current associated with the measured voltage value, from the first
storage unit, and

to output information indicating reduction in a rotational speed of the cooling fan to the user interface unit when the measured
current value exceeds the acquired threshold of the input current.

US Pat. No. 10,131,025

WORKPIECE POSITIONING DEVICE FOR POSITIONING WORKPIECE

FANUC CORPORATION, Yaman...

1. A workpiece positioning device configured to position a workpiece at a predetermined target position, comprising:a movable base on which a workpiece is placed;
a drive mechanism configured to move the movable base in a predetermined plurality of directions;
a vision sensor configured to repeatedly image the workpiece placed on the movable base during the drive mechanism moves the movable base in order to position the workpiece at the target position, and repeatedly detect a current position of the workpiece;
a difference calculating part configured to calculate a difference between the detected current position and the target position each time the current position is detected by the vision sensor;
a difference determining part configured to determine whether the calculated difference is within an allowable range each time the difference is calculated by the difference calculating part;
a direction determining part configured to determine a movement direction of the movable base, which can reduce the difference, from the plurality of directions, when the difference determining part determines that the difference is out of the allowable range; and
a drive controller configured to control the drive mechanism so as to:
stop the movement of the movable base when the difference determining part determines that the difference is within the allowable range; and
move the movable base in the movement direction determined by the direction determining part, when the difference determining part determines that the difference is out of the allowable range.

US Pat. No. 10,052,755

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a conveying device driven by a drive device to convey an object;
a robot driven by a plurality of robot driving motors to perform a predetermined action for the object conveyed by the conveying device; and
a control unit which controls operation of the robot by transmitting a drive signal to each of the plurality of robot driving motors and which is capable of transmitting, to the drive device, a driving speed control signal for controlling a driving speed of the drive device,
wherein the control unit is configured to receive a driving speed of the drive device or a conveying speed of the conveying device in a working operation mode in which the predetermined action is performed by the robot on the object conveyed by the conveying device, and
wherein the control unit is configured to receive an override value for reducing an operation speed of the robot from a predetermined speed, and when the robot is to be operated in a teach mode and a test mode, the control unit is configured to transmit the drive signal such that driving speeds of the plurality of robot driving motors are each reduced by the received override value, and transmit the driving speed control signal such that a driving speed of the drive device or a conveying speed of the conveying device is reduced from the driving speed in the working operation mode or the conveying speed in the working operation mode by the override value.

US Pat. No. 9,649,709

NUMERICAL CONTROL APPARATUS FOR CONTROLLING WIRE ELECTRIC DISCHARGE MACHINE WHICH PERFORMS TAPER MACHINING

FANUC Corporation, Minam...

1. A wire electric discharge machining control apparatus for a wire electric discharge machine, including:
an XY axis configured to move a workpiece in a horizontal direction relative to a wire;
a UV axis configured to move one of upper and lower wire guides in the horizontal direction; and
a Z axis configured to move one of the upper and lower wire guides in a vertical direction; and configured to perform taper
machining so that a wire tilt angle and a wire tilt direction match a specified wire tilt angle and a specified wire tilt
direction, the wire electric discharge machining control apparatus comprising:

a wire tilt angle calculation unit configured to calculate a wire tilt angle after a start of taper machining, when one of
the upper and lower wire guides is moved in a vertical direction by means of the Z axis while interrupting or continuing taper
machining, the wire tilt angle being the one existing before one of the upper and lower wire guides is moved in the vertical
direction by means of the Z axis;

an upper and lower guides distance calculation unit configured to calculate a distance between the upper and lower wire guides,
from a machine coordinate position of the Z axis;

a taper deviation vector calculation unit configured to calculate a taper deviation vector based on the distance between upper
and lower guides, the taper deviation vector being a horizontal deviation of the UV axis from the XY axis and defining a location
at which the wire tilt angle calculated by the wire tilt angle calculation unit is maintained; and

a UV axis position control unit configured to find a position at which the UV axis is spaced away from the XY axis by a distance
defined by the taper deviation vector and move one of the upper and lower wire guides in the horizontal direction by means
of the UV axis.

US Pat. No. 10,095,221

NUMERICAL CONTROLLER FOR NOTIFYING EXECUTION OF AUXILIARY FUNCTION IN ADVANCE

FANUC CORPORATION, Yaman...

1. A numerical controller for controlling execution of an auxiliary function of a machine according to a program, the numerical controller configured to:perform a read ahead of a block of the program and analyze an instruction of the block,
store auxiliary function operation information, in which a code for instructing an auxiliary function, at least one operation of the auxiliary function, and a lead time of the operation are associated with one another,
when the code for instructing the auxiliary function is included in the read ahead block, calculate the amount of time before execution of the code for instructing the auxiliary function on the basis of the read ahead block, and output the calculated time and the code for instructing the auxiliary function,
acquire auxiliary function operation information corresponding to the code for instructing the auxiliary function from the stored auxiliary function operation information, on the basis of the outputted code for instructing the auxiliary function,
calculate a leading operation initiation time of an operation included in the acquired auxiliary function operation information, on the basis of a lead time of the operation included in the auxiliary function operation information, and the amount of time before execution of the outputted code for instructing the auxiliary function, and
determine to execute the operation of the auxiliary function according to the leading operation initiation time, wherein
the numerical controller outputs, to the machine, a command for executing the operation of the auxiliary function determined by the numerical controller.

US Pat. No. 10,031,515

PRODUCTION SYSTEM INCLUDING ROBOT WITH POSITION CORRECTION FUNCTION THAT SUPPLIES OR EJECTS WORKPIECES TO OR FROM A MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A production system including a machine tool and a robot which supplies or ejects a workpiece to or from the machine tool using a movable part of the robot that is movable relative to a body of the robot, the production system comprising:a visual target arranged on an outer surface of the machine tool;
a vision device arranged on the movable part of the robot, the vision device being configured to measure a positional relationship between the robot and the machine tool by capturing the visual target; and
a correcting part which corrects a position of a motion of the movable part of the robot when the robot supplies or ejects the workpiece to or from the machine tool, based on the positional relationship between the robot and the machine tool measured by the vision device,
wherein the workpiece comprises a first workpiece or a second workpiece,
wherein the measurement of the positional relationship by the vision device and the correction of the position of the motion of the movable part of the robot by the correcting part are performed after a replacement request signal representing that the first workpiece is to be replaced by the second workpiece or exchanged with the second workpiece in the machine tool is transmitted from the machine tool to the robot or a robot controller configured to control the robot, or after a replacement complete signal representing that a replacement of the first workpiece by the second workpiece is completed is transmitted from the robot or the robot controller to the machine tool, and
wherein at least one of the machine tool and the robot is stationary or steady on a floor by its own weight without being fixed to the floor.

US Pat. No. 9,702,733

ROTATION ANGLE SENSOR PROVIDED WITH PEDESTAL AND ROTARY MACHINE

FANUC CORPORATION, Yaman...

1. A rotation angle sensor which detects a rotation angle of a shaft of a motor or a shaft of a machine which is driven by
a motor, said rotation angle sensor comprising:
a rotary body which rotates attached to said shaft and is provided with a detected part at its outer circumferential part;
a detection element which is set on a line which perpendicularly intersects an axial line of said shaft and faces said detected
part; and

a pedestal which is provided at its center part with an opening part through which said shaft is inserted and which attaches
said detection element, wherein

said pedestal is formed as a pedestal which is provided with a recessed part to which said detection element is attached,
around said recessed part, an abutting surface which abuts against an end face of said detection element at a far side from
said shaft is formed, and

said abutting surface is formed so that a distance from an axial line of said shaft changes along a peripheral direction of
said pedestal.

US Pat. No. 9,997,967

ROTOR OF ELECTRIC MOTOR WHICH HAS MAGNETS, ELECTRIC MOTOR, AND METHOD OF PRODUCTION OF ROTOR

Fanuc Corporation, Yaman...

1. A method of production of a rotor of an electric motor, said rotor comprising a cylindrically shaped rotor core, and a plurality of magnets which are arranged at predetermined intervals at an outer circumferential surface of said rotor core, whereineach of said plurality of magnets has an inward part which adjoins said rotor core and an outward part which is positioned outward of said inward part in a radial direction of said rotor core,
said outward part has a facing surface which faces a stator of the electric motor, and a pair of side surfaces which extend from two end parts of said facing surface in a circumferential direction of said rotor core toward said inward part,
said inward part has a pair of overhanging parts which overhang outward in said circumferential direction with respect to said pair of side surfaces of said outward part,
said rotor core has a plurality of locking projections which are formed at said outer circumferential surface so as to lock said plurality of magnets, and
each of said plurality of locking projections has a radially projecting part which passes between said overhanging parts of two adjoining magnets and projects outward in said radial direction to engage with said overhanging parts,
wherein
said rotor core has first locking projections which are aligned with one another, and second locking projections which are aligned with one another and separated from the first locking projections in a direction parallel to the axis of rotation of said rotor core, as said locking projections, and
one end part of said overhanging part in a direction parallel to said axis of rotation is locked by said first locking projection, and the other end part of said overhanging part is locked by said second locking projection,
the method of production of the rotor comprising:
slanting said magnet with respect to said axis of rotation and in that state inserting one end part of said overhanging part of said magnet in a space between said first locking projection and said outer circumferential surface of said rotor core,
arranging said magnet in parallel with said axis of rotation so that at least a portion of the inward part of the magnet is in contact with the outer circumferential surface of said rotor core,
moving the magnet in a direction parallel with the axis of rotation and inserting the other end part of said overhanging part of said magnet in a space between said second locking projection and said outer circumferential surface of said rotor core, and
filling a binding agent in clearances between said overhanging part of said magnet, and said first and second locking projections.

US Pat. No. 9,902,060

ROBOT CONTROL SYSTEM PROVIDED WITH FUNCTION OF CHANGING CRITERION FOR COMMUNICATION QUALITY IN ACCORDANCE WITH DISTANCE BETWEEN MACHINE AND PORTABLE WIRELESS OPERATION PANEL

FANUC CORPORATION, Yaman...

1. A robot control system comprising:
a control device for controlling a machine;
a portable wireless operation panel for performing wireless communication with the control device to control the machine;
a distance measuring unit for measuring the distance between the machine and the portable wireless operation panel;
a communication monitoring unit for monitoring the communication quality of wireless communication between the control device
and the portable wireless operation panel;

a warning generator for emitting a warning to the operator or stopping the machine when the communication quality becomes
lower than a predetermined criterion; and

a criterion changing unit for changing the predetermined criterion in accordance with the distance between the machine and
the portable wireless operation panel.

US Pat. No. 9,893,573

ROTOR OF MOTOR AND SUCH MOTOR

FANUC CORPORATION, Yaman...

1. A rotor of a motor, comprising:
a shaft extending along an axis; and
a tubular rotor member fixed to radially outside of the shaft so as to surround the shaft, wherein the shaft includes:
a first part;
a second part arranged so as to be separated from the first part in the axial direction;
a third part extending between the first part and the second part and having an outer diameter smaller than the first part
and the second part, a gap being formed between the third part and an inner circumferential surface of the rotor member; and

a projection extending from the third part toward radially outside, wherein
the rotor member includes:
a nonmagnetic first end plate and a nonmagnetic second end plate arranged to be separated from each other in the axial direction;
a plurality of rotor cores aligned in the axial direction and held between the first end plate and the second end plate; and
a nonmagnetic member arranged between two of the plurality of rotor cores which adjoin each other in the axial direction,
wherein

the first part contacts an inner circumferential surface of the first end plate, the second part contacts an inner circumferential
surface of the second end plate, and

the projection contacts an inner circumferential surface of the nonmagnetic member,
while the first part, the second part, and the projection do not contact inner circumferential surfaces of the plurality of
rotor cores.

US Pat. No. 9,636,774

CONTROLLER FOR LASER BEAM MACHINING FOR CONTROLLING APPROACHING OPERATION OF MACHINING HEAD

FANUC Corporation, Minam...

1. A controller for laser beam machining for machining an object by irradiating a laser beam thereto from a machining head
at a reference gap position situated at a predetermined distance away from the object, the controller comprising:
a gap sensor for detecting an amount of gap between the machining head and the object;
a gap position command calculation part for producing a gap position command in cooperation with the gap sensor;
a servo mechanism part for driving the machining head to the reference gap position based on the gap position command;
a servo position deviation reading part for reading an amount of position deviation of the servo mechanism part;
a position gain calculation part for calculating a corrected position gain of the servo mechanism part, based on the amount
of position deviation of the servo mechanism part and based on a theoretical amount of position deviation, the theoretical
amount of position deviation corresponding to a ratio of an approaching velocity of the machining head to the position gain;
and

a position gain replacing part for replacing the position gain of the servo mechanism part with the corrected position gain
calculated by the position gain calculating part,

wherein the corrected position gain takes servo delay into account and thereby prevents overshoot of the gap between the machining
head and the object.

US Pat. No. 9,636,823

ROBOT CONTROL DEVICE FOR UPDATING ROTATION ANGLE BY PLURALITY OF ROTATION ANGLE DETECTORS

Fanuc Corporation, Yaman...

1. A robot control device for controlling a robot including a joint part driven by an output from a reducer for increasing
rotational force of a driving motor, the robot control device comprising:
a first rotation angle detector configured to detect a rotation angle of an input shaft of the reducer;
a second rotation angle detector configured to detect a rotation angle of an output shaft of the reducer;
an auxiliary power source configured to supply electricity to the first rotation angle detector in a state in which the robot
control device is stopped; and

a control unit configured to store and update a rotation angle, wherein
the control unit includes a first rotation angle storage unit configured to store a first rotation angle detected by the first
rotation angle detector, a second rotation angle storage unit configured to store a second rotation angle detected by the
second rotation angle detector, and a rotation angle updating unit configured to update a rotation angle stored in the first
rotation angle storage unit or the second rotation angle storage unit,

supply of electricity to the second rotation angle detector is stopped in the state in which the robot control device is stopped,
the second rotation angle storage unit is configured to store the second rotation angle at a time when the robot control device
is stopped in the state in which the robot control device is stopped, and

when the robot control device is started from the state in which the robot control device is stopped, the rotation angle updating
unit calculates an error in number of rotations regarding the second rotation angle based on a difference between the first
rotation angle stored in the first rotation angle storage unit when the robot control device is stopped and the first rotation
angle detected by the first rotation angle detector when the robot control device is started and a difference between the
second rotation angle stored in the second rotation angle storage unit when the robot control device is stopped and the second
rotation angle detected by the second rotation angle detector when the robot control device is started, and updates the second
rotation angle based on the error in the number of rotations.

US Pat. No. 9,481,063

TOOL CHANGER PROVIDED WITH COVERS

FANUC CORPORATION, Yaman...

1. A tool changer for a machine tool, the tool changer comprising
a turret having a plurality of grips each configured to hold a respective tool, wherein the turret is configured to swing
about a predetermined swing center, and the turret is configured to turn to index a desired tool for changing a tool mounted
on a spindle of the machine tool;

a front cover which covers a front surface of the turret that is more distal from the spindle of the machine tool than is
a rear surface of the turret; and

a rear cover which covers the rear surface of the turret, which rear surface is closer to the spindle of the machine tool
than is the front surface of the turret; wherein

a gap is defined between the front cover and the rear cover; and
each of the front cover and the rear cover forms a slope with respect to a horizontal plane, wherein said slopes start declining
immediately from the gap, such that chips produced during workpiece machining and a cutting fluid used in the machining flow
down away from the gap along the slopes of the covers, thereby preventing the chips and cutting fluid from getting into the
gap.

US Pat. No. 10,135,324

ARMATURE FOR LINEAR MOTOR AND LINEAR MOTOR

FANUC CORPORATION, Yaman...

1. An armature for linear motor with a core serving as a main body and a coil attached to the core, the armature working cooperatively with a field pole to form a linear motor, the field pole including magnets of different poles arranged alternately in a driving direction, the armature comprising:a block attachment part provided at a machine attachment side of the core;
a protection sheet having ability to be impregnated with resin and covering a surface of the core and a surface of the block attachment part;
a block attached to the block attachment part and having a machine attachment surface arranged at the block attachment side of the core; and
a resin layer covering the protection sheet covering the core, wherein
the machine attachment surface of the block is exposed from the resin layer.

US Pat. No. 10,048,672

MOTOR CONTROL DEVICE, MOTOR CONTROL METHOD, AND NON-TRANSITORY COMPUTER READABLE MEDIUM RECORDING MOTOR CONTROL PROGRAM

FANUC CORPORATION, Yaman...

1. A motor control device for correcting backlash between a movable part that is driven by a motor, and a driven part that is driven by the movable part, the device comprising:a first position detection part that detects a first position which is a position of the movable part;
a second position detection part that detects a second position which is a position of the driven part;
a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value arrived at by converting a first position detected value detected by the first position detection part into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part; and a second position detected value detected by the second position detection part;
a position command creation part that creates a position command;
a reversal detection part that detects reversal of the position command;
a positional error variation calculation part that calculates a variation of the positional error since reversal being detected;
a first determination part that determines whether variation of the positional error exceeds a predetermined first reference value, or a predetermined second reference value;
a position deviation calculation part that calculates position deviation which is a difference between the position command and the second position detected value;
a second determination part that determines whether the position deviation has become no more than a predetermined third reference value; and
a backlash correction part that adds a backlash correction amount to the position command,
wherein the backlash correction part starts addition of the backlash correction amount when the variation of the positional error exceeds the first reference value, the backlash correction part ends the addition of the backlash correction amount when the variation of the positional error exceeds the second reference value, and the backlash correction part suspends the addition of the backlash correction amount when the position deviation becomes no more than the third reference value during correction.

US Pat. No. 9,969,090

ROBOT SYSTEM EQUIPPED WITH CAMERA FOR CAPTURING IMAGE OF TARGET MARK

FANUC CORPORATION, Yaman...

1. A robot system, comprising:a robot having an arm tip;
a target mark;
a camera attached to the arm tip of the robot, and configured to capture an image of the target mark; and
a robot controller configured to
store a position and size of the image of the target mark included in an image captured by the camera as reference data,
store a first target mark position with respect to the arm tip as a position of a tool center point when the target mark is arranged at the first target mark position determined in advance in a robot coordinate system forming the basis of control of the robot and the arm tip is positioned at a first robot position,
control the arm tip to perform a movement so that a position and size of the image of the target mark included in the image of the camera when the target mark is arranged at a second target mark position match the position and size of the image of the target mark stored as the reference data, and
use a second robot position, which is the position of the arm tip after said movement, and the position of the tool center point as the basis to calculate the second target mark position in the robot coordinate system.

US Pat. No. 9,811,073

MACHINE TOOL WITH THERMAL DISPLACEMENT CORRECTION

FANUC CORPORATION, Yaman...

1. A numerical control machine tool with a thermal displacement correction, comprising:
a table;
a main shaft;
a main shaft straight line movement shaft configured to move the main shaft provided with a tool;
two or more table straight line movement shafts configured to move the table;
a numeric value control device for controlling the main shaft straight line movement shaft and the table straight line movement
shafts,

the numerical control machine tool further comprising:
a main shaft motor;
a shaft load measuring unit configured to measure a load of the main shaft motor for driving the main shaft straight line
movement shaft;

a reference contact time storage unit configured to store a time, from when the main shaft starts to move and time measurement
begins at a predetermined position where the tool is not in contact with a work arranged on the table, to when the load of
the main shaft motor measured by the shaft load measuring unit exceeds a predetermined value to be determined that the tool
contacts the work, as a reference contact time;

an actual contact time storage unit configured to store a time, from when the main shaft starts to move and time measurement
begins at a predetermined position where the tool is not in contact with the work arranged on the table, to when the load
of the main shaft motor measured by the shaft load measuring unit exceeds the predetermined value to be determined that the
tool contacts the work in machining after the reference contact time, as an actual contact time;

a thermal displacement calculation unit configured to calculate thermal displacement by multiplying a feed speed of the main
shaft by a time difference between the reference contact time and the actual contact time when the time difference exceeds
a predetermined time; and

a thermal displacement correction unit configured to correct a movement amount of the main shaft straight line movement shaft,
based on the thermal displacement calculated by the thermal displacement calculation unit.

US Pat. No. 9,471,058

DATA ACQUISITION DEVICE FOR ACQUIRING CAUSE OF STOPPAGE OF DRIVE AXIS AND INFORMATION RELATING THERETO

FANUC CORPORATION, Yaman...

1. A data acquisition device for acquiring, from a numerical control device of a machine tool for controlling a drive axis
in accordance with a machining program and a machining condition, data including operational data representative of operational
information of the drive axis,
the data acquisition device comprising:
an operational information acquiring part for acquiring the operational data from the numerical control device;
an active portion acquiring part for acquiring an active portion of the machining program from the numerical control device;
a stopping cause acquiring part for acquiring, from the numerical control device, stopping cause information representative
of cause of stoppage when the drive axis is stopped; and

a storing part for storing the operational data, the active portion, and the stopping cause information, together with time
of acquisition thereof, respectively.

US Pat. No. 10,150,238

INJECTION MOLDING MACHINE CONTROLLING DRIVE OF MOVABLE PART WITH MOTOR

FANUC Corporation, Minam...

1. An injection molding machine that controls drive of a movable part with a motor, the injection molding machine comprising:a speed instruction section for issuing an instruction of a speed and an acceleration of the movable part;
an acceleration/deceleration torque calculation section for calculating torque necessary for the change of the speed instructed by the speed instruction section; and
an output torque limit setting section for setting an output torque limit for the motor,
wherein the output torque limit setting section adds a predetermined torque limit value set in advance and the acceleration/deceleration torque calculated by the acceleration/deceleration torque calculation section to set an output torque limit value for the motor each time the value of the acceleration instructed by the speed instruction section changes.

US Pat. No. 10,105,808

PROCESSING SYSTEM HAVING FUNCTION FOR MAINTAINING PROCESSING ACCURACY

FANUC CORPORATION, Yaman...

1. A processing system including a machine tool, a robot which supplies or ejects a workpiece to or from the machine tool, and a capturing device which is arranged on a movable section of the robot and captures a tool of the machine tool, the processing system comprising:an image processing part which compares a reference image of the tool captured by the capturing device to an image of the tool captured by the capturing device at each time when a predetermined number of processing operations are finished, and detects an amount of abrasion of the tool;
a correcting part which corrects a tool position in a processing program of the machine tool based on the amount of abrasion; and
an outputting part which calculates a number of remaining possible processing operations until the amount of abrasion reaches a predetermined limit amount of abrasion of the tool, based on an amount of tool abrasion per one processing operation, and externally outputs the calculated number of remaining possible processing operations,
wherein, when a difference between an estimated amount of tool abrasion and an actually measured amount of tool abrasion at a predetermined timing of capturing the tool exceeds a predetermined allowable value, the outputting part estimates and outputs a remaining tool life by replacing the estimated amount of tool abrasion with the actually measured amount of tool abrasion, the estimated amount of tool abrasion being obtained by estimating based on the amount of tool abrasion obtained by comparing the reference image of the tool to the image of the tool at the time when the predetermined number of processing operations are finished, and the actually measured amount of tool abrasion being obtained by a captured image at the time when the predetermined number of processing operations are finished.

US Pat. No. 9,981,358

TOOL CHANGER

FANUC CORPORATION, Yaman...

1. A tool changer of a machine tool, the tool changer comprising: a rotationally indexable turret that is rotatable about an axis;a turret drive source configured to perform tool indexing by rotating the turret about the axis;
a load variation mechanism configured to vary a load of the turret drive source as the turret is rotated about the axis past a predetermined angular phase position;
a load detecting portion configured to detect the load of the turret drive source as the turret is rotated about the axis, which load is varied by the load variation mechanism; and
a control portion, the control portion comprising:
a turret turning motion reference load storing portion configured to store, as stored reference load information, the load of the turret drive source as the turret is rotated about the axis in a state in which no difference is caused between: (i) a controller-recognized angular position of the turret about the axis, recognized by a controller of the machine tool, and (ii) an actual angular position of the turret about the axis;
a difference calculation portion that calculates a difference between the stored reference load information and a load of the turret drive source detected by the load detecting portion as the turret is rotated about the axis in a state in which a difference exists between: (i) a controller-recognized angular position of the turret about the axis, recognized by the controller of the machine tool, and (ii) an actual angular position of the turret about the axis;
a threshold value setting portion configured to set a threshold value; and
a reference phase false detection sensing portion configured to determine a possibility of false detection of the predetermined angular phase position if the difference calculated by the difference calculation portion has exceeded the threshold value.

US Pat. No. 9,950,874

ARTICLE SUPPLY DEVICE FOR INDIVIDUALLY SUPPLYING ARTICLES

FANUC CORPORATION, Yaman...

1. An article supply device comprising:a storage unit in which a plurality of articles are stored;
a supply path that communicates with the storage unit;
a partition that forms a predetermined vertical gap between a surface of the supply path upon which the articles are positioned and a lower edge of the partition, wherein the predetermined vertical gap is sized such that, in one orientation of the articles, the articles pass through the gap and under the lower edge of the partition, and, in another orientation of the articles, the articles do not pass through the gap and under the lower edge of the partition;
a driving unit that allows the supply path and the partition to move relative to each other; and
a gas injection unit that injects gas toward the partition and onto the articles on the supply path in at least one of upstream and downstream of the partition in a supply direction of the articles, wherein the gas injection unit comprises a first nozzle located upstream of the partition that injects gas towards the partition and onto the articles, and a second nozzle located downstream of the partition that injects gas towards the partition and onto the articles.

US Pat. No. 9,811,057

MACHINE LEARNING APPARATUS AND METHOD FOR LEARNING PREDICTED LIFE OF MOTOR, LIFE PREDICTION APPARATUS AND MOTOR SYSTEM INCLUDING MACHINE LEARNING APPARATUS

FANUC CORPORATION, Yaman...

1. A machine learning apparatus that learns a condition associated with a predicted life of a motor, the machine learning
apparatus comprising:
a state observation unit that observes a state variable composed from at least one of output data of a sensor that detects
an operation state of the motor and data relating to presence or absence of a failure in the motor;

an actual life data acquisition unit that acquires data relating to an actual life of the motor; and
a learning unit that learns the condition associated with the predicted life of the motor in accordance with a training data
set created based on a combination of the state variable and data relating to the actual life.

US Pat. No. 9,791,850

NUMERICAL CONTROL SYSTEM

FANUC Corporation, Minam...

1. A numerical control system having a numerical controller and one or a plurality of IO units connected to the numerical
controller and in which input/output signals are configured to be exchanged between the numerical controller and the IO unit
via serial communication, the IO unit comprising:
a first control unit configured to change an idle signal output from the IO unit using an input signal as a trigger to a preset
specific waveform pattern signal and, transmit the specific waveform pattern signal to a former side when the specific waveform
pattern signal is received and,

the numerical controller comprising:
a second control unit configured to output an interrupt signal when the specific waveform pattern signal is received.

US Pat. No. 9,766,994

MONITORING DEVICE WITH FUNCTION OF EXTRACTING AND DISPLAYING BRANCH CIRCUIT IN LADDER PROGRAM

FANUC CORPORATION, Yaman...

1. A monitoring device for ladder program, comprising:
a confirmation object ladder circuit information storage region configured to store information related to a ladder circuit
serving as a confirmation object;

a display object ladder circuit information table configured to store information related to a ladder circuit serving as a
display object;

a processor configured to
(i) receive, from a user, designation of a ladder circuit serving as the confirmation object in the ladder program and store
information related to the ladder circuit which is designated and serves as the confirmation object in the confirmation object
ladder circuit information storage region and the display object ladder circuit information table;

(ii) detect, based on the ladder circuit serving as the confirmation object and stored in the confirmation object ladder circuit
information storage region, a branch circuit which is arranged above the ladder circuit serving as the confirmation object
in the ladder program and which is closest to the ladder circuit in terms of positions; and

(iii) extract a branch circuit serving as a display object from the ladder program to add the branch circuit to the display
object ladder circuit information table based on a type of the branch circuit which is the closest in terms of positions,
and determine a ladder circuit serving as a next confirmation object to store information related to the ladder circuit serving
as the next confirmation object in the confirmation object ladder circuit information storage region based on information
related to the branch circuit which is the closest in terms of positions; and

a display unit configured to display a ladder circuit serving as the display object and stored in the display object ladder
circuit information table; wherein processings (ii) and (iii) are repeated until a first branch circuit which occurs at a
first position in the ladder program is set to a confirmation object.

US Pat. No. 9,533,417

HUMAN INTERACTIVE TYPE ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A human-interactive type robot system wherein a robot and a worker share a work space to perform interactive work, comprising
a force sensor which measures a force which said robot receives from the outside and outputs a measurement value,
a force detection value calculating part which subtracts a correction value from said measurement value to calculate a force
detection value, and

a correction value updating part which updates a force detection value when a predetermined condition stands for use as said
correction value,

wherein, said predetermined condition being that said robot is stopped or operating at a fixed speed and a margin of fluctuation
of the force detection value at a predetermined unit time is a fluctuation margin threshold value or less.

US Pat. No. 9,442,479

WIRE ELECTRIC DISCHARGE MACHINE CONTROLLER, WIRE ELECTRIC DISCHARGE MACHINE, AND WIRE ELECTRIC DISCHARGE MACHINING METHOD

FANUC CORPORATION, Yaman...

1. A wire electric discharge machining method for moving a wire electrode relative to a workpiece according to a machining
program and machining the workpiece into a desired target shape, the method comprising the steps of:
analyzing the machining program;
creating a target shape for the workpiece based on a result of analysis of the machining program;
storing an amount of wire radius compensation for the wire electrode;
setting a plurality of amounts of wire radius compensation adjustment by which the amount of wire radius compensation for
the wire electrode is adjusted;

storing the plurality of amounts of wire radius compensation adjustment that have been set;
selecting one or more desired amounts of wire radius compensation adjustment from the stored amounts of wire radius compensation
adjustment;

computing an amount of wire radius compensation for machining route calculation by adding the selected amounts of wire radius
compensation adjustment to the amount of wire radius compensation;

creating a machining route which is offset from the created target shape by the computed amount of wire radius compensation
for machining route calculation; and

moving the wire electrode relative to the workpiece according to the created machining route.

US Pat. No. 9,293,974

ELECTRIC MOTOR HAVING STATOR CORE FOR REDUCING COGGING TORQUE

Fanuc Corporation, Yaman...

1. An electric motor comprising a stator provided with slots spaced apart from each other in a circumferential direction and
with windings wound around through the slots, and a rotor provided with permanent magnets spaced apart from each other in
the circumferential direction and adapted to cooperate with the windings to produce driving torque,
wherein the stator includes a core back extending between a circumscribed circle extending through a radially outer edge of
the slots and a radially outer edge of the stator, the core back having a size defined in a radial direction, which varies
in the circumferential direction,

wherein the electric motor is adapted to generate cogging torque M times during one revolution of the rotor, M being a least
common multiple of the number of magnetic poles of the rotor and the number of repetition of repeatedly patterned shape of
the core back, and

wherein the core back is a step-shifted core back including a plurality of core backs, each of which is provided with a step
shift by an angle obtained by multiplying (360/M/2) degrees with an odd number in the circumferential direction, or the core
back is a virtually step-shifted core back adapted to cancel out the cogging torque equivalently to the step-shifted core
back.

US Pat. No. 9,294,024

MOTOR DRIVE DEVICE HAVING FUNCTION OF DETECTING ABNORMALITY OF DC LINK UNIT

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:
a converter for converting an AC voltage input from a main power supply into a DC voltage;
a DC link unit for rectifying the DC voltage output by the converter;
an inverter for converting the DC voltage rectified by the DC link unit into an AC voltage for driving a motor using a semiconductor
switching element;

a voltage application unit for applying a voltage to the DC link unit, the voltage application unit being disposed independently
of the main power supply and being controlled by a CPU;

a voltage detector for detecting a voltage of the DC link unit after application of the voltage by the voltage application
unit; and

an abnormality determination unit for determining a presence or absence of an abnormality of the DC link unit based on value
of the voltage detected over a predetermined time by the voltage detector and a temporal change of the voltage and outputting
a determination result to the CPU.

US Pat. No. 10,759,012

MOTOR CONTROLLER AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A motor controller comprising: a motor driver arranged at a housing attached to a machine support as a support of a machine tool for machining on a machining target; a fan motor arranged in or outside the housing; and a control unit, whereinthe motor driver drives a motor that generates power for the operation of the machine tool,
the fan motor blows cooling air for cooling the interior of the housing,
the control unit includes a machining mode selection unit allowing selection of a machining mode from at least a first machining mode of machining the machining target finely and a second machining mode of machining the machining target more roughly than in the first machining mode, and
if the first machining mode is selected, the machining mode selection unit exerts control to change the rotation number of the fan motor so as to reduce vibration to be transmitted from the housing to the machine support, compared to vibration to be transmitted in the second machining mode.

US Pat. No. 10,137,529

NUMERICAL CONTROLLER CAPABLE OF MACHINING CONDITION CONTROL BASED ON POSTURE

FANUC CORPORATION, Yaman...

1. A numerical controller for controlling a laser beam machine in accordance with a program and performing three-dimensional laser beam machining on a workplace, the numerical controller comprising:a machining condition change unit configured to:
obtain a speed ratio between a machining speed at an upper surface of the workpiece determined based on a upper travel amount of the laser beam on the upper surface of the workpiece and a machining speed at a lower surface of the workpiece determined based on a lower travel amount of the laser beam on the lower surface of the workpiece,
wherein the upper travel amount and lower travel amount are determined on a basis of a posture of a nozzle of the laser beam machine with respect to the workplace, the posture being specified by the program, and
change a machining condition specified by the program on basis of the obtained speed ratio,
wherein the three-dimensional laser beam machining by the laser beam machine is controlled on a basis of the machine condition changed by the machining condition change unit.

US Pat. No. 10,110,371

PHASE DIFFERENCE ESTIMATION DEVICE AND COMMUNICATION DEVICE HAVING THE PHASE DIFFERENCE ESTIMATION DEVICE

FANUC CORPORATION, Yaman...

1. A phase difference estimation device comprising:a recovery unit configured to separate recovery data and a recovery clock from input communication data and output the recovery data and the recovery clock;
a phase difference zero detection unit configured to detect a timing at which a phase difference between a generated processing clock and the recovery clock is zero;
a synchronization code detection unit, configured to detect a synchronization code included in the recovery data using the recovery clock; and
a phase difference calculation unit, configured to calculate a phase difference between the synchronization code and the processing clock using a ratio between a first number of clock generation times of the processing clock in a period from a first timing at which the phase difference detected by the phase difference zero detection unit is zero to a second timing at which the phase difference is subsequently zero, and a second number of clock generation times of the processing clock in a period from the first timing to a third timing in which the synchronization code is detected by the synchronization code detection unit.

US Pat. No. 10,090,795

MOTOR DRIVE HAVING FUNCTION OF PROTECTING DYNAMIC BRAKING CIRCUIT

FANUC CORPORATION, Yaman...

1. A motor drive comprising:an inverter including power elements constituting an upper arm and a lower arm, for converting a direct current voltage into an alternating current voltage to drive a motor by switching of the power elements;
a rotational speed obtaining unit for obtaining the rotational speed of the motor during operation of the motor;
an inertia information storage unit for storing information about the inertia of the motor;
a dynamic braking circuit including switches for shorting a plurality of windings provided in the motor through resistors, for generating a deceleration torque by dynamic braking of the motor in case of an emergency stop of the motor;
a rotational energy calculator for calculating the rotational energy of the motor when the dynamic braking circuit switches are open and the dynamic braking circuit is deactivated, the rotational energy of the motor calculated based on the obtained rotational speed of the motor and the inertia of the motor;
a tolerance information storage unit for storing information about the tolerances of the resistors of the dynamic braking circuit;
a power element operation unit for turning on the power elements of one of the upper and lower arms, while turning off the power elements of the other arm in the emergency stop of the motor;
a dynamic braking circuit operation unit for operating the switches of the dynamic braking circuit; and
a tolerance comparator for performing a comparison between the calculated rotational energy of the motor and the tolerance of the dynamic braking circuit, wherein
when the rotational energy of the motor exceeds the tolerance of the dynamic braking circuit, the dynamic braking circuit operation unit turns on the power elements of one of the upper and lower arms, while turning off the power elements of the other arm, when the dynamic braking circuit switches are open and the dynamic braking circuit is deactivated, and
when the rotational energy of the motor is equal to or less than the tolerance of the dynamic braking circuit, the dynamic braking circuit operation unit closes at least one of the dynamic braking circuit switches to actuate the dynamic braking circuit, and the power element operation unit turns off the power elements of the one of the upper and lower arms.

US Pat. No. 9,977,411

MOTOR CONTROL APPARATUS WITH MAGNETIC FLUX CONTROLLER AND MACHINE LEARNING APPARATUS AND METHOD THEREFOR

FANUC CORPORATION, Yaman...

1. A motor control apparatus for controlling a motor, the motor control apparatus comprising:a motor control unit comprising a magnetic flux controller and a magnetic flux estimator;
a machine learning apparatus configured to learn a gain of the magnetic flux controller and a time constant of the magnetic flux estimator, the machine learning apparatus comprising:
a state observation unit configured to observe a state variable defined by at least one of data relating to an acceleration of the motor, data relating to a jerk of the motor, and data relating to an acceleration time of the motor; and
a learning unit configured to learn the gain of the magnetic flux controller and the time constant of the magnetic flux estimator in accordance with a training data set defined by the state variable; and
a decision-making unit configured to determine the gain of the magnetic flux controller and the time constant of the magnetic flux estimator based on a result of learning by the learning unit,
wherein the motor control unit is configured to, in response to an input speed command, control a current of the motor based on the gain and the time constant determined by the decision-making unit.

US Pat. No. 9,658,729

FIXING STRUCTURE FOR TOUCH PANEL AND FRONT DESIGN SHEET AND DISPLAY UNIT WITH TOUCH PANEL

FANUC CORPORATION, Yaman...

1. A fixing structure for a touch panel and a front design sheet, wherein
the touch panel comprises
an upper film substrate, formed with an electrically conductive layer on the lower surface thereof, and
a lower transparent substrate, formed with an electrically conductive layer on the upper surface thereof and facing the upper
film substrate with a predetermined space therebetween,

the front design sheet is disposed above the touch panel,
the front design sheet and the lower transparent substrate are contoured so as to have outer portions projecting outwardly
from outer edges of the upper film substrate,

the front design sheet is secured to the lower transparent substrate,
the fixing structure further comprises an attachment member extending around the upper film substrate, and
said attachment member is located between and bonds the outer portions of the front design sheet and the lower transparent
substrate that project outwardly from the outer edges of the upper film substrate.

US Pat. No. 9,533,392

MACHINE TOOL HAVING A ROTARY TABLE

FANUC CORPORATION, Yaman...

1. A machine tool comprising:
a rotary table for attaching a workpiece;
a motor for driving the rotary table;
a clamping mechanism for clamping rotation of the rotary table; and
a timer for setting a time taken until a subsequent command is made available after an unclamping command for releasing a
clamping operation of the clamping mechanism to a set time,

wherein the machine tool includes
a load measurement unit for measuring a load of an output shaft of the motor,
a reference load storage unit for storing a reference load of the rotary table in advance,
a provisional load storage unit for measuring and storing, as a provisional load, a load obtained when an unclamping command
of the rotary table is output and the rotary table is rotated after the set time set in the timer passes,

a load comparison unit for comparing the provisional load stored in the provisional load storage unit with the reference load
stored in the reference load storage unit, and

a timer changing unit for changing the set time of the timer when the provisional load exceeds the reference load as a result
of comparison of the load comparison unit.

US Pat. No. 10,033,150

LASER APPARATUS FOR CALCULATING EFFECTIVE DRIVING TIME

FANUC CORPORATION, Yaman...

1. A laser apparatus comprising:a light source which functions as a laser light source or an excitation light source;
a power source which charges driving current to the light source, to drive the light source;
a control unit for controlling the power source;
a first recording unit for recording a life load rate of the light source indicating a ratio between a first life of the light source when driven by a first driving current, and a second life of the light source when driven by a second driving current; and
a calculation unit which:
calculates, as an effective driving time, a time integration of the life load rate between a first time point, at which the laser apparatus is actually driven, and a second time point after the first time point, based on a recording result of the first recording unit, and
determines deterioration of the light source based on the effective driving time.

US Pat. No. 10,018,677

MOTOR CONTROLLER DETECTING ABNORMALITY OF POWER TRANSMISSION UNIT BETWEEN MAIN SPINDLE AND MOTOR

FANUC CORPORATION, Yaman...

1. A motor controller detecting an abnormality in a power transmission unit that connects a motor and a main spindle of a machine tool and has a known speed reduction ratio, the motor controller comprising:a single-rotation signal detector detecting a single-rotation signal that indicates a single rotation of the main spindle;
a rotation angle detector detecting a rotation angle of the motor every predetermined time;
a counter adding up the rotation angle detected by the rotation angle detector every predetermined time, a value of the counter being reset when the single-rotation signal detector detects the single-rotation signal of the main spindle, the counter outputting a counter value; and
a judgment unit receiving only the counter value as an input and judging that a belt in the power transmission unit has an abnormality when a value of the rotation angle of the motor added up in the counter is greater than a predetermined value before the counter is reset by the single-rotation signal detector.

US Pat. No. 10,002,060

MATRIX CIRCUIT DETECTING FAILURE LOCATION IN COMMON SIGNAL

FANUC CORPORATION, Yaman...

1. A matrix circuit of a sink type, the matrix circuit comprising:m common signal lines and n data signal lines, where m is a natural number and n is a natural number, the common signal lines and the data signal lines being arranged in a matrix;
m×n switches each connected between one of the common signal lines and one of the data signal lines intersecting each other, the matrix circuit being configured such that states of keys are scanned by driving the common signal lines to a low level one by one while reading states of the data signal lines;
p monitoring signal lines to allow states of the common signal lines to be monitored, where p is a natural number;
a storage unit in which inputs to the monitoring signal lines during one scan of the common signal lines are stored; and
a detection unit that detects occurrence of a fault including a ground fault, a short circuit, or disconnection on any of the common signal lines to identify the faulty common signal line, wherein
when a ground fault has occurred on any of the common signal lines, the detection unit:
determines that a ground fault has occurred on the common signal line when all of the inputs to the monitoring signal lines are not 0 or at a high level during a non-scan period when none of the common signal lines are driven, and
determines a location of the ground fault on the common signal line based on data input to the monitoring signal lines.

US Pat. No. 9,757,835

TOOL CHANGER WITH COVER MEANS

FANUC CORPORATION, Yaman...

1. A tool changer which comprises:
a turret with a plurality of grips for holding tools, wherein the turret is rotatable about a rotation axis to index a desired
tool to change the tools;

a first cover which covers a first surface of the turret;
a second cover which comprises an outer surface portion and covers a second surface of the turret that is on an opposite side
of the turret than the first surface;

a drive source configured to rotate the turret; and
a turret mechanism portion configured to transmit a force from the drive source to rotate the turret, wherein
the turret mechanism portion projects from the outer surface portion,
the outer surface portion of the second cover is formed with a projection or a recess,
the projection or the recess defines a flow passage at an upper side of the turret mechanism portion, the flow passage configured
to guide debris so as to prevent the debris from getting into the turret mechanism portion, and

the flow passage has a central portion and opposite end portions, the opposite end portions located on opposite sides of the
central portion and on opposite lateral sides of the rotation axis, and the central portion is higher than the opposite end
portions.

US Pat. No. 9,594,357

THERMAL DISPLACEMENT COMPENSATING DEVICE OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A thermal displacement compensation device of a machine tool, the thermal displacement compensation device comprising:
a thermal displacement compensating unit configured to compensate a position command value of a feed axis by
predicting a thermal displacement amount of a part of the machine tool from an operation of the machine tool or a temperature
of said part of the machine tool, and

adding a thermal displacement compensation amount, which cancels the predicted thermal displacement amount, to the position
command value of the feed axis;

a thermal displacement compensation amount adjusting unit configured to adjust the thermal displacement compensation amount
from an error amount, said error amount being between

the position command value compensated by the thermal displacement compensating unit and
an actual machining point;
an image display device configured to display an image of a workpiece or a tool;
an image operating unit configured to move the image of said workpiece or tool in a direction to cancel the error amount of
the machining point;

a moving direction display unit configured to display on the image display device an image which shows a relationship between
an initial position of the image for which the thermal displacement compensation amount has not yet been adjusted and
a position of the image which has been moved by the image operating unit;
a thermal displacement compensation amount determining unit configured to determine an increase or a decrease of the thermal
displacement compensation amount based on the direction in which the image is moved from the initial position by the image
operating unit, wherein

the thermal displacement compensation amount determining unit is configured to determine the increase of the thermal displacement
compensation amount when the direction in which the image is moved from the initial position by the image operating unit indicates
that the machining point moves in a positive direction on a machine coordinate, and

the thermal displacement compensation amount determining unit is configured to determine the decrease of the thermal displacement
compensation amount when the direction in which the image is moved from the initial position by the image operating unit indicates
that the machining point moves in a negative direction on the machine coordinate; and

an error amount setting unit configured to set the error amount of the machining point,
wherein the thermal displacement compensation amount adjusting unit is configured to adjust the thermal displacement compensation
amount based on

the increase or decrease of the thermal displacement compensation amount determined by the thermal displacement compensation
amount determining unit and

the error amount of the machining point set by the error amount setting unit, and
wherein the machine tool is controlled based on the thermal displacement compensation amount adjusted by the thermal displacement
compensation amount adjusting unit.

US Pat. No. 9,367,047

WIRE ELECTRIC DISCHARGE MACHINE PERFORMING TURNING TOOL MACHINING, TURNING TOOL MACHINING METHOD WITH WIRE ELECTRIC DISCHARGE MACHINE, AND PROGRAM CREATION APPARATUS FOR WIRE ELECTRIC DISCHARGE MACHINE THAT PERFORMS TURNING TOOL M

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine for performing turning tool machining of an edge part of a turning tool to which a tip
is attached, the wire electric discharge machine comprising:
a table;
a wire electrode;
a controller configured to control movement of the wire electrode relative to the table, on which the turning tool is placed,
in accordance with a machining program; and

a measurement unit configured to measure a height from a reference face at a plurality of measurement points on a route of
the machining program;

wherein the controller is configured to
calculate, for each measurement point among the plurality of measurement points, a height error of a surface of the tip with
respect to a reference rake face having no tip-attaching error, on the basis of the height measured by the measurement unit;

calculate a correction amount for said each measurement point on the basis of (i) the height error calculated for said each
measurement point and (ii) a taper angle of the wire electrode in performance of machining instructed by the machining program,
wherein a position, on a horizontal plane, of the edge part of the turning tool accords with a position, on the horizontal
plane, of an edge part of the reference rake face; and

control movement of the wire electrode relative to the turning tool on the basis of the calculated correction amount.

US Pat. No. 9,248,539

MOTOR CONTROL DEVICE FOR IMPLEMENTING POWER FAILURE PROTECTION OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A control device for a machine tool including a feed shaft motor for driving a feed shaft and a main shaft motor for driving
a main shaft, the control device comprising:
a converter mutually converting power between AC power on an AC power supply side and DC power of a DC link at a DC side;
a feed shaft motor inverter connected to the DC link, and mutually converting power between DC power of the DC link and AC
power which is driving electric power or regenerative electric power of the feed shaft motor;

a main shaft motor inverter connected to the DC link, and mutually converting power between DC power of the DC link and AC
power which is driving electric power or regenerative electric power of the main shaft motor;

a power failure detection unit detecting presence or absence of power failure on the AC power supply side of the converter;
a feed shaft motor deceleration command unit outputting a feed shaft motor deceleration command to control power interconversion
by the feed shaft motor inverter so as to decelerate the feed shaft motor, when the power failure detection unit detects power
failure;

a determination unit determining whether an operation of the feed shaft motor satisfies a predetermined determination condition;
and

an excitation command unit outputting an excitation current command to output excitation current larger than excitation current
instructed by a master control unit from the main shaft motor inverter to the main shaft motor, when the determination unit
determines that the predetermined determination condition is satisfied, wherein

the predetermined determination condition is at least one of a condition in which the feed shaft is being moved in a rapid
traverse mode, a condition in which a speed of the feed shaft is not smaller than a predetermined value, and a condition in
which a sum of kinetic energies of all feed shafts is not smaller than a predetermined value.

US Pat. No. 10,114,363

NUMERICAL CONTROLLER CAPABLE OF PARTIAL CORRECTION OF MACHINING CYCLE

FANUC Corporation, Minam...

1. A numerical controller that generates a machining cycle configured by a plurality of blocks in response to a machining cycle generation command of a machining program, and controls a machine tool by executing the machining cycle, the numerical controller including a memory and a processor, the processor configured to perform a method comprising:selecting, from among the plurality of blocks of the machining cycle, a block to be corrected based on an operator selection of a tool path to be corrected;
correcting the selected block based on a correction received from an operator;
generating correction information of the block based on the correction received from the operator without unfolding the machining cycle into a code program; and
storing the correction information of the block,
wherein the machining cycle is generated based on the correction information of the block and the machining cycle is executed to control the machine tool.

US Pat. No. 10,095,223

NUMERICAL CONTROLLER HAVING FUNCTION OF SPEEDING UP FIXED CYCLE

Fanuc Corporation, Yaman...

1. A numerical controller that generates a command data string including a plurality of command data items based on a fixed cycle command included in a program, and controls a machine based on the command data string, the numerical controller comprising:a fixed cycle operation section that analyzes the fixed cycle command and generates the command data string based on an analysis result, wherein
the fixed cycle operation section includes:
a remainder calculation section that calculates a remaining cutting depth based on an entire cutting depth of a tool for a workpiece and a cutting depth of the tool for the workpiece in one cut that are specified by the fixed cycle command; and
a command data string adjustment section that adjusts order of the command data items included in the command data string or cutting depths in the command data items based on the remaining cutting depth such that the total of a feed movement amount of the tool resulting from the command data string is reduced.

US Pat. No. 10,052,765

ROBOT SYSTEM HAVING AUGMENTED REALITY-COMPATIBLE DISPLAY

FANUC CORPORATION, Yaman...

1. A robot system, comprising:a robot;
a controller configured to control the robot; and
an image capturing-displaying device connected to the controller, and configured to
store a plurality of image models of the robot,
associate each of the plurality of image models with corresponding relative position and angle between the robot and the image capturing-displaying device,
capture an image of a scene including the robot,
display the captured image in real-time,
among the plurality of image models, detect an image model closest to an image of the robot in the captured image, and
measure the relative position and angle associated with the detected closest image model as relative position and angle between the robot and the image capturing-displaying device in the image displayed in real-time on the image capturing-displaying device,
wherein the image capturing-displaying device has a display configured to display additional information visually representing a status or an operation guide of the robot in a manner that the additional information is overlapped with the image displayed on the image capturing-displaying device in real-time, based on the relative position and angle measured by the image capturing-displaying device, and
wherein the image capturing-displaying device is configured to generate the additional information based on inside information of the robot transmitted from the controller.

US Pat. No. 9,905,264

SERVO CONTROL SYSTEM HAVING FUNCTION OF SWITCHING LEARNING MEMORY

FANUC CORPORATION, Yaman...

1. A servo control system comprising:
a servo control device for driving a driven body that operates periodically using a servomotor; and
a learning controller for generating correction data based on a location deviation with respect to a uniform command pattern,
and storing the correction data in delay memory and correcting the location deviation,

wherein the delay memory includes a first memory having a short access delay time and a second memory having a long access
delay time,

wherein the servo control device includes a switching unit for assigning one of the first memory and the second memory to
the learning controller, depending on a learning period according to the command pattern, and

wherein the switching unit is switched such that
when the learning period is longer than the delay time of the second memory, the second memory is selected, and
when the learning period is equal to or shorter than the delay time of the second memory, the first memory is selected.

US Pat. No. 9,812,914

ROTOR COMPONENT MEMBER, ROTATING AXIS, ROTOR, MOTOR, AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A rotor comprising:
a rotating axis rotating about an axial center of the rotating axis and including a tapered surface in an outer circumferential
surface of the rotating axis; and

a rotor component member fitted on the rotating axis using the tapered surface of the rotating axis, wherein the rotor component
member comprises:

a sleeve which has an inner circumferential surface including a tapered surface to be press-fitted relative to the tapered
surface of the outer circumferential surface of the rotating axis; and

a rotor component mounted on an outer circumferential surface of the sleeve,
at least one of the tapered surface of the rotating axis and the tapered surface of the rotor component member has a corrugated
surface structure created by chemical oxidation along the tapered surface, the corrugated surface stores a lubricant and the
corrugated surface wears away when press-fitting the rotating axis relative to the rotor component member.

US Pat. No. 9,769,428

IMAGE PROCESSING DEVICE WITH FUNCTION FOR AUTOMATICALLY ADJUSTING SEARCH WINDOW

FANUC Corporation, Minam...

1. An image processing device that photographs an image by a camera, sets a search window in the image as a range to detect
a workpiece that is accommodated in a container from the image, and detects the workpiece, wherein after the workpiece is
detected, a robot is moved to handle the workpiece, the image processing device comprising:
a container reference position and posture setting unit for setting a container reference position and posture;
a workpiece reference height setting unit for setting a workpiece reference height to be a reference for the workpiece, when
the workpiece is placed in the container;

a reference search window setting unit for adjusting a search window that is set such that the workpiece can be detected when
the container is in the container reference position and posture and the workpiece is at the workpiece reference height, as
a reference search window;

a container position and posture acquisition unit for acquiring a container position and posture when the workpiece is photographed;
a workpiece height calculation unit for estimating a workpiece height when the workpiece is photographed;
an executing appearance transformation calculation unit for finding an executing appearance transformation on an image from
the container position and posture and the workpiece height, wherein the executing appearance transformation represents a
change of the position and posture of the image for a given container position and posture and a given workpiece height;

a reference appearance transformation storage unit for storing a reference appearance transformation on an image which is
calculated from the container reference position and posture and the workpiece reference height, wherein the reference appearance
transformation on the image represents a change of the position and posture of the image in which the container is present
at the container reference position and posture and the workpiece is present at the workpiece reference height;

a search window calculation unit for adjusting an amount of adjustment of the search window from the executing appearance
transformation and the reference appearance transformation, the workpiece reference height, the container position and posture,
and the workpiece height, and calculating the search window from the reference search window and the amount of adjustment
of the search window; and

a workpiece detection unit for detecting the workpiece from the image using the calculated search window.

US Pat. No. 9,760,079

CUTTING TOOL MACHINING METHOD AND A WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A cutting tool machining method including measuring a position of a blade face in a cutting tool attached to a rotary axis
by a touch sensor or a non-contact position detecting device, for creating a machining program based on the measured position,
and for machining a blade section of the cutting tool by wire electric discharge, the cutting tool machining method comprising:
fixing a rod-shaped reference bar to the rotary axis;
performing rotation positioning in at least three rotation angle positions by the rotary axis;
measuring a position in an outer circumferential section near a rotation center height in a direction approaching an outer
circumferential surface of the reference bar for measurement at each rotation angle position by the touch sensor, the non-contact
position detecting device, or a wire electrode;

storing the measured positions in a storage unit as rotational run-out position information for the rotation angle positions;
calculating a center coordinate of rotational run-out, and a rotation coordinate and a run-out error of each rotation angle
position based on the stored rotational run-out position information; and

correcting the machining program or a machining path to cancel the rotational run-out error determined by the calculation,
when the cutting tool is fixed to the rotary axis and machined,

wherein the method further comprises detecting an upper end surface position of the outer circumferential section from an
upper position of the reference bar at the center of rotation in a direction approaching the outer circumferential section
towards the lower side, instead of the position in the outer circumferential section near the rotation center height, when
the outer circumferential section of the reference bar is measured by the touch sensor or the non-contact position detecting
device.

US Pat. No. 9,645,568

NUMERICAL CONTROLLER HAVING COMMAND PATH COMPRESSION FUNCTION

FANUC Corporation, Minam...

1. A numerical controller that controls a machine tool composed of a plurality of driving axes including at least two straight-line
axes that perform processing on a workpiece attached to a table, the numerical controller comprising:
a command reading unit configured to read a command path being a sequence of a plurality of command points and a relative
feed speed command of the workpiece and a tool;

a subsequence extraction unit configured to extract a subsequence from the sequence of command points to divide the sequence
of command points in a manner such that the same path may be created regardless of whether the command points read are extracted
by the command reading unit from a commanded direction or from a direction reverse to the commanded direction;

a point sequence compression unit configured to create a compressed path approximated by a straight line or a curve of which
the distance from each command point in the extracted subsequence is within a preset tolerance in a manner such that the compressed
path may be approximated, based on a straight-line creating method or a curve creating method and a tolerance determination
that do not depend on the commanded direction, by the same straight line or curve regardless of whether the compressed path
is created from the extracted subsequence in a commanded direction or in a direction reverse to the commanded direction;

an interpolation unit configured to obtain the position of each axis for each interpolation cycle in a manner such that the
tool may move at the commanded relative feed speed on the path compressed by the point sequence compression unit; and

a motor driving unit configured to drive a motor of each axis to move to the position of each axis obtained by the interpolation
unit.

US Pat. No. 9,631,632

IMPELLER HAVING BLADE HAVING BLADE SURFACE MADE UP OF LINE ELEMENTS AND METHOD OF MACHINING THE IMPELLER

FANUC CORPORATION, Yaman...

1. A method of machining an impeller having a blade having a blade surface made up of line elements, using a 4-axis machining
machine having three linear axes and one rotation axis,
the line elements that form the blade surface of the impeller being not parallel to each other but being skew to each other,
an origin being defined at an optional position on a Z-axis which is a central axis of the impeller, and a plane that passes
through the origin and is orthogonal to the Z-axis being defined as an XY plane,

an X-axis being defined on the XY plane, and projection lines obtained by projecting the line elements onto the XY plane being
defined as XY-projection lines of the line elements,

an angle between the XY-projection line of each of the line elements and the X-axis being defined as a twist angle of the
line element,

a plane that includes the Z-axis and is not perpendicular to any one of the XY-projection lines of the line elements being
defined as a Z-axis projection plane,

projection lines obtained by projecting the line elements onto the Z-axis projection plane being defined as Z-axis projection
lines of the line elements,

a distance between the origin and an intersection of the Z-axis and an extension line of the Z-axis projection line of each
of the line elements being defined as a Z-axis distance of the line element, and

the blade of the impeller being formed of a surface made up of such line elements that a relationship between the Z-axis distance
of the line element and the twist angle of the line elements is represented by a curve, and that an angle between the Z-axis
and the Z-axis projection line of the line element is not a right angle but the Z-axis projection lines of the line elements
are parallel to each other,

the method comprising, when cutting the blade surface of the impeller by a lateral surface of a cylindrical rotating tool
having a central rotational axis:

fixing a central axis of rotation of a workpiece to such a position that is tilted from a horizontal surface by an angle between
a perpendicular of the central axis of the impeller and the Z-axis projection line of the line element;

rotating the workpiece in this state;
moving the rotating tool so that the lateral line thereof is aligned with the line element; and
machining the workpiece by the lateral surface of the rotating tool, wherein
the central rotational axis of the cylindrical rotating tool is held at a predetermined angle relative to the Z-axis across
an entirety of the blade surface between two of the line elements that form the blade surface, and

said predetermined angle being equal to an angle between one of the line elements that form the blade surface and the Z-axis,
and the predetermined angle is not a right angle.

US Pat. No. 9,540,186

CONVEYOR SYSTEM AND CONVEYANCE METHOD

Fanuc Corporation, Yaman...

1. A conveyor system comprising a conveyor robot having a hand and arm, and a pair of gripping jigs attached to a conveyed
object, wherein
said hand comprises
a body part attached to said arm,
a pair of projecting parts projecting out from different positions of said body part in the same direction,
hook parts attached to said pair of projecting parts, and
pushing parts attached to said body part adjoining said pair of projecting parts and configured to move along the projecting
direction of said pair of projecting parts to generate pushing forces, and

said pair of gripping jigs comprises
rod-shaped parts caught on hook parts of said hand and
pushed parts pushed by said pushing parts of said hand.

US Pat. No. 9,399,273

CUTTING FLUID CONTROL DEVICE FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A cutting fluid control device for a machine tool, which comprises:
a cutting fluid undiluted-solution supply device configured to supply an undiluted solution of a cutting fluid to a cutting
fluid tank;

a water supply device configured to supply water for diluting the cutting fluid undiluted-solution in the cutting fluid tank;
and

a concentration sensor configured to detect the concentration of the cutting fluid in the cutting fluid tank, wherein
the cutting fluid control device adjusts the amounts of supply of the cutting fluid and the water to control the concentration
of the cutting fluid in the cutting fluid tank, the cutting fluid control device further comprising:

an operating unit configured to input a machining condition of the machine tool;
a computing unit configured to calculate the concentration of the cutting fluid based on the machining condition input through
the operating unit; and

an adjustment unit configured to adjust the amounts of supply from the cutting fluid undiluted-solution supply device and
the water supply device so that the concentration of the cutting fluid in the cutting fluid tank is equal to the cutting fluid
concentration calculated by the computing unit.

US Pat. No. 9,048,733

MOTOR DRIVING DEVICE HAVING REACTIVE CURRENT INSTRUCTION GENERATING UNIT

FANUC CORPORATION, Yaman...

1. A motor driving device, comprising:
a converter configured to convert an input alternating current into a direct current;
a plurality of inverters connected to the converter in parallel and each configured to invert the direct current output by
the converter into an alternating current for driving each of a plurality of motors respectively connected to the plurality
of inverters;

a voltage detecting unit configured to detect a voltage on a direct current output side of the converter; and
a numerical control unit connected to the plurality of inverters in parallel and configured to cause at least one of the plurality
of inverters to output a reactive current, when the voltage detected by the voltage detecting unit exceeds a predetermined
threshold which is smaller than a maximum voltage value on the direct current output side allowable for the converter, wherein

the numerical control unit includes
a voltage monitoring unit configured to monitor whether or not the voltage detected by the voltage detecting unit exceeds
the predetermined threshold, and

a reactive current instruction generating unit configured to generate a reactive current instruction for causing the at least
one of the plurality of inverters to output the reactive current on the basis of a difference between the voltage detected
by the voltage detecting unit and the predetermined threshold when the voltage monitoring unit determines that the voltage
detected by the voltage detecting unit exceeds the predetermined threshold.

US Pat. No. 10,042,346

NUMERICAL CONTROL DEVICE PROVIDED WITH HEAT RADIATION CHARACTERISTIC ESTIMATION PART

FANUC CORPORATION, Yaman...

1. A numerical control device which is provided at a motor drive system which is provided with a cooling device and drives at least one motor, said numerical control device comprising:a processor, wherein the processor comprises:
a temperature acquisition part which acquires a temperature of component elements at a motor part of said motor drive system from a temperature detector which is set in the motor drive system,
an ambient temperature acquisition part which acquires an ambient temperature of the motor part of the motor drive system from a temperature detector which is set at the motor drive system,
an input energy acquisition part which acquires an input energy to the component elements,
an output energy acquisition part which acquires an output energy from the component elements,
a heat radiation characteristic estimation part which estimates a heat radiation characteristic of the component elements from the temperature of the component elements, the ambient temperature, the input energy, and the output energy, and
a heat radiation characteristic outputting part which outputs the estimated heat radiation characteristic of the component elements as a normal/abnormal judgment signal of the cooling device wherein
the numerical control device is configured to monitor an uptime and a downtime of the cooling device based on the normal/abnormal judgment signal,
wherein said heat radiation characteristic estimation part subtracts a value for heat energy of said component elements which is calculated from the temperature of said component elements and heat capacity from loss energy of said component elements which is calculated by subtracting said output energy from said input energy to thereby calculate an amount of heat radiated from said component elements and divides said amount of heat radiated by a temperature difference of a temperature of said component elements and a temperature of said ambient temperature so as to calculate a heat radiation characteristic of said component elements.

US Pat. No. 9,808,934

ROBOT CONTROL APPARATUS JUDGING RESTART OF OPERATION PROGRAM

FANUC CORPORATION, Yaman...

1. A robot control apparatus which controls a robot driven based on an operation program, the robot control apparatus comprising:
an external force estimation unit which estimates the external force applied to the robot;
a stop command unit which stops the robot on a basis of an external force; and
a judgement value storage unit which stores judgement values relating to the external force, wherein
the judgement value storage unit previously stores a stop judgement value for temporarily stopping the robot, a first external
force judgement value smaller than the stop judgement value and for restarting driving of the robot, and a second external
force judgement value smaller than the first external force judgement value; and

the stop command unit
performs control to temporarily stop execution of the operation program when the external force exceeds the stop judgement
value during a period during which the robot is driven based on the operation program,

performs control to restart the execution of the operation program when, in a state where the execution of the operation program
is temporarily stopped, the external force is continuously equal to or less than the first external force judgement value
during a period of a predetermined first time length, and additionally, a time length in which the external force continuously
exceeds the second external force judgement value is equal to or less than a predetermined second time length, and

performs control to inhibit a restart of the execution of the operation program when, in a state where the execution of the
operation program is temporarily stopped, the external force is continuously equal to or less than the first external force
judgement value during a period of the predetermined first time length, and additionally, the time length in which the external
force continuously exceeds the second external force judgement value is more than the second time length.

US Pat. No. 9,808,976

INJECTION MEMBER ATTACHMENT STRUCTURE FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection member attachment structure for attaching an injection member, which is movable forward and backward so as
to inject a molten material into a mold, to an injection molding machine, said injection member attachment structure comprising:
a power transmission member configured to transmit forward/backward moving power to the injection member;
a buffer spacer provided, in an injection axis direction of the injection member, between a rear end surface of the injection
member and an end surface of the power transmission member facing toward the injection member; and

a regulation member configured to regulate a movement of the buffer spacer in the injection axis direction of the injection
member,
wherein
the buffer spacer has a surface directly contacting the injection member and having hardness greater than other portions of
the buffer spacer.

US Pat. No. 9,533,482

MASKING SYSTEM USING MASKING PIECE

FANUC CORPORATION, Yaman...

1. A method, comprising:
detecting a position of an object at a first position, thereby obtaining first positional information of the object;
robotically gripping a masking piece;
detecting a position of said masking piece which is gripped, thereby obtaining second positional information of the masking
piece;

robotically gripping the object with a robotic device based on the detected position of the object;
setting the object at a predetermined position different from the first position based on the first positional information;
directly coating an adhesive on a masking location of the object while the object is set at the predetermined position; and
adhering said masking piece to the masking location of said object based on the second positional information.

US Pat. No. 10,687,413

MOTOR DRIVING DEVICE

FANUC CORPORATION, Yaman...

1. A motor driving device, comprising:a control circuit board provided with a control circuit configured to output a control signal of a secondary voltage; and
a power circuit board provided with power circuitry to which a primary voltage higher than the secondary voltage is applied, wherein the power circuit board includes:
a first substrate provided with a primary voltage component group to which only the primary voltage is applied; and
a second substrate provided with a converter component group configured to convert the primary voltage into the secondary voltage and convert the secondary voltage into the primary voltage, wherein:
the primary voltage component group is provided on one surface side of the first substrate;
the second substrate is arranged on an opposite side of the primary voltage component group from the first substrate; and
the converter component group is provided on an opposite side of the second substrate from the primary voltage component group.

US Pat. No. 10,231,320

PROCESSING MACHINE INCLUDING ELECTRIC DISCHARGER

Fanuc Corporation, Yaman...

1. A processing machine comprising:an electric discharger to remove static electricity from a charged work piece or charged machining chips;
a movement means that moves the electric discharger;
an imaging device that captures a state of the charged workpiece or the charged machining chips; and
a controller configured to:
determine a location needing removal of the static electricity from information captured by the imaging device,
control the movement means to move the electric discharger to the location, and
control the electric discharger to remove the static electricity,
wherein the imaging device is mounted on the movement means.

US Pat. No. 10,088,831

NUMERICAL CONTROLLER CAPABLE OF CHECKING INTERFERENCE BETWEEN TOOL AND WORKPIECE

FANUC Corporation, Minam...

1. A numerical controller configured to detect abnormal interference between targets for interference check in a machine tool, including a tool and a workpiece, based on a machining program, the numerical controller comprising:non-transitory computer readable memory;
one or more hardware processors coupled to the non-transitory memory and configured to read instructions from the non-transitory memory to cause the numerical controller to perform operations comprising:
setting a contactable direction which is a direction in which the tool is allowed to contact the workpiece to machine the workpiece;
analyzing the machining program to obtain a compensation direction of radius compensation;
changing the contactable direction for the tool based on a posture of the tool;
executing an interference check process for detecting an abnormal interference between the tool and the workpiece, based on the obtained compensation direction of radius compensation and the changed contactable direction, wherein the interference check process determines that the interference between the tool and the workpiece is abnormal if the compensation direction of radius compensation is not included in the changed contactable direction for the tool; and
terminating machining by the machine tool if an abnormal interference is detected.

US Pat. No. 10,031,513

CONTROL APPARATUS OF ROBOT OR MACHINE TOOL, WIRELESS TEACHING PENDANT, AND AUTOMATIC MACHINE SYSTEM

FANUC CORPORATION, Yaman...

1. An automatic machine system including a control apparatus of a robot or a machine tool and a wireless teaching pendant connected to the control apparatus via wireless communication and configured to operate the control apparatus, the automatic machine system comprising:a wireless communication unit configured to perform wireless communication between the wireless teaching pendant and the control apparatus; and
an interval change unit configured to change a transmission interval from the wireless teaching pendant or a reception interval by the control apparatus of periodic data used by the control apparatus for determination of whether to stop an operation of the robot or the machine tool, the periodic data being transmitted from the wireless teaching pendant to the control apparatus,
wherein the control apparatus stops the operation of the robot or a machine control when the control apparatus is not able to receive the periodic data within the time period determined by the set reception interval.

US Pat. No. 10,010,990

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:a chip evacuation device configured to evacuate chips produced in the machine tool to outside;
a cleaning mechanism for cleaning a part or the whole of the chip evacuation device; and
a control unit configured to control respective operations of the chip evacuation device and the cleaning mechanism in association with each other, based on a remaining chip state in a drive part of the chip evacuation device.

US Pat. No. 9,290,334

WORKING SYSTEM PROVIDED WITH SERVO-CONTROLLED AUTOMATIC OPERATING DOOR

Fanuc Corporation, Yaman...

2. The working system according to claim 1, further comprising an detecting part to detect the position and the posture of the robot, wherein
the robot control apparatus controls the servo motor dedicated to operating the door in accordance with the position and the
posture of the robot which is detected by the detecting part.

US Pat. No. 10,095,215

THERMAL DISPLACEMENT CORRECTION APPARATUS FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A controller for a machine tool, the controller comprising:a thermal displacement correction unit that estimates a thermal displacement amount from an operation of a machine of the machine tool or a temperature of each portion of the machine and calculates a thermal displacement correction amount for correcting thermal displacement by adding, to a position command value of a feed axis of the machine tool, the thermal displacement correction amount for cancelling the thermal displacement amount thus estimated;
a thermal displacement correction amount adjustment unit that acquires information of an actual position in the machine by a measurement unit and adjusts the thermal displacement correction amount with an adjustment value;
a machine-dependent coefficient calculation unit that calculates a machine-dependent coefficient depending on specifications of the machine for calculating the adjustment value on the basis of
the thermal displacement correction amount that has been calculated in driving the machine,
the actual position in the machine that is measured by the measurement unit, and
an approximate expression representing a relation between the thermal displacement correction amount and the adjustment value;
a machining condition-dependent coefficient calculation unit that calculates a machining condition-dependent coefficient, which is a numerical value specified depending on a machining program, for calculating the adjustment value on the basis of
the thermal displacement correction amount that has been calculated in machining a workpiece on the basis of the machining program,
the actual position in the machine that is acquired by measurement by the measurement unit, and
the approximate expression representing the relation between the thermal displacement correction amount and the adjustment value; and
a calculation unit that calculates the adjustment value corresponding to the estimated thermal displacement amount, from the approximate expression that contains the calculated machine-dependent coefficient and the calculated machining condition-dependent coefficient, wherein
the thermal displacement correction amount adjustment unit corrects the thermal displacement correction amount with the calculated adjustment value, and
the controller is configured to
add the corrected thermal displacement correction amount is added to the position command value so as to obtain a corrected position command value, and
control the feed axis of the machine tool using the corrected position command value.

US Pat. No. 10,048,678

NUMERICAL CONTROLLER

FANUC Corporation, Minam...

1. A numerical controller for controlling a machine tool for machining a work on the basis of an NC program for execution including a variable, comprising:an NC program for variable-check storage region for storing an NC program for variable-check indicating an execution situation of the NC program for execution;
NC program reading unit for sequentially reading the NC program for execution on a predetermined unit basis;
NC program analyzing unit for analyzing the predetermined unit of the program read by the NC program reading unit;
workpiece machining unit for controlling the machine tool on the basis of a result of analysis by the NC program analyzing unit; and
a variable value table sequentially holding a variable value assigned to the variable at time of execution of the predetermined unit of the program read by the NC program reading unit, wherein
the NC program analyzing unit has variable replacing unit, character string for variable-check creating unit, and NC program for variable-check writing unit;
the variable replacing unit outputs, to the workpiece machining unit, a program in which the variable included in the predetermined unit of the program read by the NC program reading unit is replaced with a variable value obtained from the variable value table on the basis of the variable value and also outputs, to the character string for variable-check creating unit, the predetermined unit of the program read by the NC program reading unit and the variable value obtained from the variable value table;
the character string for variable-check creating unit replaces a character string included in an instruction affected by the variable in the predetermined unit of the program with a character string for variable-check on the basis of the predetermined unit of the program read by the NC program reading unit and the variable value obtained from the variable value table input from the variable replacing unit; and
the NC program for variable-check writing unit stores the replaced predetermined unit of the program in the NC program for variable-check storage region.

US Pat. No. 10,050,357

CONNECTION MEMBER AND MOTOR DRIVE DEVICE HAVING THE SAME

FANUC CORPORATION, Yaman...

1. A connection member comprising:a first short bar whose one end is configured to be attached to a first terminal block;
a second short bar which extends in a longitudinal direction of the first short bar and whose one end is configured to be attached to a second terminal block, at least part of the other end side of the second short bar overlapping the first short bar in a direction orthogonal to the longitudinal direction; and
a guide member which is attached to an overlapping part of the first short bar and the second short bar and which allows the second short bar to move relative to the first short bar in the longitudinal direction while maintaining surface contact between the first short bar and the second short bar at the overlapping part.

US Pat. No. 9,904,277

NUMERICAL CONTROLLER CONFIGURED FOR OPERATION BASED ON TABULAR DATA

FANUC Corporation, Minam...

1. A numerical controller configured for operation based on tabular data, the numerical controller comprising an identification
unit, a determination unit, and a creation unit,
the tabular data including a time, an axis position, or a spindle position, as a reference,
an operation start command for the start of an operation at the time, the axis position, or the spindle position as the reference,
and

a control command for controlling an axis, a spindle, or an auxiliary function at the time, the axis position, or the spindle
position as the reference,

the identification unit being configured to identify the control command in the tabular data,
the determination unit being configured to calculate an operating time to achieve a target state for the control command identified
by the identification unit and determine a time, an axis position, or a spindle position, which serves as a reference for
the start of the operation of the identified control command, based on the identified control command,

the creation unit being configured to create the command for the start of the operation at the time, the axis position, or
the spindle position as the reference determined by the determination unit,

the numerical controller controls the axis, the spindle, or the auxiliary command according to the created command.

US Pat. No. 9,886,020

NUMERICAL CONTROL DEVICE OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A numerical control device of a machine tool which is configured to perform tapping process on a workpiece, using a spindle
to which a tapping tool is attached, and a feed shaft for feed operation of said spindle, the numerical control device comprising
a controller configured to:
acquire predetermined acceleration/deceleration characteristic information showing
a correspondence between
(a) a command rotational speed of the spindle and
(b) a maximum acceleration of the spindle,
acquire predetermined rotation amount information which shows the rotation amount of the spindle for a period from when the
feed operation of the spindle is started to when the tapping tool reaches a bottom of the hole of the workpiece,

calculate a correspondence between the command rotational speed of the spindle and a machining time required for the spindle
to reach the rotation amount, based on

(a) the acceleration/deceleration characteristic information, and
(b) the rotation amount information, and
determine an optimum value of the command rotational speed of the spindle for minimizing the machining time, based on the
calculated correspondence between the command rotational speed of the spindle and a machining time required for the spindle
to reach the rotation amount, and

control the spindle to rotate at the determined optimum value of the command rotational speed.

US Pat. No. 9,812,947

MOTOR CONTROL DEVICE HAVING LIFE PREDICTION UNIT OF SMOOTHING CAPACITOR

FANUC CORPORATION, Yaman...

1. A motor control device comprising:
a converter that converts AC power supplied from a side of an AC power source into DC power;
a smoothing capacitor provided in a DC link on a DC side of the converter;
an inverter that performs mutual power conversion between the DC power in the DC link and AC power that is driving power or
regenerative power of a motor;

a capacitor capacity measurement unit that measures a capacity of the smoothing capacitor, on the basis of the DC voltage
applied to the smoothing capacitor at a point after an initial charging operation is complete;

a data record unit that records a plurality of pieces of data composed of a measurement value of the capacity of the smoothing
capacitor measured by the capacitor capacity measurement unit and a date or both a date and time when the measurement has
been performed;

a deterioration characteristic calculation unit that calculates a deterioration characteristic line indicating a change of
the capacity of the smoothing capacitor with respect to elapsed time, on the basis of the plurality of pieces of data recorded
in the data record unit; and

a life prediction unit that predicts a period when a life of the smoothing capacitor ends, on the basis of the deterioration
characteristic line calculated by the deterioration characteristic calculation unit.

US Pat. No. 9,687,985

ROBOT HAND HAVING WORKPIECE POSITIONING FUNCTION, ROBOT SYSTEM, AND METHOD OF POSITIONING AND GRIPPING WORKPIECE

Fanuc Corporation, Yaman...

1. A suction-type robot hand for gripping a workpiece which has a mutually intersecting first surface, second surface, and
third surface, comprising:
a main body part;
a first static abutting part which projects from the main body part in a projecting direction, and has a first abutting surface
against which the first surface of the workpiece physically abuts;

a second static abutting part which extends from the main body part in the projecting direction, and against which the second
surface of the workpiece physically abuts;

a third static abutting part which extends from the main body part in the projecting direction, and against which the third
surface of the workpiece physically abuts; and

a suction member attached to the main body part, and having a suction surface which physically abuts and holds by suction
the first surface of the workpiece,

wherein the suction member projects from the main body part in the projecting direction, and
wherein the suction member is deformable into an elongated shape in the projecting direction when suction is not applied to
the suction member, and into a contracted shape in the projecting direction when suction is applied to the suction member,
the contracted shape in the projecting direction physically limited by the first static abutting part.

US Pat. No. 9,643,796

DEVICE AND METHOD OF ARRAYING ARTICLES BY USING ROBOT, AND ARTICLE TRANSFER SYSTEM

FANUC CORPORATION, Yaman...

1. An article arraying device configured to array a plurality of articles so as to rearrange the articles from a random arrangement
to a regular arrangement, comprising:
a robot configured to hold an article;
a vision sensor configured to obtain position information of each of a plurality of articles placed in a random arrangement;
an arrangement pattern generating section configured to generate an arrangement pattern with use of the position information,
the arrangement pattern including a plurality of pattern elements in a predetermined regular arrangement, each pattern element
representing a position of an article, in such a manner that a first pattern element that is any one of the plurality of pattern
elements coincides with a position of a reference article that is any one of the plurality of articles placed in the random
arrangement;

a picking motion generating section configured to generate a picking motion of the robot with use of the position information,
the robot being configured to pick up, by the picking motion, an article other than the reference article;

an arraying motion generating section configured to generate an arraying motion of the robot, the robot being configured to
place, by the arraying motion, the article picked up by the picking motion in a position juxtaposed to the reference article
in accordance with the arrangement pattern; and

a robot controlling section configured to control the picking motion and the arraying motion of the robot.

US Pat. No. 9,614,404

STATOR OF ROTARY ELECTRIC MACHINE INCLUDING RESTRICTING MEMBER FOR PREVENTING DEFORMATION OF COIL END PORTIONS AND ELECTRIC MOTOR INCLUDING SUCH STATOR

Fanuc Corporation, Yaman...

1. A stator of a rotary electric machine comprising a stator core provided with a plurality of slots extending in an axial
direction and being spaced apart from one another in a circumferential direction, and coils wound around through the slots,
wherein the coils comprise coil end portions protruding outward in the axial direction from an end surface of the stator core,
wherein the stator comprises a restricting member situated on an inner side of the coil end portions in a radial direction,
the restricting member being adapted to prevent the coil end portions from being deformed inward in the radial direction,

wherein the stator core comprises an attachment mechanism to which a circular-ring binding member is attached, the binding
member being adapted to bind the restricting member and the coil end portions together in the axial direction, and

wherein the attachment mechanism is in the form of a hook to facilitate ease of attachment of the binding member to the stator
core, and

the binding member includes a first arc portion extending over an arc part of the binding member, and
a second arc portion positioned diametrically opposite to the first arc portion, the first arc portion and the second arc
portion being hung on and held by the attachment mechanism.

US Pat. No. 9,331,618

MAGNETIC POLE POSITION DETECTOR FOR SYNCHRONOUS MOTOR

Fanuc Corporation, Yaman...

1. A magnetic pole position detector for detecting a magnetic pole position when a synchronous motor is started, the magnetic
pole position detector comprising:
a voltage command unit that generates high-frequency voltage command in a dq coordinate system;
a three-phase coordinate transformation unit that transforms the high-frequency voltage command in the dq coordinate system
to high-frequency voltage command in a three-phase coordinate system by using an estimated magnetic pole position;

a current detection unit that detects three-phase current fed from a power converter to the synchronous motor, the power converter
generating drive power for the synchronous motor in accordance with the high-frequency voltage command in the three-phase
coordinate system;

a dq-coordinate transformation unit that transforms the three-phase current detected by the current detection unit to current
in the dq coordinate system by using the estimated magnetic pole position used in a transformation by the three-phase coordinate
transformation unit;

an estimated magnetic pole position calculation unit that calculates a new estimated magnetic pole position to be used in
a coordinate transformation process by each of the three-phase coordinate transformation unit and the dq-coordinate transformation
unit, in accordance with the current in the dq coordinate system and the high-frequency voltage command in the dq coordinate
system; and

a magnetic pole position confirmation unit that confirms that, when a difference between the estimated magnetic pole position
calculated by the estimated magnetic pole position calculation unit and an actual magnetic pole position substantially converges
on a certain value, the estimated magnetic pole position is the magnetic pole position when the synchronous motor is started,

wherein the estimated magnetic pole position calculation unit includes:
a differentiation unit that differentiates a value of the current in the dq coordinate system;
a product calculation unit that calculates a product of the value of current differentiated by the differentiation unit and
the high-frequency voltage command in the dq coordinate system;

a filtering unit that removes a high-frequency component from the product obtained by the product calculation unit;
a gain unit that calculates a product of a predetermined gain constant and a signal output by the filtering unit after the
removal of the high-frequency component; and

an intergration unit that integrates the product output from the gain unit and then outputs an integrated result as the new
estimated magnetic pole position to be used.

US Pat. No. 10,012,974

MOTOR CONTROL SYSTEM AND MOTOR CONTROL METHOD WHICH PROTECT TOOL AND WORKPIECE AT TIME OF POWER OUTAGE

FANUC CORPORATION, Yaman...

1. A motor control system configured to cause a tool motor and a workpiece motor to rotate in synchronization by application of a master-slave synchronization system in a machine tool,the machine tool including:
the tool motor configured to rotate a tool shaft to cause a tool to move,
the workpiece motor configured to rotate a workpiece shaft to cause a workpiece to move, and
a linear shaft motor configured to drive a linear shaft to change a distance between-said tool shaft and said workpiece shaft, wherein
one of the tool shaft and the workpiece shaft is a master shaft and the other is a slave shaft, and
the motor control system is configured to cause the slave shaft to rotate in synchronization with the master shaft based on position feedback information of said master shaft,
said motor control system comprising:
a power outage detector configured to detect a power outage of a power supply when said master shaft and said slave shaft are synchronously rotating;
a forced deceleration circuit configured to perform a forced deceleration operation to forcibly cause either of said master shaft and said slave shaft to decelerate in response to a power outage signal output by said power outage detector;
a retraction device configured to cause said linear shaft motor to operate to increase the distance between said master shaft and said slave shaft to perform a retraction operation of separating said tool from said workpiece in response to the power outage signal output by said power outage detector; and
a delay circuit configured to
output an operation hold signal to the forced deceleration circuit in response to the power outage signal output by the power outage detector, and
lift the operation hold signal after a predetermined time from an input of the power outage signal to the forced deceleration circuit,
wherein
said motor control system is configured to perform the retraction operation by said retraction device in response to the power outage signal output by the power outage detector,
said forced deceleration circuit is configured to start the forced deceleration operation after the lifting of the operation hold signal, and
in the forced deceleration operation,
the workpiece motor is configured to perform deceleration tracking the forced deceleration of the tool motor so that the tool motor and the workpiece motor decelerate and stop while maintaining synchronization.

US Pat. No. 9,987,698

WIRE ELECTRIC DISCHARGE MACHINE HAVING SHAFT FEED CONTROL SYSTEM DISCRIMINATING FUNCTION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine that applies a voltage to a machining gap between a wire electrode and a workpiece arranged on a table to generate electric discharge and machines the workpiece while moving the wire electrode relatively to the table, the wire electric discharge machine comprising:a shaft feed control unit capable of performing shaft feed in a plurality of shaft feed control systems;
a machining condition input unit configured to input parameters for determining machining conditions;
a shaft feed control system storing unit in which setting values of the parameters included in the machining conditions and practicable shaft feed control systems are stored in association with each other; and
a shaft feed control system discriminating unit configured to discriminate the practicable shaft feed control systems according to the parameters input by the machining condition input unit and contents stored in the shaft feed control system storing unit, wherein
all the shaft feed control systems are prioritized in advance and the shaft feed control system with the highest priority is selected out of all the discriminated shaft feed control systems prior to machining the workpiece.

US Pat. No. 9,979,251

SUBSTRATE MANUFACTURED FROM SHEET METAL AND RESIN, MOTOR PROVIDED WITH SUBSTRATE, AND SOLDERING METHOD THEREFOR

FANUC CORPORATION, Yaman...

1. A substrate comprising:a land to which a tip of a wire is to be soldered; and
a resin wall formed higher than the land and formed around the land, wherein the wall comprises an inclined surface, inclined at an angle greater than 90° with respect to the land, wherein the wall has a white color or a metallic color, and wherein a groove to house the tip of the wire is formed in the wall.

US Pat. No. 9,948,167

ROTOR OF MOTOR WHICH USES MAGNETS TO ACHIEVE VARIATION-FREE TORQUE

FANUC CORPORATION, Yaman...

1. A method of production of a rotor comprising steps of:providing a rotor core having a plurality of first magnets which are arranged either at a circumferential surface of said rotor core or at an inside surface of said rotor core, wherein each of the plurality of first magnets has a reference magnetic flux density;
selecting at least one second magnet to replace at least one of the first magnets, the second magnet having a residual magnetic flux density; and
adjusting the axial direction length of the at least one second magnet so that it has the same residual magnetic flux density as the first magnet it is replacing;
wherein the step of adjusting the axial direction length of the at least one second magnet comprises multiplying the axial direction length of said first magnet it is replacing with the residual magnetic flux density of said second magnet and dividing this by the reference residual magnetic flux density of said first magnet rotor it is replacing.

US Pat. No. 9,925,672

ROBOT GRIPPING DEVICE

FANUC CORPORATION, Yaman...

1. A robot gripping device which has two or more finger parts, each of the two or more finger parts has a front end that can be moved toward a center of grip so as to grip an object, said device comprising:each of said two or more finger parts having a finger part body which is comprised of at least two or more plate-shaped elastic members, a first anti-slip part which is provided at an inside surface of the finger part body, and a reinforcing member which is arranged along an outer surface of the finger part body, the reinforcing member is connected to the front end of the finger part body, and is higher in rigidity than the finger part body,
said finger part body of each of said two or more finger parts is opposed with each other toward the center of grip,
said reinforcing member having a first rotary joint which makes the reinforcing member pivot about a first axis of rotation which is vertical to a longitudinal direction of the finger part body and which is parallel with a surface of the finger part body of each of said two or more finger parts, and
said robot gripping device having a drive part which makes a base end of the finger part body move along the center of grip, wherein
if the drive part moves the proximal end of the finger part body of each said two or more finger parts in the downward direction along the center of grip, the finger part body of each of said two or more finger parts bends outwardly, so that the two or more finger parts close, and
if the drive part moves the proximal end of the finger part body of each of said two or more finger parts in the upward direction along the center of grip, the finger part body of each said two or more finger parts bends inwardly, so that the two or more finger parts close.

US Pat. No. 9,914,597

ARTICLE SUPPLY DEVICE FOR SUPPLYING ARTICLES ACCORDING TO TYPE

FANUC CORPORATION, Yaman...

1. An article supply device comprising:
a plurality of storage units in which a plurality of types of articles are respectively stored;
a plurality of supply paths that communicate with the plurality of storage units, respectively;
a plurality of open/close stoppers that each move between open and closed positions to control supply amounts of articles,
which are to be supplied from each of the plurality of storage units to each of the plurality of supply paths, for each supply
path, wherein, in the open position of each stopper, a first article having a predetermined size is permitted to travel downstream
of the open stopper, and in the closed position of each stopper, the first article is prevented by the stopper from travelling
downstream of the closed stopper;

a plurality of partitions that form gaps depending on the types of the articles to be supplied to each of the plurality of
supply paths, between surfaces of the supply paths and the plurality of partitions at a downstream side of each of the plurality
of open/close stoppers in a supply direction of the articles;

a driving unit that allows the plurality of supply paths and the plurality of partitions to move relative to each other; and
a plurality of pins adjacent to front ends of the open/close stoppers, each pin being vertically juxtaposed with respect to
surfaces of the supply paths and configured to slide in a vertical direction with respect to the open/close stoppers, such
that when an open/close stopper is moved downward and a pin of the plurality of pins contacts an article that is positioned
beneath the pin, the pin is configured to move upward with respect to the open/close stopper to avoid interfering with the
article.

US Pat. No. 9,902,070

ROBOT SYSTEM AND ROBOT CONTROL METHOD FOR ADJUSTING POSITION OF COOLANT NOZZLE

FANUC CORPORATION, Yaman...

1. A robot system for adjusting a position of a coolant nozzle provided at a machine tool, the robot system comprising:
a robot;
a robot controller configured to control an operation of the robot; and
a notification part configured to notify the robot controller of a type of a workpiece to be processed by the machine tool,
wherein

the robot controller is configured to:
determine a target position of the coolant nozzle with respect to the workpiece when processing, based on the type of the
workpiece acquired from the notification part; and

control the robot to move the coolant nozzle to arrange the coolant nozzle at the target position, and
the robot is configured to perform both adjusting the position of the coolant nozzle and changing the workpiece.

US Pat. No. 9,905,016

ROBOT IDENTIFICATION SYSTEM

FANUC CORPORATION, Yaman...

1. A robot identification system, comprising:
a robot having a rotatable arm;
a camera imaging the robot;
an angle detector detecting a rotation angle of the arm;
a model generator that generates a robot model representing a form of the robot on the basis of the rotation angle detected
by the angle detector; and

an image processor comparing an image captured by the camera with the robot model generated by the model generator and thereby
identifying a robot image representing the robot in the image captured by the camera,

wherein
the robot includes
a first robot having a first rotatable arm, and
a second robot having a second rotatable arm,
the angle detector includes
a first angle detector detecting a first rotation angle of the first rotatable arm of the first robot, and
a second angle detector detecting a second rotation angle of the second rotatable arm of the second robot,
the model generator generates
a first robot model representing the form of the first robot on the basis of the first rotation angle detected by the first
angle detector, and

a second robot model representing the form of the second robot on the basis of the second rotation angle detected by the second
angle detector, and

the image processor compares the image captured by the camera with the first robot model and the second robot model generated
by the model generator, to identify a first robot image representing the first robot and a second robot image representing
the second robot in the image captured by the camera.

US Pat. No. 9,608,404

CONSTANT CURRENT CONTROL POWER SUPPLY AND LASER OSCILLATOR

Fanuc Corporation, Yaman...

1. A constant current control power supply comprising:
a switching regulator including:
a switching circuit having a switching device and a rectifier device;
a smoothing circuit having a reactor and a capacitor;
a current detection circuit; and
a control circuit,
wherein the switching regulator outputs a constant current in accordance with a command value from a controller,
wherein ON indicates a case where the command value commands an output of a higher current than a predetermined value, and
OFF indicates a case where the command value commands an output of a lower current than the predetermined value, and

wherein the control circuit amplifies a variation in the command value by a predetermined amplification factor and adds the
amplified variation to the command value, and attenuates the added variation with a predetermined time constant under a condition
that the command value for performing a pulse operation alternating between the ON and the OFF is inputted.

US Pat. No. 9,533,391

TOOL EXCHANGER APPARATUS OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A tool exchanger apparatus of a machine tool comprising a turret which turns around an axis inclining with respect to a
vertical direction and which conveys tools, wherein
the turret includes a plurality of radially arranged tool gripping portions, and
the tool exchanger apparatus comprises:
a force calculating portion which includes tool weight data of the tools attached to the tool gripping portions of the turret
and tool placement data of the tools in the tool gripping portions, and which calculates forces applied to each of the tool
gripping portions from a resultant force of a centrifugal force, gravity and an inertial force applied to each of the tools,
using a weight and a position of each of the tools and a turning speed and a turning acceleration of the turret for each of
positions in a turning direction of the turret when the turret turns, based on the tool weight data and the tool placement
data;

a maximum force calculating portion which calculates a maximum force from among forces applied to the tool gripping portions
calculated by the force calculating portion;

a turret turning motion determining portion which, in advance, sets target values of forces applied to the tool gripping portions,
and which individually determines the turning speed of the turret for each of the positions in the turning direction, and
which individually determines the turning acceleration of the turret for each of the positions in the turning direction, such
that the maximum force calculated by the maximum force calculating portion falls within a predetermined range with respect
to the target value for each of the positions in the turning direction when the turret turns; and

a controller which turns the turret in accordance with set values of the turning speed and the turning acceleration, for each
of the positions in the turning direction, determined by the turret turning motion determining portion.

US Pat. No. 9,505,129

ROBOT CONTROL DEVICE FOR STOPPING ROBOT BY DETECTING CONTACT FORCE WITH PERSON

FANUC CORPORATION, Yaman...

1. A robot control device which controls a robot including a force detector for detecting at least one of force and torque
applied to the robot and a state detector for detecting a position and a posture of the robot, comprising:
a mass parameter setting unit which sets a mass parameter including mass of the robot and mass of a workpiece; and
a stop command unit which sends a command for making the robot to be in a stop state; wherein
the stop command unit includes an internal force estimation unit which estimates internal force generated by an operation
of the robot on a basis of the position and the posture of the robot detected by the state detector and the mass parameter,
and an external force estimation unit which estimates external force generated by force applied to the robot from an outside
of the robot by subtracting the internal force from output of the force detector,

a first upper limit values regarding the external force for stopping the robot when a person and an object has made contact
with the robot and a second upper limit value smaller than the first upper limit values have been set in advance, and

the stop command unit is formed to stop the robot when the external force estimated by the external force estimation unit
during an operation period of the robot exceeds the first upper limit values set in advance, and makes the robot to be in
the stop state when an average value of the external force in a time length decided in advance during the operation period
or a stop period of the robot exceeds the second upper limit value.

US Pat. No. 9,304,504

SERVO CONTROLLER FOR REDUCING INTERFERENCE BETWEEN AXES IN MACHINING

FANUC CORPORATION, Yaman...

1. A servo controller which drives a first electric motor provided on a first axis and a second electric motor provided on
a second axis in synchronization with each other, comprising:
a first axis speed feedback obtaining unit configured to obtain an amount of speed feedback for the first axis;
a second axis speed feedback obtaining unit configured to obtain an amount of speed feedback for the second axis synchronizing
with the first axis;

a speed conversion unit configured to obtain a conversion coefficient for making the amount of speed feedback for the first
axis correspond to the amount of speed feedback for the second axis and converting the amount of speed feedback for the first
axis by using the conversion coefficient;

a speed difference calculating unit configured to calculate a speed difference between the converted amount of speed feedback
for the first axis and the amount of speed feedback for the second axis;

a torque correction calculating unit configured to calculate a torque correction value for vibration damping by using the
speed difference;

a second axis torque command correcting unit configured to correct a torque command for the second axis by using the torque
correction value;

a torque correction value converting unit configured to convert the torque correction value by using the conversion coefficient
in order to correct a torque command for the first axis; and

a first axis torque command correcting unit configured to correct the torque command for the first axis by using the converted
torque correction value.

US Pat. No. 9,199,325

WIRE ELECTRIC DISCHARGE MACHINE PERFORMING DISTORTION REMOVING MACHINING

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine for performing distortion removing machining, the wire electric discharge machine configured
to machine a workpiece in a machine direction by moving a wire electrode, supported by upper and lower wire guides, and the
workpiece relatively to each other, the wire electric discharge machine comprising:
a controller having a memory and a processor;
a wire guide including the upper and lower wire guides and an axial movement control portion, said wire guide connected to
the controller and configured, after the machining is ended, to move, relatively to the workpiece, the wire electrode from
a machining end position to a machining start position along a machining path in the direction opposite to the machining direction;

a detection member configured to detect contact between the wire electrode and the workpiece at the time when the wire electrode
is moved relatively to the workpiece in the direction opposite to the machining direction; and

a braking member configured, when the contact between the wire electrode and the workpiece is detected by the detection member,
to stop the relative movement of the wire electrode,

wherein
the memory is configured to store, as a contact position, the position of the wire electrode with respect to the workpiece
at the time of detection of the contact,

the wire guide is configured to move the wire electrode in the offset direction relatively to the workpiece after the contact
position of the wire electrode is stored in the memory,

the detection member is further configured, when the wire electrode and the workpiece are brought into a non-contact state,
to detect the non-contact state,

when the relative movement of the wire electrode is stopped by the brake member, the memory is configured to store, as a non-contact
position, the position of the wire electrode with respect to the workpiece at the time of detection of the non-contact state,

the wire guide is configured to move, relatively to the workpiece, the wire electrode in the direction opposite to the offset
direction from the non-contact position, and is configured to move, relatively to the workpiece, the wire electrode in the
direction opposite to the machining direction along the machining path by a predetermined distance while neglecting the detection
of contact between the wire electrode and the workpiece by the detection member,

the processor is programmed to calculate an amount of distortion of the workpiece from the contact position stored in the
memory, and the non-contact position stored in the memory, and

the controller is configured to cause the wire electric discharge machine to perform distortion removing machining at the
time when a maximum value of the amounts of distortion calculated by the processor is larger than a value set beforehand.

US Pat. No. 10,656,611

PROGRAMMABLE CONTROLLER

FANUC CORPORATION, Yaman...

1. A programmable controller configured to execute a plurality of ladder programs, the programmable controller comprising:a processor configured to
extract an available address setting table embedded in each of the plurality of ladder programs, the available address setting table defining a range of consecutive signal addresses used as signal write destinations by the respective ladder program,
determine whether there is an overlap between the respective ranges of consecutive signal addresses used as the signal write destinations by the plurality of ladder programs, based on the available address setting tables,
execute the plurality of ladder programs in response to determining that there is no overlap between the respective ranges of consecutive signal addresses used as the signal write destinations by the plurality of ladder programs, and
in response to determining that there is overlap between the respective ranges of consecutive signal addresses used as the signal write destinations by the plurality of ladder programs,
stop the execution of the plurality of ladder programs, and
output information on the plurality of ladder programs including the overlapping ranges of consecutive signal addresses.

US Pat. No. 10,602,604

ELECTRONIC COMPONENT UNIT

FANUC CORPORATION, Yaman...

1. An electronic component unit comprising: a plurality of first electronic components which do not need to be cooled by a cooling plate; a plurality of second electronic components which are cooled by the cooling plate; a first circuit board in which at least one first electronic component of the plurality of first electronic components is mounted on a first surface and in which at least one second electronic component of the plurality of second electronic components is mounted on a second surface on a side opposite to the first surface; a second circuit board in which at least one first electronic component of the plurality of first electronic components is mounted on a first surface and in which at least one second electronic component of the plurality of second electronic components is mounted on a second surface on a side opposite to the first surface; the cooling plate which includes a first cooling surface and a second cooling surface located on a side opposite to the first cooling surface; and a cooling plate support unit which supports at least one portion of the cooling plate, the cooling plate support unit including a substantially concave holding portion that directly supports the cooling plate without any other supports, and a base portion that supports the holding portion, wherein the at least one second electronic component of the plurality of second electronic components mounted on the second surface of the first circuit board is cooled by contact with the first cooling surface of the cooling plate, and the at least one second electronic component of the plurality of second electronic components mounted on the second surface of the second circuit board is cooled by contact with the second cooling surface of the cooling plate.

US Pat. No. 10,139,919

ELECTRONIC DEVICE AND NUMERICAL CONTROLLER

FANUC CORPORATION, Yaman...

1. An electronic device comprising:a display control unit that displays one started application or multiple started applications simultaneously on a display unit;
an input unit that accepts input through an operation unit and identifies a position on the display unit;
a recognition unit that recognizes a figure drawn with the operation unit based on the identified position; and
a start-up unit that starts an application associated with the figure and determines an initial display position for the started application based on the position on the display unit where the figure is drawn.

US Pat. No. 10,116,251

MOTOR DRIVE DEVICE AND MOTOR DRIVING METHOD

FANUC CORPORATION, Yaman...

1. A motor drive device that supplies electric power from a power element to a motor and dissipates heat from the power element by way of a heat sink, the motor drive device comprising:a temperature detection unit that detects an actual temperature of the heat sink;
an electric current detection unit that detects electric current from the power element to the motor;
an actual temperature variation calculation unit that calculates an actual temperature variation of the heat sink relative to time, from the actual temperature of the heat sink detected by the temperature detection unit;
an estimated temperature variation calculation unit that calculates an estimated temperature variation of the heat sink relative to time, from an estimated temperature of the heat sink calculated based on the electric current detected by the electric current detection unit; and
a temperature abnormality determination unit that determines existence of a temperature abnormality in the heat sink, according to whether or not the actual temperature variation calculated by the actual temperature variation calculation unit is departing from a permitted range based on the estimated temperature variation calculated by the estimated temperature variation calculation unit.

US Pat. No. 10,113,975

APPEARANCE INSPECTION DEVICE AND METHOD FOR OBJECT HAVING LINE PATTERN

FANUC CORPORATION, Yaman...

1. An appearance inspection device for inspecting an appearance of an inspection object, said appearance inspection device comprising:an image storing part which stores
a first image obtained by capturing a reference object corresponding to the inspection object, and
a second image obtained by capturing the inspection object;
a teaching part which
based on an input by an operator, teaches, on the first image, a portion to be inspected of the inspection object as a reference inspection line,
defines a reference inspection region associated with a single reference inspection point on the reference inspection line,
determines an inspection factor inspected within the reference inspection region, and
determines a judgment condition for judging as to whether a result of inspection based on the inspection factor passes or fails;
a teaching factor storing part which stores
a position and a shape of the reference inspection line,
a position of the single reference inspection point,
an inspection point distance,
a position and a size of the reference inspection region,
the inspection factor, and
the judgment condition; and
an inspecting part which
overlaps the reference inspection line on the second image as an actual inspection line,
generates a plurality of discrete inspection points, distinct from the single reference inspection point, on the actual inspection line, by
determining a number of the inspection points to be generated by dividing a total length of the actual inspection line by the inspection point distance stored in the teaching factor storing part, and
arranging the determined number of the inspection points on the actual inspection line at the inspection point distance from each other,
generates a plurality of inspection regions, distinct from the reference inspection region, in relation to the plurality of discrete inspection points, wherein
each inspection point among the plurality of discrete inspection points corresponds to an inspection region among the plurality of inspection regions so that a positional relationship between the corresponding inspection point and inspection region is the same as a positional relationship between the single reference inspection point and the reference inspection region, and
the same positional relationship between the single reference inspection point and the reference inspection region is used to generate the plurality of inspection regions,
inspects each inspection region among the plurality of generated inspection regions based on the inspection factor,
judges as to whether each inspection point among the plurality of discrete inspection points passes or fails based on the judgment condition and a result of inspection of the corresponding inspection region among the plurality of generated inspection regions, and
comprehensively judges as to whether the inspection object passes or fails based on a result of judgment of each inspection point among the plurality of discrete inspection points,
wherein the teaching part defines the reference inspection region associated with said single reference inspection point on the reference inspection line before the inspecting part overlaps the reference inspection line on the second image as the actual inspection line.

US Pat. No. 10,018,987

NUMERICAL CONTROLLER EXECUTING OPERATION BY A MOVEMENT COMMAND AND TABLE-FORMAT DATA

FANUC Corporation, Minam...

1. A numerical controller (NC) that drives a motor for each axis of a machine tool by using an NC program and table-format data that commands a position of each axis with reference to time or a position of a reference axis, the numerical controller comprising:non-transitory computer readable memory;
one or more hardware processors coupled to the non-transitory memory and configured to read instructions from the non-transitory memory to cause the numerical controller to perform operations comprising:
generating, based on a movement command commanded by the NC program, first interpolation data that is interpolation data for an axis to be controlled by the movement command;
generating, based on the table-format data, second interpolation data that is interpolation data for an axis to be controlled by the table-format data;
generating third interpolation data obtained by superposition of the first interpolation data and the second interpolation data and
simultaneously processing for operation the NC program and the table-format data based upon the third interpolation data to drive one or more of the motors for each axis of the machine tool.

US Pat. No. 10,005,166

TOOL CHANGER

FANUC CORPORATION, Yaman...

1. A tool changer of a machine tool, the tool changer comprising: a rotationally indexable turret that is rotatable about an axis;a turret drive source configured to perform tool indexing by rotating the turret about the axis;
a load variation mechanism configured to vary a load of the turret drive source as the turret is rotated about the axis past a predetermined angular phase position;
a load detecting portion configured to detect the load of the turret drive source as the turret is rotated about the axis, which load is varied by the load variation mechanism; and
a control portion, the control portion comprising:
a turret turning motion reference load storing portion configured to store, as stored reference load information, the load of the turret drive source as the turret is rotated about the axis in a state in which no difference is caused between: (i) a controller-recognized angular position of the turret about the axis, recognized by a controller of the machine tool, and (ii) an actual angular position of the turret about the axis;
a difference calculation portion that calculates a difference between the stored reference load information and a load of the turret drive source detected by the load detecting portion as the turret is rotated about the axis in a state in which a difference exists between: (i) a controller-recognized angular position of the turret about the axis, recognized by the controller of the machine tool, and (ii) an actual angular position of the turret about the axis;
a threshold value setting portion configured to set a threshold value; and
a reference phase false detection sensing portion configured to determine a possibility of false detection of the predetermined angular phase position if the difference calculated by the difference calculation portion has exceeded the threshold value.

US Pat. No. 9,983,570

MULTIPLE SYSTEM NUMERICAL CONTROL DEVICE

FANUC Corporation, Minam...

1. A multiple system numerical control device for executing multiple system control for dividing plural axes to be controlled to plural systems and controlling each system based on different machining program in parallel, whereinthe plural systems includes a normal interpolation period system configured to operate at normal interpolation period and control a first control axis, and a high speed interpolation period system configured to operate at high speed interpolation period shorter than the normal interpolation period and control a second control axis,
the normal interpolation period system comprises:
a first command analysis unit configured to analyze a first machining program and generate a first command data;
a first interpolation processing unit configured to execute interpolation processing based on the first command data and generate a first interpolation data;
a first coordinate update processing unit configured to update coordinate value of the first control axis based on the first interpolation data;
a first acceleration/deceleration processing unit configured to execute acceleration/deceleration processing based on the coordinate value of the first control axis and generate a first acceleration/deceleration data;
a data management information generation unit configured to generate data management information representing status of the normal interpolation period system based on at least one of the first command data, the first interpolation data, and the coordinate value of the first control axis; and
a data management information storing unit configured to store the data management information; and
the high speed interpolation system comprises:
a second command analysis unit configured to analyze a second machining program and generate a second command data;
a second interpolation processing unit configured to execute interpolation processing based on the second command data and generate a second interpolation data;
a second coordinate update processing unit configured to update coordinate value of the second control axis based on the second interpolation data;
a second acceleration/deceleration processing unit configured to execute acceleration/deceleration processing based on the coordinate value of the second control axis and generate a second acceleration/deceleration data; and
a data management information confirmation unit configured to control operation of the second command analysis unit, the second interpolation processing unit, the second coordinate value update processing unit, and the second acceleration/deceleration processing unit; wherein
processing in the normal interpolation period system executed in the first interpolation processing unit, the first coordinate update processing unit, and the data management information generation unit are executed by looping for plural times in a normal interpolation period according to a system ratio of the normal interpolation period and the high speed interpolation period.

US Pat. No. 9,948,054

VACUUM CONTAINER OF LASER OSCILLATOR

FANUC CORPORATION, Yaman...

1. A vacuum container of a laser oscillator, the vacuum container comprising:a tube having a cylindrical shape or a polygonal cylindrical shape;
an insertion member into which the tube is inserted; and
a first sealing member and a second sealing member that are disposed between the tube and the insertion member,
wherein the first sealing member is made of a material having a corrosion resistance higher than the second sealing member,
the first sealing member is disposed on a vacuum side relative to the second sealing member,
the second sealing member is made of a material having a sealing property higher than the first sealing member, and
the first sealing member at least partially includes a deformation portion that deforms in such a manner as to enhance a sealing property thereof,
wherein the deformation portion is deformed due to reduction of a pressure around the first sealing member.

US Pat. No. 9,946,030

BEAM BRANCHING DEVICE

FANUC CORPORATION, Yaman...

1. A beam branching device comprising:a rotary motor;
a rotating member that rotates with a rotation shaft of the rotary motor; and
an optical-path-switching optical system including a plurality of reflection mirrors attached to the rotating member so as to be spaced in an axial direction of the rotating member, the reflection mirror having a reflection mirror surface portion that is approximately perpendicular to a central axis of the rotating member, wherein
the rotation shaft of the rotary motor is rotated to rotate the rotating member together with the plurality of reflection mirrors so that an incident beam is reflected from the reflection mirror surface portion of any one of the plurality of reflection mirrors and the incident beam is branched to a plurality of directions to switch an optical path of a reflection beam, and
the optical-path-switching optical system is arranged so that the central axis of the rotating member is at a skewed position in relation to a central line of the incident beam, and the plurality of reflection mirrors are arranged at a position on the rotating member to face both sides in an axial direction of the rotating member with a position closest to the incident beam interposed therebetween.

US Pat. No. 9,945,799

THERMAL DISPLACEMENT CORRECTION DEVICE FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A thermal displacement correction device for a machine tool for machining a work, the thermal displacement correction device is configured to calculate a thermal displacement amount of the machine tool, set an amount for canceling the thermal displacement amount as a thermal displacement correction amount, and add the thermal displacement correction amount to a position command for a feed shaft, thereby making correction, the thermal displacement correction device comprising:a position detection sensor configured to detect a position of a movable part of the machine tool;
a reference position storage configured to store the result of detection by the position detection sensor at a first point in time as a reference position;
an actual position storage configured to store the result of detection by the position detection sensor at a second point in time as an actual position; and
a numerical control device including a processor configured to
determine, based on the actual position and the reference position, whether or not the actual position is based on correct detection,
re-detect the position detected by the position detection sensor when it is determined that the detection result is not based on correct detection,
compare the thermal displacement amount with an actual thermal displacement amount calculated from a difference between the actual position and the reference position and calculate a correction error in the actual position when it is determined that the detection result is based on correct detection,
modify the thermal displacement correction amount based on the calculated correction error, and
correct the position command for the feed shaft based on the modified thermal displacement correction amount, to control the feed shaft for positioning the movable part which is engaged with and movable along the feed shaft.

US Pat. No. 9,933,618

CLEANING APPARATUS AND SYSTEM INCLUDING CLEANING APPARATUS

Fanuc Corporation, Yaman...

1. A cleaning apparatus comprising:an accommodation unit that accommodates a cleaning cloth;
a drawing-out unit that draws out the cleaning cloth from the accommodation unit;
a cleaning cloth setting mechanism unit located between the accommodation unit and the drawing-out unit;
wherein the cleaning cloth setting mechanism unit includes a flat unit,
an ascend/descend member that ascends and descends above the flat unit together with the cleaning cloth drawn out by the drawing-out unit;
a projection unit that projects from the flat unit to a projected position between the ascended position and the descended position of the ascend/descend member; and wherein the ascend/descend member is moved along the length of the projection unit vertically; wherein when the ascend/descend member is in the ascended position, it extends to a top end of the projection unit; wherein when the ascend/descend member is in the descended position, the projection unit extends above the ascend/descend member, wherein the ascend/descend member is located at a base of the projection unit;
a processor configured to:
move the ascend/descend member relative to the flat unit and the projection unit to the ascended position, the cleaning cloth becomes out of engagement with a distal end of the static projection unit,
feed a predetermined amount of the cleaning cloth while the ascend/descend member is being moved to the ascended position,
eject cleaning liquid onto the cleaning cloth when the ascend/descend member is in the ascended position, and
after ejecting the cleaning fluid, move the ascend/descend member relative to the flat unit and the projection unit to the descended position, the projection unit remains in the projected position and engages the cleaning cloth, the cleaning cloth is prevented from moving and cleaning is performed using the cleaning cloth engaged by the projection unit.

US Pat. No. 9,896,273

ARTICLE SUPPLY APPARATUS

FANUC CORPORATION, Yaman...

1. An article supply apparatus, comprising:
an inclined passage inclined downwardly toward a predetermined direction;
a vibration imparting device imparting vibration to the inclined passage;
an article feeding device feeding a plurality of articles to an upper end side of the inclined passage;
a visual sensor capturing an image of the plurality of articles on the inclined passage and obtaining information that enables
identification of at least a position of each of the articles;

a robot arm picking up the articles one by one from the inclined passage by using the information obtained by the visual sensor
and supplying the picked-up articles to a predetermined supply destination; and

an article return passage located below the inclined passage, receiving the articles dropped from a lower end side of the
inclined passage and returning the articles toward the opposite side of the predetermined direction,

wherein the article feeding device receives the articles from a lower end side of the article return passage and feeds the
received articles to the upper end side of the inclined passage.

US Pat. No. 9,863,792

ENCODER HAVING LIQUID-TIGHT STRUCTURE

FANUC CORPORATION, Yaman...

1. A rotary encoder comprising:
a housing having an opening part,
a cover attached to said housing so as to close said opening part,
a detecting part held in a housing unit formed by said housing and said cover and detecting an angular position of a rotary
shaft,

a ring-shaped sealing member arranged so as to surround said opening part at a boundary part of said housing and said cover,
a ring-shaped guide groove formed at one of said housing and said cover at said boundary part positioned at the outside in
the radial direction from said sealing member,

a discharge groove communicating with said guide groove and opening toward the outside in the radial direction, and
a ring-shaped guide projection formed at the other of said housing and said cover at a position corresponding to said guide
groove and projecting out toward said guide groove.

US Pat. No. 9,816,837

MAGNETIC ANGLE DETECTOR

FANUC CORPORATION, Yaman...

1. A magnetic angle detector comprising:
detection body which is a polyhedron, and at least two magnetic detection units are arranged on one plane of the polyhedron
symmetrically around an axis of the detection body,

wherein the first magnetic detection unit is configured to match a first detected object, a plurality of concave and convex
parts are formed at a first pitch on a circumferential surface of the first detected object;

wherein the second magnetic detection unit is configured to match a second detected object, a plurality of concave and convex
parts are formed at a second pitch, which is smaller than the first pitch, on a circumferential surface of the second detected
object;

wherein a rotational angle of the first detected object is detected, when the first detected object rotates about an axis
of rotation, the detection body is rotated about the axis of the detection body so that the first magnetic detection unit
only faces the circumferential surface of the first detected object; and

wherein a rotational angle of the second detected object is detected, when the second detected object rotates about the axis
of rotation, the detection body is rotated about the axis of the detection body so that the second magnetic detection unit
only faces the circumferential surface of the second detected object.

US Pat. No. 9,811,069

SERVOMOTOR CONTROL APPARATUS

FANUC CORPORATION, Yaman...

1. A servomotor control apparatus comprising:
one or more servomotors each for driving a movable portion of a machine;
an electromagnetic brake for maintaining the position of the machine;
a position detector for feeding back an actual position signal;
a servo amplifier for driving the servomotor;
a servo feed circuit for supplying electric power to the servo amplifier; and
a central processing unit for commanding and monitoring the servomotor, wherein
the servo feed circuit has an electromagnetic contactor for switching the supply of the electric power to the servo amplifier,
the central processing unit has a motor controller for generating a command position of the servomotor and issuing at least
one of a motor torque command to maintain the position based on the generated command position and a regenerative brake operation
command, an actual position monitor for periodically monitoring an actual position fed back from the position detector, and
a feed circuit controller for controlling the supply of the electric power to the servo amplifier, and

in a state in which the servo amplifier is powered off and the electromagnetic brake is operated to maintain the position,
when the actual position monitored by the actual position monitor is different from the actual position at the time of actuating
the electromagnetic brake by a predetermined value or more, the electromagnetic contactor is closed to supply the electric
power to the servo amplifier and the motor torque command is issued to maintain the position.

US Pat. No. 9,772,622

MOTOR CONTROL SYSTEM PROVIDED WITH FUNCTION TO DETECT ABNORMAL BRAKING

FANUC CORPORATION, Yaman...

1. A motor control system comprising:
a servo motor;
a mechanical brake which is configured to act on the servo motor or an axis driven by the servo motor;
a servo electricity supply unit which supplies electricity to the servo motor;
a controller which controls the servo motor, the mechanical brake, and the servo electricity supply unit; and
a position detector which detects a rotation position of the servo motor or a position of the axis,
wherein
the controller comprises:
a signal receiving unit which receives a signal for actuating the mechanical brake;
a position monitoring unit which monitors the rotation position of the servo motor by the position detector, and obtains a
history of the rotation positions of the servo motor from when the signal is received by the signal receiving unit to when
the servo motor stops rotating;

a displacement amount calculation unit which calculates, from the history, a rotational displacement amount of the servo motor
from when the signal is received by the signal receiving unit to when the servo motor stops rotating; and

an abnormality determining unit which determines that abnormality exists in the mechanical brake when the calculated rotational
displacement amount exceeds a predetermined first threshold value, and

when the signal receiving unit receives the signal, the controller controls the servo electricity supply unit to stop the
supply of electricity to the servo motor, and

when the abnormality determining unit determines that abnormality exists in the mechanical brake, the controller controls
the servo electricity supply unit to resume the supply of electricity to the servo motor.

US Pat. No. 9,724,776

WIRE ELECTRICAL DISCHARGE MACHINE WHICH CORRECTS MACHINING PATH IN CORNER PORTION

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine configured to create a machining path based on an axis movement command from a machining
program and to perform machining by moving a wire electrode and a workpiece relative to each other according to the created
machining path, the wire electrical discharge machine comprising:
a machining path correction unit configured to correct the machining path such that
in a corner portion formed at an intersection of two consecutive movement blocks in the created machining path, the two consecutive
movement blocks being a first block to be machined first and a second block to be machined second, a corrected path is generated
by extending an original end point of the first block,

when an extended end point of the first block is reached by moving along the corrected path, a machining path, which returns
to the original end point of the first block along the corrected path, is newly created, and

the second block is machined by continuing from the newly created machining path,
wherein
the corner portion is a concave corner of a product to be machined from the workpiece,
a distance by which the original end point of the first block is extended is equal to a deflection amount of the wire electrode,
and

the machining path correction unit is configured to
correct the machining path so that the wire electrical discharge machine causes the wire electrode to reach a vertex of the
concave corner without decelerating the wire electrode ahead of the vertex and without actually moving the wire electrode
beyond the vertex of the concave corner so as to prevent the wire electrode from actually cutting into the product at the
concave corner of the product, and

generate the corrected path and the newly created machining path without causing the wire electrode to actually cut into a
machined surface of the product at the concave corner of the product.

US Pat. No. 9,674,288

CONTROLLER CAPABLE OF REDUCING COMMUNICATION CYCLE TIME

FANUC Corporation, Minam...

1. A controller configured to circulate a token among a plurality of nodes and allow data on each node to be shared, the plurality
of nodes being a plurality of controllers connected to a network, the controller comprising:
a data storage unit for sharing data among the plurality of nodes connected to the network;
a network information storage unit for storing at least one set of network information containing a network identification
number for identifying at least one network group including own node and at least one other node specified in advance, of
the nodes connected to the network, and a connected node list of the network group to which the own node belongs;

a token holding unit for holding a token of the network group to which the own node belongs;
a transmitting unit for performing transmission to the all the other nodes connected to the network; and
a receiving unit for performing reception from the other node connected to the network, wherein
the transmitting unit includes:
a transmission type determination unit for determining a type of a frame to be transmitted;
an own-node transmit data generation unit for obtaining own-node data from an own-node data region of the data storage unit
and generating an own-node data frame if it is determined that the type of the frame to be transmitted is data;

a network identification number-added token generation unit for, if it is determined that the type of the frame to be transmitted
is a token, selecting a next token-holding node from a connected node list of the network group that holds the token, generating
a token frame addressed to the next token-holding node, and adding the network identification number of the network group
to the generated token frame; and

a frame transmission unit for transmitting the frame to be transmitted to all the other nodes connected to the network by
broadcasting, and

the receiving unit includes:
a frame receiving unit for receiving a frame from other node connected to the network;
a network identification number determination unit for checking whether or not the received frame contains the network identification
number of the network group to which the own node belongs, and discarding the received frame if the received frame contains
a network identification number different from the network identification number of the network group to which the own node
belongs;

a received type determination unit for determining a type of the received frame;
an other-node received-data storage unit for, if it is determined that the type of the received frame is data, obtaining source
node data from the data frame and storing the obtained source node data in a source node area among other-node areas of the
data storage unit; and

a token determination unit for, if it is determined that the type of the received frame is a token, checking whether or not
the token is addressed to the own node, and storing in the token holding unit the token of the network group identified with
the network identification number contained in the token if the token is addressed to the own node.

US Pat. No. 9,623,567

ROBOT CONTROL DEVICE FOR CONTROLLING ROBOT MOVED ACCORDING TO APPLIED FORCE

FANUC CORPORATION, Yaman...

1. A robot control device of a robot system for moving a robot which includes a plurality of axes, the robot control device
comprising:
a force measurement unit configured to measure a measured force applied to a tip of the robot;
a first force calculation unit configured to calculate a first operation force for performing a first movement operation of
at least one of a position and a posture of the tip of the robot on the basis of the measured force;

a second force calculation unit configured to calculate a second operation force for performing a second movement operation
of a position of each of the plurality of axes of the robot on the basis of the measured force;

a near-singular configuration determination unit configured to determine whether or not the robot is near a singular configuration;
an operation axis setting unit configured to, according to a current position of each of the plurality of axes when the near-singular
configuration determination unit determines that the robot is near the singular configuration,

set at least one of (i) a first axis that acts as a factor for being near the singular configuration or (ii) a second axis
that is caused to pass through near the singular configuration, as at least one operation axis to be moved according to the
measured force, and

set a moving direction of the at least one operation axis according to a direction of the measured force; and
an operation command unit configured to,
in a first control mode when the near singular configuration determination unit determines that the robot is not near the
singular configuration,

output a first operation command for moving the at least one of the position and the posture of the tip of the robot on the
basis of the first operation force calculated by the first force calculation unit, and

in a second control mode when the near-singular configuration determination unit determines that the robot is near the singular
configuration,

output a second operation command for moving a position of the at least one operation axis on the basis of the second operation
force calculated by the second force calculation unit and the moving direction set by the operation axis setting unit.

US Pat. No. 9,555,548

ROBOT CONTROL DEVICE FOR CONTROLLING ROBOT MOVED ACCORDING TO APPLIED FORCE

FANUC CORPORATION, Yaman...

1. A robot control device of a robot system for moving a robot, the robot including a plurality of axes including at least
one rotation axis, the robot control device comprising:
a force measurement unit configured to measure a measured force applied to a tip of the robot;
an operation axis setting unit configured to
set an axis that is rotationally moved according to the measured force as an operation axis from among the at least one rotation
axis, and

set a rotational moving direction of the operation axis according to a direction of the measured force;
a first operation force acquisition unit configured to, when a first tip applied force comprises a translational component
of the measured force,

obtain, on the basis of the first tip applied force, a projected force comprising the translational component of the measured
force, wherein the projected force is present on a plane orthogonal to a rotation center line of the operation axis and applied
around the rotation center line of the operation axis, and

obtain, on the basis of (i) the projected force and (ii) a position vector where the projected force is applied, a first virtual
force that is virtually applied to the operation axis, wherein the first virtual force is a first operation force; and

an operation command unit configured to output, on the basis of an operation force determined from the first operation force,
an operation command for moving the operation axis set by the operation axis setting unit,

wherein the operation command unit is configured to obtain a target moving direction and a target moving velocity of the operation
axis on the basis of (i) the first operation force and (ii) the rotational moving direction set by the operation axis setting
unit, so as to move the operation axis.

US Pat. No. 9,415,511

APPARATUS AND METHOD FOR PICKING UP ARTICLE RANDOMLY PILED USING ROBOT

FANUC CORPORATION, Yaman...

1. An article pickup apparatus, comprising:
a robot including a grip unit provided in an openable and closable manner;
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 grip unit model setting unit setting a grip unit model including a substantial region and a grip region inside the substantial
region, the substantial region being a region of a substantial portion of the grip unit in an opened state;

a position posture candidate setting unit setting one or more position posture candidates as a candidate of a position and
a posture of the grip unit;

a gripability calculation unit calculating a grip success possibility of any of the articles by the grip unit in each of the
grip position posture candidates, assuming that the grip unit is placed at the grip position posture candidates set by the
position posture candidate setting unit, based on the position information acquired by the three-dimensional measurement instrument
and the grip unit model set by the grip unit model setting unit and based on the position information of the three-dimensional
points present in the grip region among the position information acquired by the three-dimensional measurement instrument;

a position posture setting unit selecting one or more position posture candidates from the position posture candidates set
by the position posture candidate setting unit, based on the grip success possibility calculated by the gripability calculation
unit, and setting the selected one or more position posture candidates as one or more grip unit position postures; and

a robot control unit controlling the robot so as to move the grip unit to the one or more grip unit position postures set
by the position posture setting unit to pick up any of the articles.

US Pat. No. 10,758,985

SPINDLE DEVICE

FANUC CORPORATION, Yaman...

1. A spindle device comprising:a spindle housing;
a conductive spindle shaft rotatably supported inside the spindle housing;
a conductive disk-shaped rotating member provided at one end of the spindle shaft and configured to be rotatable on a surface of the spindle housing on one end side of the spindle shaft;
a cover member attached to the spindle housing and configured to cover an outer peripheral surface of the disk-shaped rotating member;
a flow passage formed in the cover member and configured to flow a gas from outside of the cover member to a clearance between the disk-shaped rotating member and the cover member; and
a conductive movable member provided on the cover member or the spindle housing so as to be electrically connected to a ground and configured to be moved by the gas flowing through the flow passage and thereby brought into contact with the disk-shaped rotating member.

US Pat. No. 10,509,398

MANUFACTURING MANAGEMENT APPARATUS USING INSPECTION INFORMATION AND TRACE INFORMATION, AND MANUFACTURING SYSTEM

FANUC CORPORATION, Yaman...

1. A manufacturing management apparatus that manages a manufacturing facility that performs a plurality of manufacturing processes,the manufacturing facility comprising:
a plurality of manufacturing devices that are disposed in the respective manufacturing processes so as to perform the same processing;
a transfer device that transfers a part to one of the manufacturing devices in each of the manufacturing processes; and
an inspection device that inspects ultimately manufactured articles,
the manufacturing management apparatus comprising:
an operation information acquisition unit that acquires operation information indicating current operating conditions of the respective manufacturing devices;
a trace information acquisition unit that acquires trace information indicating which one of the manufacturing devices has been used in each of the manufacturing processes during the manufacturing of the articles;
a storage unit that stores, for each of the articles, inspection information in association with the trace information, the inspection information indicating inspection results of the articles inspected by the inspection device;
a manufacturing device determination unit that creates combinations of the manufacturing devices that can perform the manufacturing processes in consideration of the operation information and the trace information, determines a quality index from the inspection information for each of the created combinations, and determines, based on the quality index determined for each of the combinations, a combination of the manufacturing devices to be used; and
a transfer destination indication unit that indicates a transfer destination of the part to the transfer devices based on the combination of the manufacturing devices determined by the manufacturing device determination unit;
wherein the manufacturing device determination unit acquires a predetermined number of pieces of the latest inspection information for each of the created combinations, and, when the predetermined number of pieces of the inspection information cannot be acquired, determines the combination of the manufacturing devices to be used from the combinations where the inspection information have not been acquired.

US Pat. No. 10,455,721

ELECTRONIC DEVICE

FANUC CORPORATION, Yaman...

1. An electronic device, comprising:a casing in which a slot is provided;
a circuit board configured to be inserted in the slot;
a first connector provided at an end of the circuit board in an insertion direction;
a faceplate provided at an end of the circuit board in an extraction direction opposite to the insertion direction and configured to support the circuit board;
a second connector provided in the casing and configured to be fitted to the first connector when the circuit board is inserted in the slot;
pairs of guide rails provided in the slot and extending in the insertion direction respectively on sides of both ends of the circuit board which are spaced in a direction intersecting the insertion direction, so as to guide insertion of the circuit board into the slot, the guide rails of each pair being disposed at a first interval on respective sides of both surfaces of the circuit board;
pairs of fixing jigs provided on the faceplate and extending in the insertion direction respectively on the sides of both ends of the circuit board, so as to fix the circuit board in the slot, the fixing jigs of each pair being disposed at a second interval that is longer than the first interval, on the respective sides of both surfaces of the circuit board; and
pairs of jig guiding portions provided on an extraction side of the pairs of guide rails, and extending in the extraction direction respectively on the sides of both ends of the circuit board, so as to elastically deform the pairs of fixing jigs in order to fix the circuit board when the circuit board is inserted into the slot, the jig guiding portions of each pair being disposed on the respective sides of both surfaces of the circuit board in a manner that distal ends of the jig guiding portions of each pair are disposed at a third interval that is longer than a sum of the second interval and thicknesses of distal ends of the fixing jigs of each pair.

US Pat. No. 10,439,464

MOTOR AND METHOD OF MANUFACTURING MOTOR

FANUC CORPORATION, Yaman...

1. A motor comprising:a rotor including a shaft arranged to extend in an axis direction and a rotor body coupled to the shaft, wherein the rotor is rotatable about the axis direction;
a bearing fitted to the shaft from outside and rotatably holding the shaft;
a bearing holder arranged on the opposite side to the rotor body with respect to the bearing so as to hold the bearing;
a movement regulation member formed in an annular shape, arranged closer to the rotor body than the bearing and separated from the rotor body, the movement regulation member having a passage hole to insert the shaft through, and a face opposing the rotor body in a state where the shaft is inserted into the passage hole, the movement regulation member regulating movement of the bearing toward the rotor body;
a first engagement part provided at the rotor body to be adjacent to the movement regulation member;
a first engagement target part provided at the movement regulation member to be adjacent to the rotor body, the first engagement target part extending inward in a radial direction from an outer edge of the movement regulation member, wherein the first engagement part can be engaged with the first engagement target part, and the first engagement target part can be separated from the first engagement part in the axis direction;
a second engagement part provided at the movement regulation member to be adjacent to the bearing holder;
a second engagement target part provided at the bearing holder to be adjacent to the movement regulation member and engaging with the second engagement part; and
a coupling member that couples the bearing holder and the movement regulation member.

US Pat. No. 10,054,640

MOTOR DRIVING DEVICE INCLUDING DYNAMIC BRAKING CIRCUIT

FANUC CORPORATION, Yaman...

1. A motor driving device, comprising:a dynamic braking circuit configured to close a relay located across input terminals of a motor to cause a resistive short circuit across the input terminals to generate a deceleration torque in the motor; and
electrical circuitry in electrical communication with the dynamic braking circuit, whereby, upon receipt of indication that the relay is closed, the electrical circuitry:
calculates a value of a dynamic braking current flowing through the dynamic braking circuit, based on a motor rotational speed detected by a rotation sensor and a parameter predefined for the motor and the dynamic braking circuit, the value of the dynamic braking current being a first value during the dynamic braking period and a second value at the start of dynamic braking period;
calculates a first Joule heat based on the first value of dynamic braking current;
retrieves a second Joule heat from a table defining a relationship between the second value of dynamic braking current and the second Joule heat, the second Joule heat resulting from an arc generated in vicinity of the contact of the relay when the relay is closed;
integrates a sum of the first Joule heat and the second Joule heat every time dynamic braking is performed to calculate an integration value; and
compares the integration value with a preset reference value and outputs a comparison result;
wherein, when the relay is closed, an arc is generated due to chattering between contacts of the relay; and
wherein the electrical circuitry determines the life of the relay based on the calculated first Joule heat and the second Joule heat after the arc is generated.

US Pat. No. 10,037,021

NUMERICAL CONTROLLER PERFORMING SPEED CONTROL WITH CURVATURE AND CURVATURE CHANGE AMOUNT

FANUC CORPORATION, Yaman...

1. A numerical controller which controls, on the basis of a program instruction, a machine that machines a workpiece by driving a plurality of axes to move a tool and the workpiece relative to each other, the apparatus comprising:an instruction analysis unit that analyzes the program instruction to generate movement instruction data;
a speed control determination unit that sets a value of a constant used for speed change on the basis of a physical amount regarding a curvature at a current position on a movement path based on the movement instruction data; and
a speed calculation unit that calculates movement speeds of the axes using the value of a constant used for speed change, which is set by the speed control determination unit, wherein
the axes are controlled on the basis of the movement speeds calculated by the speed calculation unit.

US Pat. No. 10,030,760

APPARATUS AND METHOD FOR SUPPLYING LUBRICANT TO MOVABLE MEMBER OF INSTRUMENT

FANUC CORPORATION, Yaman...

1. An apparatus for supplying a lubricant to a movable member of an instrument, comprising:a casing which houses at least a part of the movable member and which stores the lubricant inside thereof, a wall of the casing being formed with a hole; and
a jig which extends along an axis and which can be pulled out from and inserted into the casing through the hole, the jig including an outside air path defined by a through hole extending through the jig in the direction of the axis,whereinthe apparatus is configured so that an amount of outside air corresponding to a volume of a part of the jig which occupies a space in the casing is introduced into the casing through the outside air path when the part of the jig is pulled out from the casing.

US Pat. No. 10,007,248

NUMERICAL CONTROLLER FOR RETRACTION CONTROL

FANUC Corporation, Minam...

1. A numerical controller which controls a machine tool by analyzing and executing a machining program to machine a workpiece, the machine tool comprising at least two linear axes and at least one rotary axis, the numerical controller comprising:a command reading unit configured to read and analyze the machining program and generate command data indicative of movement paths for the linear and rotary axes;
a stop signal sensing unit configured to sense a stop signal which requests interruption of machining by the machine tool and retraction of the machine tool;
a deceleration stop unit configured to generate speed data for decelerating and stopping the linear and rotary axes along the movement paths when the stop signal is sensed by the stop signal sensing unit;
a stop-retraction path generation unit configured to generate stop retraction path command data indicative of a stop retraction path, the stop retraction path being a combination of a path for decelerating and stopping the linear and rotary axes along the movement paths and a retraction path receding from the movement paths, based on the command data generated by the command reading unit and the speed data generated by the deceleration stop unit, when the stop signal is sensed by the stop signal sensing unit; and
an interpolation unit configured to obtain, for each of the linear and rotary axes, a position of the axis for each interpolation period based on the stop retraction path command data generated by the stop-retraction path generation unit, when the stop signal is sensed by the stop signal sensing unit,
the numerical controller controlling the machine tool along the stop retraction path.

US Pat. No. 9,912,215

MOTOR CONTROL DEVICE FOR ESTIMATING TEMPERATURE OF WINDINGS, AND METHOD FOR CALCULATING ALLOWABLE DUTY CYCLE TIME FOR MACHINE

FANUC CORPORATION, Yaman...

1. A motor control device for controlling a motor which actuates a machine, the device comprising:
a winding temperature estimation unit configured to calculate an estimated temperature of a winding of the motor in accordance
with a temperature rise arithmetic expression for calculating the temperature of the winding using a current value applied
to the winding;

a temperature sensor mounted on the winding; and
a correction unit configured to:
compare a winding estimated temperature rise profile representing the temperature of the winding calculated by the winding
temperature estimation unit and a winding actual temperature rise profile representing the temperature of the winding measured
by the temperature sensor;

calculate correction coefficients based on the comparison;
match the winding estimated temperature rise profile with the winding actual temperature rise profile when the motor as attached
to the machine is rotated at a predetermined rotational speed;

update the temperature rise estimation arithmetic expression using the correction coefficient; and
switch the motor driving unit between motor ON time and motor OFF time according to the winding estimated temperature rise
profile, thereby preventing burnout of the winding of the motor.

US Pat. No. 9,891,615

NUMERICAL CONTROLLER WITH FUNCTION OF AUTOMATICALLY RECONSTRUCTING SETTINGS AND FUNCTION OF PREVENTING INCORRECT SETTINGS

FANUC Corporation, Minam...

1. A numerical controller comprising:
a storage unit controller for controlling a storage unit to
store a setting value of a start-up setting that inhibits completion of a start-up of the numerical controller, and
store a start-up setting which allows the numerical controller to be started; and
a first processor configured to perform a method, the method including:
determining whether a start-up of the numerical controller has been completed at a time of start-up of the numerical controller;
storing a current start-up setting in the storage unit as startable setting data if it is determined that the start-up of
the numerical controller has been completed;

detecting, if it is determined that the start-up of the numerical controller has not been completed, a start-up setting that
inhibits completion of a start-up and registering the detected start-up setting in the storage unit;

reconstructing a current setting of the numerical controller to a startable setting based on the startable setting data stored
in the storage unit;

restarting the numerical controller; and
when the start-up setting of the numerical controller has been changed, searching the storage unit based on the changed start-up
setting, and, if the same start-up setting as the changed start-up setting is found, outputting the found start-up setting.

US Pat. No. 9,891,975

FAILURE PREDICTION SYSTEM OF CONTROLLER

FANUC Corporation, Minam...

1. A failure prediction system of a controller, in which a plurality of controllers are connected to a server device through
a network, the controller comprising: at least one error correction unit; and an error transmitting unit transmitting error
information to the server device, the error information containing a content of a correctable error that has occurred in the
controller and a controller identification number for specifying the controller, wherein the server device comprises: a manufacturing
information storage unit storing manufacturing information that contains at least one of a production lot of a component mounted
in the controller and a model name of a machine to which the controller is attached; an error information storage unit recording
the error information transmitted from the controller, a statistical process unit performing a statistical process based on
the manufacturing information recorded in the manufacturing information storage unit and the error information recorded in
the error information storage unit, and a failure predicting unit predicting a failure of a controller belonging to a controller
group of the controllers in which an error similar to the error stored in the error information storage unit has not occurred,
based on a result of the statistical process by the statistical process unit; wherein the controller further comprises an
environment information measuring unit to measure environment information, the error information further contains the environment
information measured by the environment information measuring unit, and the server device further comprises an environment
information collecting unit to collect the environment information from a controller group in which any error has not occurred,
and wherein the failure predicting unit is configured to predict a failure of the controller belonging to the controller group
in which any error has not occurred, based on a result of the statistical process and the environment information stored in
the environment information collecting unit collected from the controller group in which any error has not occurred.

US Pat. No. 9,862,094

INTERFERENCE CHECK SYSTEM FOR MACHINE TOOL AND ROBOT

FANUC CORPORATION, Yaman...

1. An interference check system comprising a numerical controller for drivingly controlling an axis of a machine based on
a command from an NC program, a robot controller for controlling a robot based on a command from a teaching program, and an
interference check device configured to check interference between the machine and the robot,
wherein the numerical controller and the robot controller share interpolation level move data obtained by recording position
information for each interpolation period of the robot in association with an index, and
the numerical controller comprises:
a look-ahead unit configured to read look-ahead block command data from the NC program;
a lead time calculation unit configured to calculate a lead time for calculating a next preceding position;
a machine preceding-position calculation unit configured to calculate a machine preceding position, which is a preceding position
of the axis of the machine after the passage of the lead time since a reference time for the interference check; and

a robot preceding-position calculation unit configured to calculate a robot preceding position, which is a preceding position
of the robot after the passage of the lead time since the reference time for the interference check, and wherein

the interference check device is configured to check the interference between the machine and the robot based on the machine
preceding position and the robot preceding position.

US Pat. No. 9,844,882

CONVEYOR ROBOT SYSTEM PROVIDED WITH THREE-DIMENSIONAL SENSOR

FANUC CORPORATION, Yaman...

6. A robot system configured to successively convey a plurality of stacked objects to a target site, the robot system comprising:
a three-dimensional sensor configured to acquire three-dimensional information of the objects;
a robot which comprises a gripping device capable of gripping at least one of the objects;
a first three-dimensional information acquiring part configured to acquire three-dimensional information of the stacked objects
by the three-dimensional sensor as first three-dimensional information;

an object position acquiring part configured to identify a conveyance object which is an object to be conveyed among the objects
and acquire the position of the conveyance object, based on the first three-dimensional information;

a second three-dimensional information acquiring part configured to acquire three-dimensional information of the conveyance
object being gripped by the gripping device, by the three-dimensional sensor, as second three-dimensional information;

a shape information acquiring part configured to acquire, based on the first three-dimensional information and the second
three-dimensional information, three-dimensional shape information of the conveyance object which includes a part which is
positioned at a dead angle of the three-dimensional sensor when the first three-dimensional information is acquired;

a placement information acquiring part configured to acquire, based on the three-dimensional shape information of the conveyance
object which is acquired by the shape information acquiring part, at least one of a distance from a contact part of the conveyance
object to a reference point of the gripping device or the robot and a stable posture of the conveyance object, the contact
part being a part of the conveyance object on which the conveyance object contacts the target site when the conveyance object
is placed at the target site, the stable posture being a posture with which the conveyance object can be stably placed at
the target site; and

a position and posture calculating part configured to calculate a position and posture of the robot when the conveyance object
is placed at the target site, based on at least one of the distance from the contact part to the reference point and the stable
posture.

US Pat. No. 9,716,422

MACHINE LEARNING METHOD AND MACHINE LEARNING APPARATUS LEARNING POINT OF CONNECTION OF GROUND WIRE OR SHIELD WIRE AND ELECTRIC MOTOR CONTROL APPARATUS AND ELECTRIC MOTOR APPARATUS PROVIDED WITH MACHINE LEARNING APPARATUS

FANUC CORPORATION, Yaman...

1. A machine learning apparatus learning a point of connection of a ground wire or a shield wire used in an electric motor
apparatus,
the machine learning apparatus comprising
a status observing part observing the point of connection of the ground wire or the shield wire and a feedback signal from
an electric motor as status variables and

a learning part learning the point of connection of the ground wire or the shield wire reducing noise included in the feedback
signal in accordance with a training data set prepared based on the status variables.

US Pat. No. 9,649,698

TOOL CLAMPING DEVICE

FANUC CORPORATION, Yaman...

1. A tool clamping device for a machine tool, the tool clamping device comprising:
a main shaft;
a spring provided in the main shaft;
a draw bar inserted into the main shaft so as to be opposed to the main shaft with the spring interposed between the main
shaft and the draw bar, wherein the draw bar is provided with a concave portion on an end of the draw bar, and wherein the
draw bar is movable in an axial direction of the main shaft;

a steel ball provided around the end of the draw bar, wherein the steel ball is movable in a radial direction of the main
shaft in response to a movement of the draw bar; and

a main-shaft-side inclined surface defined by an impression on an inner wall of the main shaft, at a position where the steel
ball is movable inward and outward in the radial direction;

wherein
a tool holder provided with a pull stud having a tool-holder-side inclined surface is attachable to the end of the draw bar;
when the tool holder is attached to the end of the draw bar, the main-shaft-side inclined surface and the tool-holder-side
inclined surface compose a magnification mechanism with the steel ball interposed therebetween,

along the axial direction, the inner wall of the main shaft has first and second sections connected to opposite sides of the
impression, and

the impression extends outward, in the radial direction, from both the first and second sections of the inner wall of the
main shaft.

US Pat. No. 9,599,980

NUMERICAL CONTROLLER HAVING SUPPRESSOR THAT SUPPRESSES VARIATION IN VELOCITY DUE TO ABRUPT CHANGE IN POSITIONAL DEVIATION

FANUC Corporation, Minam...

1. A numerical controller, in which positional deviation is obtained by a positional deviation counter based on a commanded
position according to a commanded movement amount output from a position command section and a detected actual position in
each movement-command output cycle, and position loop control is carried out based on the determined positional deviation
to drive and control a control axis, the numerical controller comprising:
a commanded movement-amount adjustment section configured to:
calculate an adjusted command movement amount based on the commanded movement amount output from the position command section,
the positional deviation acquired from the positional deviation counter, and an actual velocity of the control axis detected
by a velocity detector of the control axis, and

output the calculated adjusted command movement amount to the positional deviation counter: and
a commanded movement-amount adjustment deviation accumulation section configured to:
accumulate a residual movement amount based on the adjusted command movement amount calculated by the commanded movement-amount
adjustment section, and

output the accumulated residual movement amount to the position command section,
wherein the residual movement amount is used to calculate the commanded movement amount in the position command section, and
wherein the adjusted command movement amount is calculated based on the actual velocity in each movement-command output cycle.

US Pat. No. 9,557,731

CONTROL DEVICE OF GEAR PROCESSING MACHINE

FANUC CORPORATION, Yaman...

1. A control device of a gear processing machine, the control device comprising:
a tool axis motor that drives a tool axis;
a tool axis controller that controls the tool axis motor;
a tool axis position detection sensor that detects a position of the tool axis;
a workpiece axis motor that drives a workpiece axis;
a workpiece axis controller that controls the workpiece axis motor;
an upper controller that is connected to the tool axis controller and the workpiece axis controller; and
a bus that directly connects the tool axis controller and the workpiece axis controller to communicate,
wherein
the position of the tool axis that is detected by the tool axis position detection sensor is supplied to the workpiece axis
controller via the bus,

the upper controller supplies a predetermined synchronization ratio and a superimposition command for applying a twisting
operation to the workpiece axis controller,

the workpiece axis controller adds a value that is generated by multiplying the position of the tool axis supplied via the
bus by the synchronization ratio, and the superimposition command, and generates a motion command for the workpiece axis,

the upper controller is configured to transmit first information to the workpiece axis controller, and
the first information is a flag indicating whether or not the workpiece axis is a slave axis.

US Pat. No. 9,520,830

CRYSTAL OSCILLATOR

FANUC CORPORATION, Yaman...

1. A crystal oscillator, comprising:
a quartz resonator;
an oscillation circuit including a CMOS inverter, a capacitor, and a resistor, the oscillation circuit configured to oscillate
the quartz resonator;

a CMOS buffer configured as an output circuit, and having an input coupled to an output of the CMOS inverter; and
a detection circuit having an input coupled to an input of the CMOS inverter, the detection circuit configured to output an
alarm signal when an amplitude of a voltage waveform at the input of the CMOS inverter becomes equal to or less than at least
one predetermined specified value.

US Pat. No. 9,446,466

WIRE ELECTRICAL DISCHARGE MACHINE FOR PERFORMING MACHINING USING LINEAR AND ROTATIONAL OPERATIONS, SPEED AND SECTIONAL TRANSITIONS

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine, comprising:
a machining power supply;
a wire electrode, which is stretched under tension between an upper wire guide and a lower wire guide;
at least one linear axis and a rotation axis extending parallel to the linear axis, for moving a workpiece relative to the
wire electrode along the linear axis and for rotating the workpiece about the rotation axis, according to a machining program,
whereby the workpiece is machined;

an average rotation radius calculation unit configured to calculate an average rotation radius based on an outer radius and
an inner radius of the workpiece designated in each block of the machining program;

a current average rotation radius calculation unit configured to calculate a current average rotation radius at a current
workpiece machining point for each predetermined period, based on

average rotation radii at respective end points of a block to be executed and a directly preceding block, which are calculated
by the average rotation radius calculation unit, and

an amount of movement of the rotation axis; and
a control unit configured to perform control such that the speed of relative movement of the wire electrode and the workpiece
at the current workpiece machining point agrees with a command speed acquired from the machining power supply, based on the
current average rotation radius calculated by the current rotation radius calculation unit.

US Pat. No. 9,385,566

ROTOR OF ELECTRIC MOTOR WITH MAGNETS ATTACHED TO OUTER CIRCUMFERENTIAL SURFACE OF ROTOR CORE, ELECTRIC MOTOR, AND METHOD OF PRODUCING ROTOR OF ELECTRIC MOTOR

Fanuc Corporation, Yaman...

1. A rotor of an electric motor, comprising a cylindrically shaped rotor core, and a plurality of magnets which are arranged
at predetermined intervals at an outer circumferential surface of said rotor core, wherein
said outer circumferential surface of the rotor core is formed with a plurality of projections for positioning said plurality
of magnets in the circumferential direction of said rotor core,

each of said plurality of projections extends over only part of said outer circumferential surface of the rotor core in the
height direction parallel to the rotation axis of said rotor core,

said rotor core includes a projection-equipped cylindrical part which has an outer circumferential surface over which said
plurality of projections extend, and a projection-less cylindrical part which has a curved outer circumferential surface over
which said plurality of projections do not extend,

said rotor core further includes a groove part which is positioned between two adjoining projections and has a flat bottom
surface,

each of said plurality of magnets has a flat confronting face which faces said outer circumferential surface of said rotor
core, and

the flat confronting face faces the flat bottom surface of said groove part of said projection-equipped cylindrical part while
being bonded to the curved outer circumferential surface of said projection-less cylindrical part.

US Pat. No. 9,377,774

CONTROLLER FOR MACHINE TOOL INCLUDING MAIN SHAFTS

FANUC CORPORATION, Yaman...

1. A controller for a machine tool including a feed shaft motor driving a feed shaft, a first main shaft motor driving a first
main shaft, and a second main shaft motor driving a second main shaft, the controller comprising:
a converter interconverting AC power on an AC power supply side and DC power on a DC link which is a DC side;
a feed-shaft-motor inverter connected to the DC link, the feed-shaft-motor inverter interconverting DC power on the DC link
and AC power which is drive power or regenerative power of the feed shaft motor;

a first-main-shaft-motor inverter and a second-main-shaft-motor inverter connected to the DC link, the first-main-shaft-motor
inverter and the second-main-shaft-motor inverter interconverting DC power on the DC link and AC power which is drive power
or regenerative power for each of the first main shaft motor and the second main shaft motor;

a power failure detection unit detecting whether or not there is a power failure on the AC power supply side of the converter;
a voltage detection unit detecting a DC voltage value on the DC link;
a feed-shaft-motor command unit outputting a command controlling power interconversion of the feed-shaft-motor inverter so
as to decelerate the feed shaft motor when the feed-shaft-motor command unit receives a notification of occurrence of a power
failure from the power failure detection unit; and

a main-shaft-motor command unit outputting a first-main-shaft-motor acceleration/deceleration command controlling power interconversion
of the first-main-shaft-motor inverter so as to accelerate or decelerate the first main shaft motor in accordance with a DC
voltage value detected by the voltage detection unit and a power shutoff command controlling power interconversion of the
second-main-shaft-motor inverter so as to shut off drive power to the second main shaft motor, when the main-shaft-motor command
unit receives the notification of occurrence of a power failure from the power failure detection unit,

wherein
when the power failure detection unit detects a power failure, the main-shaft-motor command unit is configured to output,
as the first-main-shaft-motor acceleration/deceleration command, an acceleration command that controls power interconversion
of the first-main-shaft-motor inverter so as to accelerate the first main shaft motor when the DC voltage value detected by
the voltage detection unit is greater than a predetermined upper limit, and

the power shutoff command is configured to stop a switching operation of a switching device in a conversion circuit of the
second-main-shaft-motor inverter.

US Pat. No. 9,366,385

TELESCOPIC-COVER FIXTURE

FANUC CORPORATION, Yaman...

1. A telescopic-cover fixture configured to mount a telescopic cover to a machine tool having a movable part and a drive member
configured to drive the movable part,
wherein
the telescopic cover includes a plurality of covers successively stacked on one another,
the telescopic cover is expandable and contractible in a movement direction of the movable part of the machine tool, and
the telescopic cover covers the drive member,the telescopic-cover fixture comprising:
a fixing member configured to cover and surround at least one corner of the telescopic cover to keep the covers constituting
the telescopic cover from moving in the movement direction of the movable part; and

a fastening member configured to secure the fixing member to the telescopic cover.

US Pat. No. 9,321,179

WRIST STRUCTURE OF INDUSTRIAL ROBOT

Fanuc Corporation, Yaman...

1. A wrist structure of an industrial robot comprising:
a first wrist element extending in a direction of a first axial line and provided rotatably about the first axial line;
a second wrist element supported at a front end part of the first wrist element rotatably about a second axial line;
a third wrist element supported at a front end part of the second wrist element rotatably about a third axial line;
a second wrist motor provided at the first wrist element and having an output shaft extending parallel to the first axial
line;

a third wrist motor provided at the first wrist element and having an output shaft extending parallel to the first axial line;
a second wrist power transmission part transmitting power of the second wrist motor to the second wrist element; and
a third wrist power transmission part transmitting power of the third wrist motor to the third wrist element,
wherein the third wrist motor is arranged to be closer to a front end side of the first wrist element than the second wrist
motor,

wherein the second wrist power transmission part includes
a second wrist hypoid gear set having a second wrist small gear provided at the first wrist element rotatably about an axial
line parallel to the first axial line and a second wrist large gear provided at the first wrist element rotatably about the
second axial line, the second wrist large gear engaging with the second wrist small gear,

a drive shaft provided at a side of the third wrist motor, parallel to the first axial line,
a first reduction gear part reducing a speed of rotation from the second wrist motor and transmitting the reduced rotation
to the drive shaft, and

a second reduction gear part reducing a speed of rotation from the drive shaft and transmitting the reduced rotation to the
second wrist small gear, and

wherein the third wrist power transmission part includes
a third wrist hypoid gear set having a third wrist small gear provided at the first wrist element rotatably about an axial
line parallel to the first axial line and a third wrist large gear provided at the first wrist element rotatably about the
second axial line, the third wrist large gear engaging with the third wrist small gear,

a third reduction gear part reducing a speed of rotation from the third wrist motor and transmitting the reduced rotation
to the third wrist small gear, and wherein the first wrist element includes

a first case part housing the second wrist motor and the third wrist motor and supporting rotatably the drive shaft, and
a second case part attached to an attachment surface formed at a front end part of the first case part to support rotatably
the second wrist hypoid gear set and the third wrist hypoid gear set, the attachment surface being vertical to the first axial
line;

wherein the first case part or the second case part is provided with a clearance such that the first case part can pivot with
respect to the second case part on the attachment surface in order to simultaneously adjust the relative positions of the
third wrist motor and the third wrist small gear, and the relative positions of the drive shaft and the second wrist small
gear.

US Pat. No. 10,932,389

FRAME MEMBER ATTACHED TO MOBILE TERMINAL, OPERATION DEVICE FOR MACHINE INCLUDING FRAME MEMBER, AND COMPUTER PROGRAM FOR MOBILE TERMINAL

FANUC CORPORATION, Yaman...

1. A frame member for a mobile terminal, the frame member configured to be attached to the mobile terminal including a display of touch panel type, whereinthe frame member is formed in contact with at least a part of an outer edge of the mobile terminal along a circumferential direction of the outer edge of the mobile terminal, and has a front surface on the same side as a screen of the display, a rear surface on the opposite side from the front surface, an inner surface in contact with the mobile terminal, and an outer surface on the opposite side from the inner surface,
a structure part being perceivable with a finger touch is formed on at least one of the front surface, the inner surface, and the outer surface, the structure part being formed at a position corresponding to a predetermined image displayed on the display,
the structure part is constituted by at least one of a protrusion part formed on the front surface, a recess part formed on the front surface, a protrusion part formed on the outer surface, a recess part formed on the outer surface, a protrusion part projecting inward from the inner surface, and a recess part formed on the inner surface, and
the frame member is configured to be removable from the mobile terminal.

US Pat. No. 10,759,053

ROBOT SYSTEM

Fanuc Corporation, Yaman...

1. A robot system comprising:a plurality of robots;
an image acquisition unit that can be attached and detached with respect to each of the plurality of robots and that acquires images of an inspection target object;
a plurality of image inspection units that are respectively connected to the plurality of robots and that each inspect the inspection target object on the basis of an image acquired by the image acquisition unit;
wherein the image acquisition unit holds image-inspection data that includes a template image for the inspection target object, position information of an inspection site of the inspection target object, and optical property data indicating optical properties of the image acquisition unit and that is used in inspections performed by the plurality of image inspection units, and transmits the image-inspection data to an image inspection unit of the plurality of image inspection units that is connected to a robot of the plurality of robots to which the image acquisition unit is attached; and
wherein the plurality of image inspection units recognize the inspection target object in the image by using the template image, detect the inspection site of the inspection target object on the basis of the position information of the inspection site, and measure a length of the detected inspection site.

US Pat. No. 10,759,065

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising:an exterior cover covering a machining area where a workpiece on a worktable is machined by a machining tool;
an automatic transfer machine arranged inside the exterior cover and configured to replace the workpiece;
a controller configured to control a posture of the automatic transfer machine and a coordinate point at which a hand of the automatic transfer machine is positioned; and,
a protector arranged inside the exterior cover and configured to protect at least the hand from scattered matter arising due to machining of the workpiece when the automatic transfer machine is set at a predetermined posture or when the hand is moved to a predetermined coordinate point,
wherein the automatic transfer machine is an articulated robot that includes an arm and is fixed to the exterior cover at a proximal end of the arm by a base wherein the hand is attached to a distal end of the arm; and
a recess in an arm of the articulated robot functions as the protector wherein the recess is located near the proximal end of the arm.

US Pat. No. 10,656,618

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller that controls a machine tool including an imaging device capable of outputting three-dimensional coordinates of a designated position in a captured image and a measuring probe that measures physical quantity related to a shape of an installed workpiece, the numerical controller comprising:a user interface unit that displays the image captured by the imaging device and accepts operation of designating an index point in the image, which is an index used when the measuring probe measures the physical quantity related to the shape of the workpiece;
a program generation unit that analyzes the image and coordinates of the index point, narrows down measurement item candidates related to measurement of the workpiece based on an analysis result, and generates a program for giving an instruction on operation of measuring the workpiece by the measuring probe based on three-dimensional coordinates of the index point and a measurement item selected from the measurement item candidates;
an execution unit that executes the program to maneuver the measuring probe relative to the workpiece to measure the physical quantity related to the shape of the workpiece; and
a measurement program storage unit that stores general-purpose measurement programs corresponding to a plurality of measurement items,
wherein the program generation unit generates a program for giving an instruction on operation of measuring the workpiece so as to call a general-purpose measurement program corresponding to the measurement item selected from the measurement item candidates, from the measurement program storage unit,
wherein the index point includes at least an approach point that is an initial position of the measuring probe when the measuring probe measures the workpiece and an auxiliary point that designates a direction of a measurement portion of the workpiece as viewed from the approach point, and
wherein the program generation unit narrows down the measurement item candidates related to the measurement of the workpiece by analyzing the image and coordinates of the approach point and the auxiliary point to examine the shape of the workpiece between the approach point and the auxiliary point.

US Pat. No. 10,442,046

TELESCOPIC COVER

FANUC CORPORATION, Yaman...

1. A telescopic cover for covering a guide portion for guiding a movable part of an industrial machine, comprising:a first fixed cover panel fixed to the movable part and configured to move together with the movable part;
a second fixed cover panel fixed to a fixed part of the industrial machine;
a movable cover panel disposed between the first fixed cover panel and the second fixed cover panel and configured to overlap with the first fixed cover panel and the second fixed cover panel;
a guide rail located on the movable cover panel and oriented in a direction perpendicular to the moving direction of the movable part; and
first and second V-shaped link structures, which each include two link arms, a movable pin configured to be movable along the guide rail and rotatably support the two link arms at one end of each of the two link arms, each first and second V-shaped link structure having a first fixed pin fixed to the first fixed cover panel and configured to rotatably support one of the link arms at an end opposite to the end with the movable pin and a second fixed pin fixed to the second fixed cover panel and configured to rotatably support the other of the link arms at an end opposite to the end with the movable pin,
wherein when the telescopic cover is viewed in a state that the positions of the first fixed pin and the second fixed pin of the first v-shaped link structure is above the position of the first fixed pin and the second fixed pin of the second v-shaped link structure, the first V-shaped link structure and the second V-shaped link structure are arranged in an overlapping manner such that the first fixed pin and the second fixed pin of the first V-shaped link structure are positioned higher than its respective movable pin while the first fixed pin and the second fixed pin of the second V-shaped link structure are positioned lower than its respective movable pin.

US Pat. No. 10,437,229

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller comprising:a servo motor controller for controlling a servo motor of a machine tool;
a memory device;
a display; and
a processor configured to:
receive an input of a machining program including a cycle command for controlling the machine tool,
create a plurality of tool paths for maneuvering the machine tool based on the machining program,
control the display to display the machining program and the plurality of toolpaths depicting a simulated operation of the tool in response to the machining program, each of the displayed plurality of tool paths are individually selectable by a user selection on the display,
record a relation between an argument of the cycle command and the plurality of tool paths in an information table stored in the memory device,
in response to receiving the user selection of a selected tool path corresponding to one of the plurality of displayed tool paths displayed on the display:
specify an argument of the cycle command corresponding to the selected tool path with reference to the information table, and
control the display to display the specified argument in a highlighted form that is different from a form of another argument displayed in the machining program, and
in response to a user selection to execute the machine program, controlling the servo motor controller to maneuver the machine tool along the tool paths.

US Pat. No. 10,345,782

ROBOT CONTROL DEVICE AND COMMUNICATION SYSTEM HAVING COMMUNICATION FUNCTION FOR COMMUNICATING WITH PROGRAMMABLE LOGIC CONTROLLER

FANUC CORPORATION, Yaman...

1. A robot control device for establishing communication with a programmable logic controller in which a communication setting has already been made, comprising:a configuration file based on an internal state of the robot control device, the internal state including a software configuration, a software version, and setting information of the robot control device; and
a processor configured to:
transmit the configuration file to a communication setting device that loads the configuration file on the programmable logic controller,
establish communication with programmable logic controller using the configuration file loaded on the programmable logic controller, and
control the robot.

US Pat. No. 10,027,082

FIBER LASER OSCILLATOR AND CLEAN BENCH MOUNTABLE TO THE SAME

FANUC CORPORATION, Yaman...

1. A fiber laser oscillator including an optical unit which has a fusion splicing part in which optical fibers are to be joined, the fiber laser oscillator comprising:a housing that accommodates the optical unit such that the optical unit is able to be drawn out of the housing; and
a clean bench that is detachable to the housing or a side of the optical unit, and defines a closed space which is isolated from outside,
wherein:
a communication opening that is in communication with an internal space of the housing is defined in the clean bench,
the optical unit is able to move in and out of the housing independently of the clean bench,
the clean bench is above the optical unit in a first state in which the optical unit is drawn out from the housing, and
the clean bench is removed from the housing in a second state in which the optical unit is inside the housing.

US Pat. No. 10,018,991

NUMERICAL CONTROLLER WITH FUNCTION OF PREVENTING ERRONEOUS INPUT OF TOOL OFFSET DATA

FANUC Corporation, Minam...

1. A numerical controller capable of setting a tool offset value for a subject tool where tool dimension data is set, the numerical controller comprising:an offset value input unit receiving input of the tool offset value for the subject tool;
a storage unit storing a plurality of pieces of tool dimension data associated with a tool and a plurality of tool offset values associated with the tool;
a tool data analysis unit analyzing a relation between the plurality of pieces of tool dimension data and the plurality of tool offset values on the basis of the plurality of pieces of tool dimension data and the plurality of tool offset values stored in the storage unit;
an outlier detection unit detecting whether the tool offset value received by the offset value input unit is an outlier on the basis of the relation between the plurality of pieces of tool dimension data and the plurality of tool offset values, the tool dimension data of the subject tool, and the tool offset value received by the offset value input unit; and
an alert unit issuing an alert in a case where it is detected that the tool offset value is an outlier.

US Pat. No. 9,946,254

ALARM DISPLAY SYSTEM USING NON-CONTACT TYPE IC TAG

FANUC CORPORATION, Yaman...

1. An alarm display system configured to display an alarm of a computer for controlling a robot or a numerically controlled machine tool, the alarm display system comprising:an IC tag configured to store ID information for identifying a component of the computer, wherein the component of the computer includes at least one of a control unit, a signal processing unit, a power supply unit, a data storage unit, a display unit, a printed circuit board, a cable and a breaker;
an IC tag reading part capable of reading the ID information stored in the IC tag in a non-contact manner;
a storage part configured to store alarm handling information in association with alarm information for identifying a type of an alarm and with the component of the computer relevant to the alarm;
a handling information extracting part configured to extract, when the alarm is generated, alarm handling information related to the component identified by the ID information from the alarm handling information corresponding to the alarm being generated, based on the alarm information and the ID information read by the IC tag reading part; and
a handling information display part configured to display the alarm handling information extracted by the handling information extracting part.

US Pat. No. 9,933,759

SERVO CONTROL APPARATUS, SERVO CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE MEDIUM, WITH FILTER ADDED TO PROPORTIONAL TERM CALCULATED AT HIGH SPEED

FANUC CORPORATION, Yaman...

1. A servo control apparatus, comprising:a first subtractor configured to calculate a difference between a first command value being a periodic signal for controlling a servo motor, and a first detection value from the servo motor;
an integral term creation unit configured to create an integral term by integrating an output of the first subtractor, and multiplying an integral value thereof by a first coefficient;
an internal division processing unit configured to internally divide the first command value by a predetermined period;
a second subtractor configured to calculate a difference between an output of the internal division processing unit and the first detection value;
a proportional term creation unit configured to create a proportional term by multiplying an output of the second subtractor by a second coefficient; and
a first adder configured to add an output of the integral term creation unit and an output of the proportional term creation unit, and configured to output an additional value thereof as a second command value for controlling the servo motor,
wherein a calculation period calculated by way of the proportional term creation unit is shorter than a calculation period calculated by way of the integral term creation unit.

US Pat. No. 9,887,661

MACHINE LEARNING METHOD AND MACHINE LEARNING APPARATUS LEARNING OPERATING COMMAND TO ELECTRIC MOTOR AND CONTROLLER AND ELECTRIC MOTOR APPARATUS INCLUDING MACHINE LEARNING APPARATUS

FANUC CORPORATION, Yaman...

1. A machine learning apparatus learning an operating command for an electric motor,
the machine learning apparatus comprising:
a status observing part observing an ambient temperature of an electric motor apparatus that includes the electric motor and
a controller controlling the electric motor, and a cycle time of the electric motor as status variables,

a judgment data acquiring part acquiring judgment data judging if overheating has occurred in the electric motor apparatus,
and

a learning part learning an operating command to the electric motor in accordance with a training data set prepared based
on a combination of the status variables and the judgment data.

US Pat. No. 9,692,348

MOTOR CONTROL DEVICE THAT DETECTS OVERLOAD

FANUC CORPORATION, Yaman...

1. A motor control device comprising:
a load torque estimation unit configured to estimate a load torque applied to a motor on a basis of a current flowing through
the motor and velocity of the motor;

a torque comparison unit configured to compare the load torque estimated by the load torque estimation unit with a reference
torque;

a time measurement unit configured to measure a time span during which the load torque is higher than the reference torque;
a time comparison unit configured to compare the time span measured by the time measurement unit with a reference time;
a decision unit configured to decide that the motor is subjected to an excessive load when the time span exceeds the reference
time as result of comparison by the time comparison unit, a motor status decision unit configured to decide a status of the
motor; and

a setting unit configured to set the reference time depending on the status of the motor decided by the motor status decision
unit;

wherein if the motor status decision unit decides that the motor is in operation for the processing, the setting unit sets
a first predetermined value as reference time; and

wherein if the motor status decision unit decides that the motor is not in operation for the processing, the setting unit
sets a second predetermined value, which is smaller than the first predetermined value, as the reference time.

US Pat. No. 9,658,611

MACHINE TOOL INCLUDING NUMERICAL CONTROLLER WITH FUNCTION TO DETERMINE REPLACEMENT TIME FOR MAINTENANCE COMPONENT

FANUC CORPORATION, Yaman...

1. A machine tool controlled by a numerical controller, wherein
the numerical controller has a function to determine a replacement time for a maintenance component used in a movable portion
of the machine tool and outputting to the machine tool an operation instruction related to the movable portion,

an operation completion signal output unit is provided outside the machine tool and outputs, to the numerical controller,
an operation completion signal indicating that the operation of the movable portion based on the operation instruction is
complete,

the numerical controller includes:
a response time calculation unit that calculates, as a response time of operation, a time from a point in time when the numerical
controller outputs the operation instruction until a point in time when the numerical control device receives the operation
completion signal from the operation completion signal output unit;

a maintenance component replacement time determination unit that determines that a time has come to replace the maintenance
component used in the movable portion when the calculated response time of operation is longer than a preset set time;

a display unit that displays a result of determination by the maintenance component replacement time determination unit; and
a counter that counts a number of operations of the maintenance component used in the movable portion of the machine tool
or an operation duration clocking unit that clocks a duration of operation of the maintenance component or a duration of operation
of the machine tool,

the display unit further displays, when displaying a result of determination by the maintenance component replacement time
determination unit, the number or duration of operations of the maintenance component, and

the response time of operation is a sum of time needed for signal processing in the machine tool plus an actual operating
time of a mechanical component of the machine tool.

US Pat. No. 9,604,360

ROBOT SYSTEM FOR PREVENTING ACCIDENTAL DROPPING OF CONVEYED OBJECTS

Fanuc Corporation, Yaman...

8. A robot system comprising a robot which is provided with a robot arm having a wrist part and with a robot hand attached
to said wrist part, and a control device which controls the motion of said robot, wherein
a permitted area where a teaching operation for said robot hand should be permitted is preset above a table that is within
a maximum area which said robot hand can reach, and that an object to be conveyed by said robot hand can be placed on, and

said control device comprises
a judging part which judges if said robot hand as a whole is present in said permitted area, based on robot hand position
information which expresses a position and posture of said robot hand and

a teaching operation restricting part which permits a teaching operation for said robot hand when it is judged that said robot
hand as a whole is present in said permitted area, and prohibits a teaching operation for said robot hand when it is judged
that said robot hand as a whole is not present in said permitted area,

wherein said permitted area has the shape of a convex polyhedron, sphere, or spheroid.

US Pat. No. 9,597,762

TOOL CHANGER PROVIDED WITH COVERS

FANUC CORPORATION, Yaman...

1. A tool changer, comprising:
a turret having a plurality of grips each configured to grip a respective tool, the tool changer being adapted to change a
tool mounted on a spindle of a machine tool by indexing a desired tool by rotating the turret in a rotational direction about
a rotational axis of the turret;

a front cover which covers a first surface of the turret;
a rear cover which covers a second surface of the turret; and
a gap defined between the front cover and the rear cover,
wherein
the turret is configured to move between a tool changing position and a tool non-changing position when the spindle of the
machine tool moves along a Z-axis,

when the turret is positioned at the tool non-changing position,
the first surface of the turret is positioned farther from the spindle of the machine tool than from the gap,
the second surface of the turret is positioned closer to the spindle of the machine tool than the gap is, and
a position of an upper end portion of the rear cover is higher than a position of an upper end portion of the front cover,
a projection or a recess is formed on the rear cover at an upper surface on a side of the upper end portion of the rear cover,
a passage is defined by the projection or the recess, and
the passage is configured to
guide chips or a cutting fluid in the rotational direction of the turret, and
prevent the guided chips or cutting fluid from coming into contact with a spindle motor, which is configured to rotate the
spindle of the machine tool.

US Pat. No. 9,598,064

BRAKE DRIVE CONTROL DEVICE PROVIDED WITH ABNORMALITY DETECTION FUNCTION

FANUC CORPORATION, Yaman...

1. A brake drive control circuit comprising:
semiconductor circuits configured to turn on/off drive signals to a brake which is provided at a servo motor, said semiconductor
circuits connected in series with said brake;

control devices configured to generate brake signals to independently turn on/off said semiconductor circuits, said control
devices respectively connected to said semiconductor circuits; and

a voltage detection circuit configured to detect a presence of a voltage applied to said brake, said voltage detection circuit
connected in parallel to said brake, wherein

said control devices are respectively provided with test pulse generating circuits configured to introduce test pulses into
said brake signals, said test pulses configured to instantaneously turn off said semiconductor circuits,

said control devices are configured to
transmit, to said semiconductor circuits, said brake signals which turn all of said semiconductor circuits off when engaging
said brake, and

transmit, to said semiconductor circuits, said brake signals which turn all of said semiconductor circuits on when disengaging
said brake,

said test pulse generating circuits are configured to introduce said test pulses into said brake signals when disengaging
said brake,

said test pulses have no effect regarding a release of the brake, and
said voltage detection circuit is configured to detect a malfunction of said semiconductor circuits by detecting an absence
of a test pulse among said test pulses when disengaging said brake.

US Pat. No. 9,511,948

CONTROL UNIT FOR CENTRALIZING CONTROL BY GROUPING A PLURALITY OF PATHS

FANUC Corporation, Minam...

1. A control unit configured to control a plurality of paths, including a plurality of command analysis units configured to
control a machine driven by a motor, a plurality of command execution units configured to execute a command analyzed by the
plurality of command analysis units, and a path setting unit configured to set as a path one or more controls of the machine
controlled by a program, the control unit comprising:
a path group setting unit configured to select two or more paths from the plurality of paths and set the two or more paths
as a path group;

a master path selection unit configured to select one path of the path group as a master path, which is referred to as an
operation reference, and classify the other paths of the path group as slave paths; and

a control information storage unit configured to store, as master control information, the program required to control the
master path and control data including a signal and a parameter concerning control of the program,

wherein the slave paths are configured to be controlled with reference to the master control information, so that the slave
paths are operated so as to be coordinated with the master path.

US Pat. No. 9,481,091

ROBOT SYSTEM FOR TAKING OUT BULK STACKED WORKPIECES AND JUDGMENT METHOD FOR JUDGING WORKPIECE GRIPPING STATE

Fanuc Corporation, Minam...

1. A robot system for successively taking out bulk stacked workpieces of the same type, using a robot comprising an arm and
a hand, wherein
said hand comprises:
a base part which is attached to said arm,
a cylinder device which has a cylinder which extends downward in the vertical direction from said base part and a piston rod
which projects out from a front end part in an extension direction of said cylinder and is configured to move in an opposite
direction to the projecting direction due to fluid pressure inside said cylinder, and

a gripping part which is attached to a front end part of said piston rod in the projecting direction and which is configured
to grip a workpiece, and

said robot system further comprises:
a fluid pressure adjusting device which is configured to adjust a fluid pressure inside of said cylinder,
a movement detecting device which detects movement of said piston rod in an opposite direction to said projecting direction,
and

a judgment device which judges when said hand is gripping a designated number of workpieces based on a magnitude of fluid
pressure inside said cylinder and detection results of said movement detecting device,

said fluid pressure adjusting device is configured to adjust the fluid pressure inside said cylinder such that said gripping
part receives a force in the opposite direction from said projecting direction to be movable with said piston rod in the opposite
direction from said projecting direction until said gripping part grips the workpiece.

US Pat. No. 9,429,931

NUMERICAL CONTROLLER FOR CONTROLLING FEED SPEED

FANUC Corporation, Minam...

1. A numerical controller for controlling a path and a feed speed of a tool according to a machining program in which a first
feed speed and a moving distance for each block are commanded, the numerical controller comprising:
an input unit configured to input a ratio of a distance by which movement is completed in each interpolation period to a moving
distance for each block;

a moving ratio determination unit configured to determine whether the ratio inputted by the input unit is equal to or less
than a predetermined ratio of the distance by which a movement is completed in each interpolation period to the moving distance
for each block, corresponding to a block shape;

a moving distance calculation unit configured to obtain a necessary distance for the completion of movement in each interpolation
period based on the ratio input by the input unit and the moving distance for each block;

a moving distance determination unit configured to determine whether or not the distance calculated by the moving distance
calculation unit is shorter than the moving distance for each interpolation period based on the first feed speed;

a moving speed calculation unit configured to calculate, as a second feed speed, a speed for moving, in each interpolation
period, the distance obtained by the moving distance calculation unit if it is determined by the moving ratio determination
unit that the ratio inputted by the input unit is equal to or less than the predetermined ratio of the distance by which a
movement is completed in each interpolation period and it is determined by the moving distance determination unit that the
distance calculated by the moving distance calculation unit is shorter than the moving distance for each interpolation period
based on the first feed speed;

a commanded speed changing unit configured to change the feed speed to the second feed speed obtained by the moving speed
calculation unit; and

a notification unit configured to make notification if the ratio of the distance by which movement is completed in each interpolation
period to the moving distance for each block, which is input by the input unit, is higher than that set in advance.

US Pat. No. 9,381,587

WIRE ELECTRIC DISCHARGE MACHINE WHICH PERFORMS TAPER CUTTING

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine, comprising:
a wire electrode;
a table on which a workpiece is to be mounted;
at least two linear axes configured to move the wire electrode and the workpiece relative to each other;
a mount device to which the workpiece is attachable and which is mountable on the table, the mount device having at least
two rotary axes; and

a control unit configured to
generate, based on (i) a tilt angle of the wire electrode and amounts of travel of the wire electrode by the linear axes relative
to the workpiece, the tilt angle and the amounts of travel being commanded by a machining program, and on (ii) prestored axes
of rotation of the rotary axes,

renewed amounts of travel of the wire electrode relative to the workpiece in a relative movement between the wire electrode
and the workpiece and amounts of rotation of the rotary axes for performing machining with the wire electrode vertically oriented,
and

synchronously move the linear axes and the rotary axes in accordance with the generated renewed amounts of travel of the wire
electrode relative to the workpiece and amounts of rotation of the rotary axes to perform machining while relatively changing
a tilt of the workpiece with respect to the wire electrode.

US Pat. No. 9,333,610

WORKPIECE POSITIONING DEVICE POSITIONING WORKPIECE AT TWO REFERENCE SURFACES

Fanuc Corporation, Yaman...

1. A workpiece positioning device comprising:
a first positioning block that forms a first reference surface in a first direction, and positions one surface of a workpiece
at the first reference surface;

two second positioning blocks that form a second reference surface in a second direction, and position a different surface
of the workpiece at the second reference surface;

at least one seat block that positions the workpiece in a third direction perpendicular to the first direction and the second
direction;

a push cylinder that presses the workpiece in one direction toward an intersection line between the first reference surface
and the second reference surface;

a first unit that, before the first positioning block contacts with the workpiece, contacts with the one surface of the workpiece
at friction lower than that of the first positioning block, and corrects a posture of the workpiece; and

a second unit that contacts, before the second positioning blocks contact with the workpiece, with the different surface of
the workpiece at friction lower than that of the second positioning blocks, and corrects the posture of the workpiece;

wherein the first unit includes a first pressing member, which is pressed in the first direction toward the workpiece by an
elastic member, and at least one pair of first rollers, which are attached to a distal end of the first pressing member and
contact with the one surface of the workpiece, the first positioning block is arranged between the at least one pair of first
rollers, and

wherein the second unit includes a second pressing member, which is pressed in the second direction toward the workpiece by
an elastic member, and at least one pair of second rollers, which are attached to a distal end of the second pressing member
and contact with the different surface of the workpiece, the at least one pair of second rollers are arranged between the
two second positioning blocks.

US Pat. No. 9,254,575

ATTACHMENT STRUCTURE FOR DRIVE CABLES OF ROBOT AND ROBOT APPARATUS PROVIDED THEREWITH

Fanuc Corporation, Yaman...

1. An attachment structure for drive cables of a robot,
wherein the robot comprises a movable part which is movable so that the robot has any given position and posture, and a stationary
part which is fixed independently of the position and posture of the robot,

wherein the movable part of the robot comprises:
a pivot body attached to the stationary part so as to be able to pivot around a pivot axis;
a first arm attached to the pivot body so as to be able to rotate around a first rotational axis extending in a direction
perpendicular to the pivot axis; and

a second arm attached to the first arm so as to be able to rotate around a second rotational axis extending in a direction
perpendicular to the first rotational axis,

wherein the drive cables includes at least a power cable supplying power to a motor for driving the pivot body, the first
arm and the second arm, and a signal cable for transmitting and receiving a signal to and from the motor,

wherein the attachment structure comprises a first fixing member and a second fixing member separate from the first fixing
member, the first fixing member being configured to fix a first part of the drive cables non-slidably, the second fixing member
being configured to fix a second part of the drive cables non-slidably,

wherein the first fixing member is disposed behind the pivot body so as to pivot together with the pivot body,
wherein the second fixing member is disposed in the stationary part and at a distance away from the first fixing member in
a direction parallel to the first rotational axis, and

wherein the drive cables are fixed by the first fixing member and the second fixing member so as to be curved convexly vertically
upward between the first fixing member and the second fixing member.

US Pat. No. 10,617,002

CIRCUIT BOARD AND MANUFACTURING METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A circuit board in which a wiring pattern is provided on an insulating board,wherein the wiring pattern includes: a first wiring pattern on which a first surface treatment is applied; and a second wiring pattern on which a second surface treatment with a layer having a cutting fluid resistance and/or a humidity resistance lower than a layer of the first surface treatment is applied.

US Pat. No. 10,535,204

SENSOR INTERFACE DEVICE, MEASUREMENT INFORMATION COMMUNICATION SYSTEM, MEASUREMENT INFORMATION COMMUNICATION METHOD, AND NON-TRANSITORY COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. A sensor interface device comprising:a data acquisition circuit configured to acquire measurement data, which is data based on a physical quantity measured by a measurement device;
a sensor interface memory configured to store the measurement data acquired;
a machine learning central processing unit (CPU) configured to execute a computer-executable program stored on a computer-readable recording medium and perform machine learning by unsupervised machine learning using a k-means method or Ward's method with a measurement data group stored as an input, thereby extracting of characteristic data, which is data representing a characteristic of the measurement data group; and
a network interface configured to send the characteristic data extracted by the machine learning to a device which has a higher-order than a sensor interface,
wherein the sensor interface device is connected in a communication path between the measurement device and the device which has the higher-order than the sensor interface, and
when a communication path between the sensor interface device and the measurement device is defined as a first communication path and a communication path between the sensor interface device and the device which has the higher-order than the sensor interface is defined as a second communication path, the network interface is configured to send the characteristic data via the second communication path to the device which has the higher-order than the sensor interface at a slower cycle than a cycle at which the data acquisition circuit acquires the measurement data via the first communication path.