US Pat. No. 10,507,987

SUPPLY DEVICE CONFIGURED TO SUPPLY WORKPIECE TO TAKE-OUT DEVICE AND TRANSPORT DEVICE EQUIPPED WITH SUPPLY DEVICE

FANUC CORPORATION, Yaman...

1. A supply device for supplying a workpiece to a take-out device taking out the workpiece, the supply device comprising:a placement member on which the workpiece placed;
a drive motor rotating the placement member;
a detection device detecting the workpiece placed on the placement member;
a replenishment device replenishing the workpiece to a surface of the placement member; and
a supply control device controlling the replenishment device; wherein
the replenishment device is formed so as to be able to replenish the workpiece to a plurality of positions in a region where the placement member is disposed,
a determination region for determining number of the workpieces is predetermined in the region where the placement member is disposed,
a plurality of divided regions are predetermined in the determination region, and
the supply control device includes a workpiece detection unit detecting number of the workpieces in the entire determination region based on information on the workpiece detected by the detection device, and a region selection unit selecting, when the number of the workpieces detected by the workpiece detection unit is less than a predetermined determination value, a divided region having a lowest number density of workpieces from among the plurality of divided regions, and controls the replenishment device so as to replenish the workpiece in a region of the placement member corresponding to the divided region selected by the region selection unit.

US Pat. No. 10,421,621

WORK TRANSFERRING SYSTEM AND WORK TRANSFERRING METHOD

Fanuc Corporation, Yaman...

1. A work transferring system comprising:a hand main body;
a cylindrical attracting pad provided in the hand main body and protruding from a surface of the hand main body;
an articulated robot to which the hand main body is attached at a distal end portion of the articulated robot and configured to transfer the work attracted by the attracting pad to a predetermined transfer destination by moving the hand main body;
a work releasing member disposed above the transfer destination to which the articulated robot transfers the work and configured to release the work from the attracting pad;
a lifting mechanism which supports the work releasing member so that the work releasing member is disposed above the transfer destination, the lifting mechanism capable of moving the work releasing member in a vertical direction; and
wherein the work releasing member includes a claw arranged in a substantially horizontal cantilever manner, and the claw is inserted into a gap between the surface of the hand main body and the work when the attracting pad, which is attracting the work, is disposed above the transfer destination by the articulated robot, which inserts the claw into the gap between the surface and the work by moving the hand main body along a horizontal axis.

US Pat. No. 10,401,415

MOTOR DRIVE APPARATUS TO DETECT INVERTER WITH LARGE LEAKAGE CURRENT

FANUC CORPORATION, Yaman...

1. A motor drive apparatus comprising:a converter configured to convert AC power inputted by an AC power supply to DC power and to output the DC power to a DC link;
a DC link capacitor provided for the DC link;
a plurality of inverters respectively provided for motors and configured to perform power conversion operation in accordance with a command received to convert the DC power in the DC link to AC power for driving the motors;
a diagnosis command unit configured to execute processing for giving a command to only one inverter of the plurality of inverters at a time to perform the power conversion operation and to repeat the processing for the other inverters of the plurality of inverters one after another;
an AC voltage detection unit configured to detect a peak value of AC voltage on an AC input side of the converter;
a DC voltage detection unit configured to detect a value of DC voltage applied across the DC link capacitor;
a calculation unit configured to calculate a difference between the value of DC voltage detected by the DC voltage detection unit and the peak value of AC voltage detected by the AC voltage detection unit;
a storage unit configured to store the difference calculated by the calculation unit in association with the inverter that had been commanded by the diagnosis command unit to perform the power conversion operation when the value of DC voltage used for the calculation of the difference was detected by the DC voltage detection unit; and
a leakage current determination unit configured to determine that the inverter stored in association with the largest of the differences stored in the storage unit is the inverter that has caused the largest leakage current.

US Pat. No. 10,350,753

DEVICE AND METHOD FOR DETECTING ABNORMALITY OF JOINT OF PARALLEL LINK ROBOT

FANUC CORPORATION, Yaman...

1. A method for detecting an abnormality of a joint part of a parallel link robot, the parallel link robot comprising:a base part;
a movable part positioned away from the base part;
two or more link parts which connect the movable part to the base part, each link part including one degree-of-freedom relative to the base part; and
a plurality of motors configured to respectively drive the link parts,
wherein each link part comprises:
a drive link connected to the base part;
two passive links which extend parallel to each other and connect the drive link to the movable part;
a pair of first ball joints which connect the passive links to the drive link;
a pair of second ball joints which connect the passive links to the movable part; and
a restraining plate positioned between the pair of first ball joints so as to restrict a rotation of the two passive links about each axis of the robot,
the method comprising:
measuring, while the parallel link robot is operated, an amount of change in a drive torque, based on a current value of the motor, before and after the robot represents a specified posture where a sign of a relative angular velocity between a ball and a housing of each of the first and second ball joints is changed; and
judging, in response to the amount of change in the drive torque exceeding a predetermined threshold, that a friction state of the ball joint corresponding to the motor is abnormal,
wherein the ball joint is repaired or exchanged upon judging that the friction state of the ball joint is abnormal based on the measured amount of change in the drive torque exceeding the predetermined threshold.

US Pat. No. 10,127,045

MACHINE TOOL CONTROLLER INCLUDING A MULTI-CORE PROCESSOR FOR DIVIDING A LARGE-SIZED PROGRAM INTO PORTIONS STORED IN DIFFERENT LOCKABLE INSTRUCTION CACHES

FANUC Corporation, Minam...

1. A controller comprising a multi-core processor comprising a plurality of cores with independent instruction cache memories to execute a sequential program with a size exceeding a capacity of one of the instruction cache memories, the controller comprising:a memory in which the sequential program is stored; and
the multi-core processor configured to execute instructions to perform a method including:
analyzing an arrangement of the sequential program in the memory to generate and store program profile information in the memory;
dividing, based on the program profile information, the sequential program into a plurality of divided programs each with a size fitted into one of the instruction cache memories and storing program execution information on the divided programs in the memory;
storing, in accordance with the program execution information, a first divided program in a first instruction cache memory of the instruction cache memories and inhibiting rewriting of the first instruction cache memory with the first divided program stored therein by locking the first instruction cache memory;
storing, after execution of the first divided program stored in the first instruction cache memory is started and before execution of the first divided program stored in the first instruction cache memory has ended, based on the program execution information, a second divided program to be executed next in a second instruction cache memory of another core and inhibiting rewriting of the second instruction cache memory with the second divided program stored therein by locking the second instruction cache memory;
starting execution of the second divided program to be executed next when the first divided program in execution ends; and
cancelling the inhibiting of rewriting of the first instruction cache memory of the core having executed the first divided program by unlocking the first instruction cache memory when the first divided program in execution ends.

US Pat. No. 10,048,675

NUMERICAL CONTROLLER PERFORMING 3-DIMENSIONAL INTERFERENCE CHECK CORRESPONDING TO FEEDRATE CHANGE

FANUC CORPORATION, Yaman...

1. A numerical controller that controls driving of a movable part of a machine based on a command from a program, and that comprises an interference checking unit that checks an interference between the movable part and another object, the numerical controller being configured to decelerate and stop movement of the movable part when an interference is predicted by the interference checking unit,the numerical controller comprising:
a feedrate override commanding unit configured to command an override value of a feedrate of the movable part;
a command analysis unit configured to look ahead and analyze a program to generate look-ahead block command data; and
a route calculating unit configured to
calculate a surplus look-ahead period which is a period obtained by adding a surplus period to a look-ahead period which is a period required for the interference checking unit to predict an interference to safely decelerate and stop the movement of the movable part,
calculate, based on the look-ahead block command data, at least one surplus look-ahead position of the movable part after the surplus look-ahead period elapses, the surplus look-ahead period corresponding to at least one set override value including at least an approximately maximum override value commandable by the feedrate override commanding unit, and
output a plurality of surplus look-ahead positions to the interference checking unit, wherein
the interference checking unit performs interference check based on the plurality of surplus look-ahead positions.

US Pat. No. 10,042,352

SAFETY SWITCH DEVICE, OPERATION TERMINAL, AND MACHINE CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A machine control system comprising:a portable operation terminal including a communication unit which communicates with a peripheral device and a touch panel unit used for display and input, the operation terminal outputting machine operation information for operating a machine via the communication unit based on an input operation to the touch panel unit;
a controller which controls operation of the machine based on the machine operation information received from the operation terminal; and
a safety switch device which is removably mounted on the operation terminal and includes a switch unit which outputs a stop instruction signal for issuing an instruction to stop the machine by being operated, and a packet generation unit which converts the stop instruction signal output by operating the switch unit into a packet and outputs the packet to the communication unit of the operation terminal,
wherein the operation terminal transfers the packet received from the safety switch device to the controller via the communication unit, and
the controller restores a stop instruction signal from the packet received from the operation terminal and stops the machine based on the restored stop instruction signal.

US Pat. No. 9,946,248

SYSTEM, ROBOT AND ROBOT SYSTEM FOR DETECTING LOAD APPLIED TO ROBOT

FANUC CORPORATION, Yaman...

1. A system for detecting a load applied to a robot, comprising:a force sensor including a detection part which detects a load in a direction, the detection part including a first single-axis detection element for detection in one axis direction and a second single-axis detection element for detection in the one axis direction; and
a malfunction judgment part which
judges whether a first detection value detected by the first detection element and a second detection value detected by the second detection element are different from each other, and which judges that the first detection element or the second detection element malfunctions when the first detection value and the second detection value are different from each other.

US Pat. No. 9,915,337

GEAR TRANSMISSION AND USAGE MEASURING DEVICE FOR MEASURING USAGE OF GEAR TRANSMISSION

FANUC CORPORATION, Yaman...

1. A usage measuring device for measuring usage of a gear transmission, comprising:
an oscillation cycle measuring unit configured to measure an oscillation cycle of a state signal indicating at least one of
a rotational state of an input unit side and a rotational state of an output unit side of the gear transmission; and

a comparing unit configured to compare a first oscillation cycle measured during an initial operating period of the gear transmission
and a second oscillation cycle measured after the gear transmission has operated for a predetermined time,

wherein the oscillation cycle measuring unit measures the first oscillation cycle and the second oscillation cycle of the
state signal after the gear transmission has stopped driving.

US Pat. No. 9,891,618

PROGRAM CORRECTING DEVICE AND PROGRAM CORRECTING METHOD OF INDUSTRIAL ROBOT

FANUC CORPORATION, Yaman...

1. A program correcting device which corrects an operating program of a robot for moving a tip of a tool which is attached
to said robot along a predetermined movement path at a command speed, the device comprising:
at least one processor configured to:
execute a simulation of operation of said robot based on said operating program,
calculate a variation with time of a movement speed of said tip for the period when said tip passes through said of movement
path from the results of said simulation of operation,

evaluate a pattern of said variation with time calculated by said calculating part if a minimum value of said movement speed
during said variation with time calculated by said calculating part is a predetermined lower limit value or less,

select a correction scheme of said operating program for increasing said minimum value of the movement speed from a predetermined
plurality of correction schemes, in accordance with the results of evaluation of the pattern of said variation with time,

correct said operating program in accordance with the correction scheme, and
instructing the robot to move the tip of the tool based on the corrected operating program.

US Pat. No. 9,825,451

APPARATUS FOR LEADING OUT CABLE FROM HOUSING OF ELECTRONIC APPARATUS AND SUCH ELECTRONIC DEVICE

FANUC CORPORATION, Yaman...

1. An apparatus for leading out a cable from a cable lead-out hole formed at a housing of an electronic device while sealing
the cable lead-out hole, comprising:
a flange fastened to the housing, and including:
a first surface facing the housing;
a second surface opposite the first surface;
an outer circumferential surface extending between the first surface and the second surface and extending over the circumference
of the flange;

a cable hole including a first hole part which receives the cable and a second hole part extending from the first hole part
so as to open at the outer circumferential surface of the flange; and

a first recess formed to be recessed inward from an end face which faces the housing;
a cable clamp received in the first recess so as to be arranged between the housing and the flange, and including a first
through hole into which the cable is inserted, an end face of the cable clamp, which faces a bottom surface of the first recess,
being in contact with the bottom face of the first recess;

an elastic member arranged between the housing and the cable clamp, and including a second through hole into which the cable
is inserted, wherein

when the flange is fastened to the housing, the elastic member is sandwiched between the cable clamp and the housing, and
elastically deforms so as to narrow the second through hole, thereby the elastic member holds the cable in the second through
hole and seals the cable lead-out hole.

US Pat. No. 9,770,857

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system comprising an injection molding device and an articulated robot, wherein
the articulated robot is fixed to a lower portion of a mold clamping device in a machine housing of the injection molding
device,

the motion range of the articulated robot includes the interior region of the machine housing and the region within the motion
range of a mold,

a cover of the injection molding device covering the motion range of the articulated robot is configured to work as a safety
fence of the articulated robot, and

the articulated robot is configured to perform at least one of the removal of a molded item from the mold, insertion of an
insert workpiece into the mold, collection of the molded item fallen from the mold, deburring of the molded item, cutting
of a gate of the molded item, or the removal of a runner.

US Pat. No. 9,599,978

NUMERICAL CONTROL APPARATUS HAVING FUNCTION OF REDUCING PATH TO START POINT IN CANNED CYCLE

FANUC Corporation, Minam...

2. A numerical control apparatus configured to control a lathe where a workpiece rotates in order to reduce a path length,
the lathe upon one instruction, configured to machine a workpiece from a material shape thereof to a finishing shape thereof
in accordance with a canned cycle constituted of a plurality of cutting cycles for each cutting cycle of which a movement
path from a start position thereof to an end position thereof is formed of a plurality of paths as one cutting cycle, the
apparatus comprising:
an interference check configured to:
determine whether or not interference between the workpiece and the movement path arises when the movement path from a cutting
completion position in the one cycle to a cutting start position in a next cycle is straight,

change, when the interference is determined not to arise, the movement path from the cutting completion position in the one
cycle to the cutting start position in the next cycle to be straight, and

when interference is determined to arise, change the movement path from the cutting completion position in the one cycle to
the cutting start position in the next cycle so that interference is eliminated, wherein

when the interference check determines that the movement path interferes with the workpiece, a movement with a shape of an
arc is made, the arc passing through three positions of a position which falls within a range in which no interference with
the workpiece is determined, the cutting completion position in the one cycle and the cutting start position in the next cycle.

US Pat. No. 9,595,897

MOTOR CONTROL DEVICE FOR CONTROLLING CURRENT PHASE ON DQ/THREE-PHASE COORDINATES

Fanuc Corporation, Yaman...

1. A motor control device for controlling a three-phase AC motor by using dq-three-phase coordinate conversion, the motor
control device comprising:
a phase correction amount calculation unit for calculating a phase correction amount by using a detected motor speed and a
q-axis current command initial value, which is a value obtained by dividing the torque command by the torque constant;

a rotor phase angle correction unit for adding or subtracting the phase correction amount to or from a detected rotor phase
angle of the motor to calculate a corrected rotor phase angle; and

a coordinate conversion unit for performing coordinate conversion between parameters on a dq coordinate system and parameters
on a three-phase coordinate system on a basis of the corrected rotor phase angle, wherein

the phase correction amount calculation unit comprises a storage unit for storing a speed coefficient NA, a first reference speed NB, a phase correction amount limit value NL, a current coefficient TA, and a reference current rate TB as predetermined parameters; a speed correction term calculation unit for calculating a speed correction term on a basis of:

Speed correction value=min[NA×max{0,(N?NB)},NL]

where N represents the motor speed;
a current correction term calculation unit for calculating a current correction term on a basis of:
Current correction value=TA×min[1,max{0,(Tr?TB}]

where Tr represents an initial q-axis current command rate that is a percentage of a q-axis current command initial value with respect
to a maximum current outputtable by an inverter that converts DC power into AC power to supply the AC power as a drive power
for the motor; and

an output unit for outputting, as the phase correction amount, a value obtained by multiplying the speed correction term and
the current correction term together.

US Pat. No. 9,541,916

MOTOR CONTROL APPARATUS FOR CONTROLLING MOTOR

FANUC CORPORATION, Yaman...

1. A motor control apparatus having a movable part which is driven by a motor and a driven part which is driven by the movable
part, comprising
a first position detector which detects the position of the movable part,
a second position detector which detects the position of the driven part,
an error calculation unit which calculates an error between a first position detection value detected by the first position
detector and a second position detection value detected by the second position detector,

a storage unit which stores the errors calculated by the error calculation unit when the movable part engages with the driven
part in a first drive direction and in a second drive direction opposite to the first drive direction, as a first initial
error and a second initial error, respectively, and

a compensation calculation unit which calculates the amount of compensation to compensate backlash between the movable part
and the driven part and an elastic deformation caused by the engagement of the movable part with the driven part,

wherein the compensation calculation unit calculates a compensation based on the first initial error and the second initial
error stored by the storage unit and a predetermined constant which is larger than 0 and not greater than 1 and calculates
the amount of compensation by subtracting the current error calculated by the error calculation unit from the initial error,

wherein when the drive direction after reversing the motor is the first drive direction, the compensation is represented by
?P1·?+?P2·(1??),

wherein when the drive direction after reversing the motor is the second drive direction, the compensation is represented
by

?P1·(1??)+?P2·?,

wherein ?P1 is the first initial error, ?P2 is the second initial error, and ? is the constant.

US Pat. No. 9,513,862

DETACHABLE MACHINE CONTROL PANEL WITH DISPLAY

FANUC CORPORATION, Yaman...

1. A machine control panel with a display that performs exchange of data with a numerical controller that controls a machine
tool, the machine control panel with the display being set in the machine tool or set in a vicinity of the machine tool in
order to operate the machine tool, wherein
a main body of the machine control panel with the display includes:
a first display section;
a second display section disposed side by side with the first display section; and
an operation section including a switch, and wherein
the second display section and the operation section are integrally configured as a detachable section,
the detachable section is configured to be detachable from the main body and attachable to the main body, and
in a state in which the detachable section is attached to the main body, the first display section and the second display
section are combined as one screen to perform display.

US Pat. No. 9,488,965

NUMERICAL CONTROLLER INSTRUCTING A PLURALITY OF AXES USING A SINGLE INSTRUCTION

FANUC Corporation, Minam...

1. A numerical controller comprising:
an analog voltage output apparatus;
an instruction unit instructing one or more axes of a machine upon receiving an analog voltage from the analog voltage output
apparatus; and

a storage unit storing at least one control table in which a control mode and a magnification are set for each of the axes,
wherein the control mode includes a speed control mode for performing speed control and a torque control mode for performing
torque control and

the instruction unit instructs each of the axes based on the control mode and the magnification with reference to the control
table.

US Pat. No. 9,440,306

SPOT WELDING SYSTEM INCLUDING SPOT WELDING GUN

FANUC CORPORATION, Yaman...

1. A spot welding system comprising:
a robot including:
a spot welding gun,
a movable electrode tip driven by a servomotor,
a stationary electrode tip facing the movable electrode tip,
an encoder measuring a rotational position of the servomotor, and
wherein the spot welding system is configured to weld workpieces under pressure between the movable electrode tip and the
stationary electrode tip; and

a robot controller including:
a welding pressure command value generating unit generating a reference welding pressure command value for the spot welding
gun and at least one detective welding pressure command value for applying pressure to the workpieces to be welded between
the movable electrode tip and the stationary electrode tip;

an elastic displacement quantity deviation calculating unit calculating:
a first elastic displacement quantity deviation in the spot welding gun based on an actual rotational position deviation between
a rotational position of the servomotor when the servomotor is driven in accordance with the reference welding pressure command
value and an actual rotational position of the servomotor when the servomotor is driven in accordance with the at least one
detective welding pressure command value, and

a second elastic displacement quantity deviation in the spot welding gun based on another actual rotational position deviation
between another rotational position of the servomotor when the servomotor is driven in accordance with the reference welding
pressure command value and another actual rotational position of the servomotor when the servomotor is driven in accordance
with the at least one other detective welding pressure command value;

a storage unit storing the first elastic displacement quantity deviation as a reference displacement quantity deviation determined
by the elastic displacement quantity deviation calculating unit in a condition where the spot welding gun has been adjusted
to be able to properly exert welding pressure; and

an estimating unit estimating that there is an abnormality in the spot welding gun when a computed deviation between the first
elastic displacement quantity deviation and the second elastic displacement quantity deviation, is greater than a predetermined
value.

US Pat. No. 9,440,323

MACHINE TOOL EQUIPPED WITH CHIP SCRAPER

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:
a saddle supported by a first guide member installed on a bed and configured to move relative to the bed in a first direction;
and

a table supported by a second guide member installed on the saddle and configured to move relative to the saddle in a second
direction orthogonal to the first direction, wherein

the machine tool is configured to machine a workpiece through relative movement between a tool mounted on a spindle and the
workpiece set on the table, the machine tool further comprising:

a protective cover installed on a side face of the table or the saddle which is parallel to a travel direction of the table
or the saddle and adapted to protect the first or second guide member from chips; and

a scraper installed on the protective cover, out of contact with the saddle or the bed, and adapted to scrape out chips built
up on a surface of the saddle or on a surface of the bed along the first or second guide member, by relative movement of the
table with respect to the saddle in the second direction or by relative movement of the saddle with respect to the bed in
the first direction,

wherein a lower end of the cover is below the second guide member, and the scraper is arranged above the lower end of the
cover for scraping out the chips built up on the surface of the saddle.

US Pat. No. 9,104,193

ROBOT PROGRAMMING DEVICE

FANUC CORPORATION, Yaman...

1. A robot programming device configured to teach a robot operation program for
arranging and displaying, on a screen, three-dimensional models of a robot on which a tool is mounted, a workpiece, and at
least one positioner, and

allowing the tool or the robot to avoid interfering with the workpiece or the positioner and perform processing work of the
workpiece,

the robot programming device comprising:
a processing line designating unit configured to designate a processing line on a three-dimensional model of the workpiece;
an operation mode designating unit configured to designate an operation mode, speed, position, and posture of a teaching point
that is generated based on the processing line designated by the processing line designating unit;

a program generation unit configured to generate an operation program for the robot based on the processing line that is designated
by the processing line designating unit and the operation mode, speed, position, and posture that are designated by the operation
mode designating unit;

an interference target designating unit configured to, when the tool directly contacts and processes the workpiece or when
the tool closely processes the workpiece, designate a tool non-processing part of the tool as an interference target, wherein
the tool non-processing part is apart from one part in a three-dimensional model of the tool that directly contacts the workpiece
or is close to the workpiece;

an interference detection unit configured to detect, at the teaching point in the operation program, interference between
(a) the robot or the tool non-processing part, and (b) the workpiece or the positioner;

a non-interference position search unit configured to, when the interference detection unit detects interference, search for
a non-interference position where (a) the robot or the tool non-processing part, and (b) the workpiece or the positioner,
do not interfere with each other, by carrying out at least one of

translatory movement, without rotational motion, of the tool from a position of the robot upon interference, and
rotational motion of the tool along an arc having the tool tip point as the center of rotation; and
a correction unit configured to correct a position of the teaching point based on a search result by the non-interference
position search unit.

US Pat. No. 10,589,368

MACHINE LEARNING DEVICE HAVING FUNCTION OF ADJUSTING WELDING POSITIONS OF CORE IN WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A machine learning device that performs machine learning of an adjustment of a position and a length of a welding part formed on a machining path for machining to weld a core to a workpiece when the core is cut out from the workpiece by a wire electric discharge machine that performs the machining to cut out the core from the workpiece based on machining preconditions including a program, the machine learning device comprising:a processor configured to:
acquire, as state data on the welding part, the position and the length of the welding part and an evaluation value to evaluate the position and the length of the welding part;
set reward conditions;
calculate a reward based on the state data and the reward conditions;
perform the machine learning of an adjustment of the position and the length of the welding part; and
determine and output (i) an adjustment target including at least one of the position and the length of the welding part and (ii) adjustment amounts of the adjustment target as an adjustment action, based on the state data and a result of the machine learning,
perform the machine learning of the adjustment of the position and the length of the welding part based on
(a) the output adjustment action,
(b) the state data acquired based on the recalculated position and the recalculated length of the welding part, and
(c) the reward calculated based on the state data acquired based on the recalculated position and the recalculated length of the welding part and
upon completion of the machine learning, output an optimum position of the welding part,whereinthe reward conditions are set
such that the processor is configured to calculate a positive reward
(a) when a number of the welding parts is small or
(b) when a position for supporting the core is well balanced and such that the processor is configured to calculate a negative reward
(c) when the number of the welding parts is large, or
(d) when the length of the welding part is shorter than a previously-set welding-parts minimum distance, or
(e) when a magnitude of a force by which the core is supported is smaller than a previously-set prescribed threshold, or
(f) when a magnitude of a force for dropping the core is large, or
(g) when the position for supporting the core is poorly balanced.

US Pat. No. 10,590,977

INDUSTRIAL MACHINE

Fanuc Corporation, Yaman...

1. An industrial machine comprising:a base including a through hole vertically passing through the base and configured to be installed on an installation surface using a fastener through the through hole; and
a friction reducing member configured to protrude from a bottom surface of the base to reduce friction between the base and the installation surface;
wherein the friction reducing member is lowered below the bottom surface of the base during relocation of the industrial machine and raised to the same level as or above the bottom surface of the base during installation of the industrial machine according to a vertical force applied to the base by the fastener received in the through hole;
wherein the base comprises a raised part extending upward in a central part of the base; and
wherein the friction reducing member is stored in a space inside the raised part during installation of the industrial machine.

US Pat. No. 10,593,053

PROJECTION PATTERN CREATION APPARATUS AND THREE-DIMENSIONAL MEASURING APPARATUS

FANUC CORPORATION, Yaman...

1. A projection pattern creation apparatus configured to create a projection pattern used by a three-dimensional measuring apparatus comprising a pattern projection device and one or more imaging devices and configured to capture an image of a projection pattern projected to an object from the pattern projection device by the one or more imaging devices and measure a three-dimensional position and/or a shape of the object, the projection pattern creation apparatus comprising:a projection pattern deformation unit configured to reproduce deformation when the projection pattern projected from the pattern projection device toward an evaluation surface provided in a projection range of the pattern projection device is included in an image captured by the one or more imaging devices, on the basis of characteristics of an optical system of the pattern projection device, characteristics of an optical system of the one or more imaging devices, and/or a positional relation between the pattern projection device and the one or more imaging devices and generate a deformation projection pattern; and
a first projection pattern improvement unit configured to generate a second projection pattern obtained by improving a first projection pattern, on a basis of one or more first deformation projection patterns generated when the first projection pattern is projected from the pattern projection device toward one or more evaluation surfaces having different positions and inclinations for the pattern projection device or the one or more imaging devices.

US Pat. No. 10,562,217

ABRASION AMOUNT ESTIMATION DEVICE AND ABRASION AMOUNT ESTIMATION METHOD FOR CHECK VALVE OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

5. An abrasion amount estimation method for check valve attached to an injection molding machine, the abrasion amount estimation method comprising:performing an injection operation in a state in which a plurality of check valves having abrasion amounts different from each other are attached respectively;
acquiring a physical amount related to an injection operation during the injection operation performed by the injection molding machine;
extracting a feature amount of the physical amount which is acquired;
performing supervised learning in which an abrasion amount of the check valve is used as correct answer information and the feature amount which is extracted is used as an input; and
estimating an abrasion amount of a check valve based on a learning result of the supervised learning when an arbitrary feature amount of the physical amount is inputted.

US Pat. No. 10,566,858

STATOR FRAME, STATOR AND ROTARY ELECTRICAL MACHINE

FANUC CORPORATION, Yaman...

1. A stator frame which has a function of cooling a stator in a rotary electrical machine and which is formed in a substantially tubular shape, the stator frame comprising:a flow path between an inner circumferential surface and an outer circumferential surface along a circumferential direction of the stator frame and within which a coolant is circulated, the flow path circling the stator frame more than once, axially, and in one direction,
wherein a side wall portion which isolates adjacent flow paths from each other, an inner wall portion which isolates the flow path from the inner circumferential surface of the stator frame and an outer wall portion which isolates the flow path from the outer circumferential surface of the stator frame are integrally formed as a tunnel-like enclosed space,
on a surface in contact with an iron core, a junction region where a material of the iron core and a material of the stator frame are mixed is formed integrally following recesses and projections on a surface of the iron core.

US Pat. No. 10,500,724

ROBOT TEACHING DEVICE FOR CORRECTING ROBOT TRAJECTORY

FANUC CORPORATION, Yaman...

1. A robot teaching device for generating a trajectory of a robot, to which an operation tool including a roller rotating about a central axis is attached, the robot being formed to change position and orientation so as to bend a plate-like part by moving the roller while the roller is pressed against an edge of the plate-like part of a workpiece, the robot teaching device being offline and comprising:a display part displaying the workpiece including the plate-like part;
a start point setting unit setting a start point of a trajectory of the robot with respect to the plate-like part displayed on the display part;
an end point setting unit setting an end point of the trajectory of the robot with respect to the plate-like part displayed on the display part;
a trajectory generating unit generating the robot trajectory of the robot based on the start point and the end point;
a determination unit determining an advance direction of the operation tool with respect to the workpiece; and
a correction unit correcting the trajectory of the robot, wherein
a rotational direction of the roller when the roller is moved while the edge of the plate-like part is pressed by the roller is predetermined,
the determination unit determines whether or not the rotational direction of the roller is a predetermined direction with respect to the advance direction, and
the correction unit corrects the trajectory of the robot by replacing the start point and the end point with each other when the rotational direction of the roller is different from the predetermined direction.

US Pat. No. 10,438,738

REACTOR HAVING TERMINAL BLOCK

FANUC CORPORATION, Yaman...

1. A reactor, comprising:a core body, the core body comprising:
an outer peripheral iron core, at least three iron cores which are arranged so as to contact or so as to be coupled with the inside of the outer peripheral iron core, and coils wound onto the iron cores, wherein
gaps, which can be magnetically coupled, are formed between one of the at least three iron cores and another iron core adjacent thereto, the reactor further comprising:
a terminal block having a plurality of terminals and coupled to one end of the core body, and
a plurality of surge protection elements which are connected to the plurality of terminals inside the terminal block, wherein
input side extension portions and output side extension portions extending from the coils are connected to the respective terminals of the terminal block, and
the plurality of surge protection elements are connected to the input side extension portions and the output side extension portions, respectively.

US Pat. No. 10,412,847

ELECTRONIC DEVICE MOUNTED TO AN INDUSTRIAL MACHINE

FANUC CORPORATION, Yaman...

1. An electronic device including an electronic component and mounted to an industrial machine, comprising:a casing including an opening;
a rear cover disposed within a portion of the opening of the casing and configured to close the opening and form a storage space accommodating the electronic component between the casing and the rear cover; and
a packing disposed within a portion of the opening of the casing, the packing integrally formed of an outer seal configured to seal between the rear cover and the industrial machine and an inner seal configured to seal between the rear cover and the casing,
wherein
the outer seal includes
a main part extending from a joint portion connected to the inner seal and
a low-rigidity portion having a lower rigidity than that of the main part, and
the low-rigidity portion is provided for a first face of the main body of the packing, the first face being located on the industrial machine side, or is provided for a second face of the main body of the packing, the second face located on the opposite side of the main body from the industrial machine side.

US Pat. No. 10,394,225

SYNCHRONIZATION CONTROLLER HAVING FUNCTION OF SOLVING SHOCK GENERATED IN SYNCHRONIZATION START BLOCK

Fanuc Corporation, Yaman...

1. A synchronization controller configured to start to move a slave axis when a master axis passes a certain position and then move by a predetermined distance while the master axis moves from the position by a predetermined distance, the synchronization controller comprising:a synchronization operation instruction unit configured to set:
a master axis movement amount,
a slave axis movement amount, and
a position of the master axis at which the slave axis starts to be synchronized at a synchronization ratio set based on the slave axis movement amount and the master axis movement amount;
a synchronization magnification changing instruction unit configured to set the slave axis movement amount immediately before the synchronization from the start of changing of a speed ratio of the slave axis for synchronization with the master axis with a preset synchronization ratio to the end of changing of the speed ratio;
a synchronization parameter calculation unit configured to calculate a synchronization magnification at a time when changing of the synchronization magnification is completed, a master axis movement amount at a time when the synchronization magnification is changed, from the start of changing of a speed ratio of the slave axis for synchronization with the master axis with a preset synchronization ratio to the end of changing of the speed ratio, and a master axis movement amount from the current position of the master axis to a start of changing of the synchronization magnification, based on the slave axis movement amount, the master axis movement amount, and a position of the master axis at which the slave axis starts to be synchronized, which are set by the synchronization operation instruction unit, as well as the slave axis movement amount set by the synchronization magnification changing instruction unit;
a position calculation unit configured to calculate an inclination of the synchronization magnification which is graphically expressed as a linear function with respect to the position of the master axis and a position of the master axis at which the slave axis in a stop state starts to be operated, based on a calculation result of the synchronization parameter calculation unit to attain the synchronization magnification at a time when changing of the synchronization magnification is completed, calculated by the synchronization parameter calculation unit, at a time point when the slave axis completes moving by the movement amount set by the synchronization magnification changing instruction unit, or at the position of the master axis at which the slave axis starts to be synchronized set by the synchronization operation instruction unit; and
a slave axis movement amount output unit configured to output an instruction to the slave axis by gradually changing, from a position of the master axis at which a synchronization magnification changing operation is started, the inclination of the synchronization magnification with respect to a master axis speed.

US Pat. No. 10,148,201

MOTOR DRIVE DEVICE

FANUC CORPORATION, Yaman...

1. A motor drive device that inputs AC power from a power supply to drive a motor, the motor drive device comprising:a forward converter that converts the AC power from the power supply into DC power;
a reverse converter that converts the DC power from the forward converter into AC power, and supplies to the motor;
a DC link capacitor provided to a DC link part between the forward converter and the reverse converter;
a voltage detection part that detects voltage of the DC link capacitor;
a first storage part that stores in advance a threshold for a non-energized period of the DC link capacitor in which leakage current of the DC link capacitor increases, and a threshold for applied voltage of the DC link capacitor for causing the leakage current of the DC link capacitor to decrease;
a second storage part that records a previous energization period of the DC link capacitor; and
a control part that controls voltage of the DC link capacitor,
wherein the control part
obtains the non-energized period of the DC link capacitor based on the previous energization period recorded in the second storage part, during activation of the motor drive device, and
in a case of the non-energized period obtained being longer than the threshold for the non-energized period stored in the first storage part, causes regeneration operation from the motor to the power supply to stop, and causes the voltage of the DC link capacitor to rise up to the threshold for the applied voltage stored in the first storage part, based on the voltage detected by the voltage detection part, by way of deceleration energy of the motor.

US Pat. No. 10,148,214

MOTOR CONTROL DEVICE HAVING MULTIPLE POWER FAILURE DETECTION SENSITIVITIES

FANUC CORPORATION, Yaman...

1. A motor control device comprising:a rectifier that converts AC power supplied from an AC power supply side into DC power and outputs the DC power;
an inverter that converts the DC power output from the rectifier into AC power for motor driving and outputs the AC power;
an AC voltage detection unit that detects an AC voltage value of an AC power supply side of the rectifier; and
a power failure detection unit that outputs, based on the AC voltage value detected by the AC voltage detection unit, several respective power failure detection signals in accordance with a respective predetermined power failure detection condition at a power failure on the AC power supply side of the rectifier, wherein
the power failure detection condition includes a power failure voltage threshold value and a power failure time threshold value, and
the power failure detection unit generates several power failure detection signals when a state in which the AC voltage value detected by the AC voltage detection unit lies below the power failure voltage threshold value continues for the power failure time threshold value or more, wherein
the power failure detection unit further
includes at least one delay transmission unit that temporally delays at least one of the power failure detection signals generated, based on the AC voltage value detected by the AC voltage detection unit, in accordance with the power failure detection condition and transmits the delayed power failure detection signal, and outputs, as the power failure detection signals, the power failure detection signals generated by the power failure detection unit and a power failure detection signal transmitted via the at least one delay transmission unit.

US Pat. No. 10,135,255

MOTOR CONTROL APPARATUS IN WHICH POWER REGENERATION ARE ADJUSTED, CONTROLLER FOR CONVERTER, MACHINE LEARNING APPARATUS AND METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A machine learning apparatus for a controller to drive a motor within a machine or a robot, the learning apparatus is configured to learn a condition associated with a power supply regeneration operation for converting DC power in a DC link used to generate AC power for motor driving into AC power, and returning the AC power to an AC power supply, in a converter which generates DC power in the DC link by conversion from AC power in the AC power supply, the machine learning apparatus comprising:a processor configured to
observe a state variable comprising at least one of
(1) data associated with a value of a DC voltage in the DC link, wherein the DC voltage is obtained by a DC voltage measuring circuit connected to the DC link,
(2) data associated with an amount of power supply regeneration representing an amount of power returned from the DC link to the AC power supply by the power supply regeneration operation by the converter, wherein the amount of power supply regeneration is obtained by a power supply regeneration amount measuring circuit connected to a link between the AC power supply and the converter, and
(3) data associated with an occurrence or a nonoccurrence of an overvoltage alarm indicating that the DC voltage of the DC link has exceeded a preset overvoltage alarm level, wherein the occurrence or nonoccurrence of the overvoltage alarm is obtained from an overvoltage alarm receiving circuit connected to the DC voltage measuring circuit; and
learn a condition associated with the power supply regeneration operation by the converter, in accordance with a training data set defined by the state variable,
wherein the converter is controlled in accordance with the learned condition to convert the DC power in the DC link into the AC power to be returned to the AC power supply,
wherein the processor is further configured to:
compute a reward based on the state variable, and
update, based on the reward, a function for changing a power supply regeneration starting voltage representing a voltage defined in the DC link as a criterion for starting a power supply regeneration operation by the converter, and a power supply regeneration stopping voltage representing a voltage defined in the DC link as a criterion for stopping the power supply regeneration operation started by the converter.

US Pat. No. 10,120,368

MANUFACTURING ADJUSTMENT SYSTEM THAT ADJUSTS MANUFACTURING STATUSES OF MULTIPLE MACHINES

FANUC CORPORATION, Yaman...

1. A manufacturing adjustment system that adjusts a manufacturing status of a manufacturing facility where a part including multiple workpieces is manufactured,the manufacturing adjustment system comprising:
multiple machines that manufacture the workpieces, the machines each having a measuring instrument that measures dimensions and a machining time of the workpiece; and
a machine controller that controls the machines, the machine controller being connected so as to communicate with the machines,
the machine controller comprising:
a measurement information acquisition part that acquires, in real time, measurement information including the dimensions and machining times of the workpieces measured by the measuring instruments of the machines;
a part dimension calculation part that calculates dimensions of the part based on the dimensions of the workpieces produced by the machines, the dimensions being acquired by the measurement information acquisition part;
a total machining-time calculation part that calculates a total machining time of the machining times of the workpieces based on the machining times of the workpieces produced by the machines, the machining times being acquired by the measurement information acquisition part;
a decision part that decides whether the part dimensions calculated by the part dimension calculation part fall within a predetermined range of dimensions and the total machining time calculated by the total machining-time calculation part falls within a predetermined time;
a tolerance setting part that sets a workpiece tolerance for each of the machines based on a decision result of the decision part when the workpieces are produced by the machines; and
an operation command part that transmits, to each of the machines, an operation command including the workpiece tolerance set for each of the machines.

US Pat. No. 10,112,247

WIRE ELECTRIC DISCHARGE MACHINE HAVING MOVABLE AXIS ABNORMAL LOAD WARNING FUNCTION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine that moves an axis in accordance with an axis feed command by a program or an operation of an operator, comprising:a machine learning device that performs machine learning of an adjustment target parameter of the axis feed command in the movement of the axis and an adjustment amount of the adjustment target parameter, wherein
the machine learning device includes:
a state observation section that acquires state data as information indicative of a movement state of the axis in the movement of the axis;
a reward condition setting section that sets a reward condition;
a reward calculation section that calculates a reward based on the state data and the reward condition;
an axis feed command adjustment learning section that performs the machine learning of an axis feed command adjustment; and
an axis feed command output section that determines the adjustment target parameter of the axis feed command and the adjustment amount of the adjustment target parameter as an adjustment action based on a result of the machine learning of the axis feed command adjustment by the axis feed command adjustment learning section and the state data, adjusts the axis feed command based on the determined adjustment action, and outputs the adjusted axis feed command, wherein
the axis feed command adjustment learning section performs the machine learning of the axis feed command adjustment based on the adjustment action, the state data acquired by the state observation section after the movement of the axis based on the outputted adjusted axis feed command, and the reward calculated by the reward calculation section,
the wire electric discharge machine is configured to move the axis in accordance with the outputted adjusted axis feed command,
the reward condition provides a positive reward in a case where a load of the axis does not exceed an abnormal load level of the axis during the movement of the axis, or in a case where damage to a mechanical section of a movable axis does not occur at a time of a collision of the movable axis, and
the reward condition provides a negative reward in a case where the load of the axis exceeds the abnormal load level of the axis during the movement of the axis, or in a case where damage to the mechanical section of the movable axis occurs at the time of the collision of the movable axis.

US Pat. No. 10,095,212

MOTOR CONTROL APPARATUS CAPABLE OF PROTECTING PROCESS FACE AT THE TIME OF OCCURRENCE OF ABNORMAL LOAD

FANUC CORPORATION, Yaman...

1. A motor control apparatus controlling a motor driving a machine tool, the machine tool having two modes of operation: a processing mode and a non-processing mode, the motor control apparatus comprising:an abnormal load detecting unit that detects an abnormal load by monitoring a load of the motor;
a retract amount storing unit that stores a plurality of retract amounts used when the machine tool retracts in response to detection of an abnormal load by the abnormal load detecting unit;
a retract amount switching unit that selects a retract amount from the plurality of retract amounts in accordance with a result of determination of whether the machine tool is operating in the processing mode or the non-processing mode; and
a retract amount adding unit that adds a retract amount selected by switching of the retract amount switching unit to an instruction value indicative of a movement amount of the machine tool.

US Pat. No. 10,061,304

CONTROL SYSTEM HAVING FUNCTION FOR OPTIMIZING CONTROL SOFTWARE OF NUMERICAL CONTROLLER IN ACCORDANCE WITH MACHINING PROGRAM

FANUC Corporation, Minam...

1. A control system including an execution environment of control software that analyzes a control program and executes processing for outputting control information on a machine as a control object, the control system including at least one processor and a memory that stores instructions, when executed by the at least one processor, performs a method comprising:receiving the control program and a use history of the control program;
calculating a use frequency of a function used by the control program based on the control program, or on the control program and the use history of the control program;
optimizing a source code of the control software to generate an optimized source code based on the calculated use frequency of the function used by the control program;
generating optimized control software based on the optimized source code; and
transferring the optimized control software to the execution environment of the control software.

US Pat. No. 10,054,928

NUMERICAL CONTROLLER

FANUC CORPORATION, Yaman...

1. A numerical controller controlling a machine tool that performs skiving machining of cutting a rotationally symmetric surface of a rotating workpiece using a tool based on a machining program, the machining program being allowed to include a skiving machining command capable of specifying a movement path of a cutting point in the skiving machining, the numerical controller comprising:a command analysis unit that analyzes the machining program, and determines whether a block read from the machining program corresponds to the skiving machining command;
a skiving machining command data calculation unit that calculates a path and a feed speed of the tool based on a path of the cutting point and a feed speed of the cutting point commanded by the skiving machining command when the command analysis unit determines that the block corresponds to the skiving machining command; and
an interpolation unit that calculates interpolation data according to a progress rate of the block during actual machining based on the path of the tool calculated by the skiving machining command data calculation unit and a coordinate value during actual machining,
wherein the machine tool is controlled based on the interpolation data calculated by the interpolation unit.

US Pat. No. 10,035,288

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system including an injection molding machine configured to provide temperature control for a mold so as to perform injection molding, the injection molding system comprising:a mold temperature controller configured to feed a temperature control medium for controlling a temperature of the mold;
a temperature control hose configured to establish connection from the mold temperature controller to the mold;
a mounting position detection unit configured to detect a mounting position of the temperature control hose in the mold; and
a temperature control hose attachment and detachment unit, which is a robot, configured to hold the temperature control hose and perform attachment and detachment operations so as to attach and detach the temperature control hose to and from the mold, the attachment and detachment of the temperature control hose to and from the mold being established by the temperature control hose attachment and detachment unit.

US Pat. No. 10,006,947

CURRENT DETECTION CIRCUIT UNAFFECTED BY NOISE

FANUC CORPORATION, Yaman...

1. A current detection circuit which detects a current flowing through a current path in a motor driving device that drives a motor having a plurality of phases, the circuit comprising:a first resistor and a second resistor wired in series with each other in an identical current path feeding electrical current to one of the plurality of phases of the motor and having equal resistance values;
a first signal transmission unit which transmits a signal representing a potential on a first terminal side of the first resistor;
a second signal transmission unit which transmits a signal representing a potential on a second terminal side of the first resistor;
a third signal transmission unit which transmits a signal representing a potential on a first terminal side of the second resistor;
a fourth signal transmission unit which transmits a signal representing a potential on a second terminal side of the second resistor;
a first difference operation unit which calculates a difference between the signal transmitted by the first signal transmission unit and the signal transmitted by the second signal transmission unit to obtain a first differential signal;
a second difference operation unit which calculates a difference between the signal transmitted by the third signal transmission unit and the signal transmitted by the fourth signal transmission unit to obtain a second differential signal; and
a summing unit which sums the first differential signal and the second differential signal to obtain a summation signal,
wherein the first signal transmission unit and the fourth signal transmission unit are disposed in proximity to each other, and the second signal transmission unit and the third signal transmission unit are disposed in proximity to each other.

US Pat. No. 9,999,953

MIST REMOVAL SYSTEM AND MIST REMOVAL METHOD

FANUC CORPORATION, Yaman...

1. A mist removal system that observes a mist concentration in an observed region in a factory in which at least one machine tool, which is a mist generation source, is installed and reduces the mist concentration, the mist removal system comprising:at least one observation unit that observes a situation related to a mist concentration in an arbitrary location in the factory;
at least one machine tool mist countermeasure unit that reduces a mist concentration in the machine tool;
at least one factory mist countermeasure unit that reduces a mist concentration in the factory; and
a control unit that performs control of observation by the observation unit and control of interlocking operation of the machine tool mist countermeasure unit and the factory mist countermeasure unit, wherein
the control unit is configured so as to determine control details of interlocking operation of the machine tool mist countermeasure unit and the factory mist countermeasure unit based on observation results of a mist concentration obtained by the observation unit and reduce the mist concentration in the observed region by controlling the machine tool mist countermeasure unit and the factory mist countermeasure unit based on the control details of the interlocking operation thus determined.

US Pat. No. 9,958,861

PRODUCTION CONTROL SYSTEM AND INTEGRATED PRODUCTION CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A production control system of a factory, the system comprising:a plurality of machines;
an air conditioner;
a power computation unit for monitoring power consumption of an entire factory, including power consumption of the plurality of machines and the air conditioner;
a temperature information generation unit for generating information on temperature inside the factory,
wherein running status and processing condition of the plurality of machines and running status of the air conditioner are controlled to produce a product dictated by a production plan by a dictated delivery deadline; and
a machine learning unit that learns a relationship of operational status, which includes the running status and processing condition of the plurality of machines and running status of the air conditioner, and environmental status, which includes production completion time of the product according to the operational status, the temperature inside the factory and the power consumption of the entire factory, and outputs the operational status that brings the environmental status to a desired condition in accordance with a production plan, wherein
the machine learning unit includes a state observation unit, a learning device and a learning control unit;
the state observation unit obtains data on the production plan, control data provided for the plurality of machines and the air conditioner, the total power consumption received from the power computation unit, and temperature information received from the temperature information generation unit, as state variables;
the learning device performs learning based on the state variables obtained by the state observation unit, and outputs control data provided for the plurality of machines and the air conditioner in accordance with the data on the production plan; and
the learning control unit includes a reward computation unit, which computes rewards, which indicate degrees of desirability of production operations executed in the factory in accordance with the control data and a storage unit, which store state variables and sets of rewards, and the learning control unit controls learning performed by the learning device on the basis of the state variables and the sets of rewards.

US Pat. No. 9,943,966

PROCESSING MACHINE SYSTEM CAPABLE OF REMOVING CHIPS PRODUCED FROM MACHINING

FANUC CORPORATION, Yaman...

1. A processing machine system comprising:a processing machine configured to process a work and including a machining table that holds the work;
a robot including a chip collecting hand that collects chips deposited on the machining table; and
a control unit that controls movement and operation of the chip collecting hand,
wherein the control unit is configured to: acquire a deposition amount and a deposition region of the chips produced from the processing of the work and deposited on the machining table; decide whether it is necessary to collect the chips on a basis of the acquired deposition amount; and cause the robot, upon deciding that chip collection is necessary, to operate according to the deposition region so as to collect the chips with the chip collecting hand, after the processing is finished.

US Pat. No. 9,921,556

MACHINE CONTROLLER AND POWER CONSUMPTION CONTROL OF MACHINE TOOL PERIPHERALS

FANUC Corporation, Minam...

1. A machine controller intercommunicating with and issuing machining program commands to a plurality of peripherals and to
a machine tool, wherein the plurality of peripherals conduct workpiece handling operations to supplement machining by the
machine tool, the machine controller comprising:
a work status receiving section that receives work status information on the plurality of peripherals, that includes whether
a peripheral is working;

and
a work start timing determination section that determines work start timing for the peripherals by reading current work start
commands from a machining program for each of the peripherals, storing predetermined power consumption characteristics for
each of the plurality of peripherals, and determining a total power consumption at a point in time by the plurality of peripherals
based on the predetermined power consumption characteristics, wherein

the work start timing determination section sets, in the machining program, commands for ranges in which work start is allowed
for each peripheral based on the work status information on the peripherals received by the work status receiving section,
and decides the determined work start timing for the peripherals within the set range in which work start is allowed, and
such that the total power consumption by the plurality of peripherals at the point in time does not reach a preset upper limit,
wherein the allowed work start is a limitation on peripheral work start timing so that operation of the machine tool is not
affected by the work start timing for the peripherals,

and
wherein when total power consumption by a working peripheral and a peripheral to which a work start command is to be issued
reaches the upper limit, the work start timing determination section delays and decides the timing of the work start command
for the peripheral to which the work start command is to be issued.

US Pat. No. 9,912,281

MOTOR DRIVING APPARATUS INCLUDING OVERCURRENT DETECTION UNIT

FANUC CORPORATION, Yaman...

1. A motor driving apparatus for converting a DC voltage into AC voltage by a switching operation of a switching device and
supplying alternating current to an AC motor, the motor driving apparatus-comprising:
a motor driving unit configured to convert the DC voltage on a DC link side into the AC voltage when the switching device
is turned on/off, and output the AC voltage to an AC motor side;

a gate driving circuit configured to turn on/off the switching device of the motor driving unit in response to a received
gate driving command;

a gate driving command generation unit configured to output either one of an ON command and an OFF command as the received
gate driving command to the gate driving circuit; and

an overcurrent detection unit configured to detect generation of an overcurrent with respect to a current flowing through
a DC link of the motor driving unit or an alternating current on the AC motor side, on a basis of a set overcurrent detection
level, wherein, after the overcurrent detection unit detects the generation of the overcurrent on the basis of the set overcurrent
detection level, the gate driving command generation unit generates repeated alternating outputs of the ON command and the
OFF command while gradually increasing a ratio of the OFF command to the ON command and ultimately outputs only the OFF command.

US Pat. No. 9,893,662

SERVOMOTOR CONTROL DEVICE, SERVOMOTOR CONTROL METHOD, AND COMPUTER READABLE RECORDING MEDIUM

FANUC CORPORATION, Yaman...

1. A servomotor control device comprising:
a velocity command creation part configured to create a velocity command value for driving a servomotor;
a velocity detection part configured to detect velocity of the servomotor; and
a torque command creation part configured to create a torque command value to the servomotor using a difference between a
velocity command value created by the velocity command creation part and a velocity detection value detected by the velocity
detection part,

wherein the velocity control loop includes the velocity detection part and the torque command creation part,
wherein the torque command creation part includes a proportional gain part to which the difference is inputted, and an integral
gain part and an integrator to which the difference is inputted,

wherein the calculation cycle for calculating a proportional term by the proportional gain part is shorter than a calculation
cycle for calculating an integral term by the integral gain part and the integrator,

wherein integral gain of the integral gain part is a value calculated by multiplying an initial value for the integral gain
decided in advance for every motor model, by a ratio of total inertia of a machine relative to rotor inertia of the servomotor,
and a value set smaller than the square of a velocity gain magnification according to delay time of the velocity control loop,
and

wherein proportional gain of the proportional gain part is a value calculated by adding a value according to a difference
in calculation cycle between the integral term and the proportional term, and the integral gain, to a value calculated by
multiplying an initial value for the proportional gain decided in advance for every motor model, by a ratio of the total inertia
of the machine relative to rotor inertia of the servomotor and the velocity gain magnification.

US Pat. No. 9,825,579

TEMPERATURE ESTIMATING APPARATUS FOR SYNCHRONOUS MOTOR

FANUC CORPORATION, Yaman...

1. A temperature estimating apparatus for a synchronous motor, comprising:
a voltage command generating unit for controlling d-phase current by increasing or decreasing d-phase voltage and q-phase
voltage by a command;

a voltage acquiring unit for acquiring the d-phase voltage and q-phase voltage when the d-phase current is varied;
a rotating speed detecting unit for detecting rotating speed of the synchronous motor;
a current detecting unit for detecting the d-phase current and q-phase current;
a winding temperature acquiring unit for acquiring winding temperature of the synchronous motor;
a winding resistance converting unit for calculating winding resistance from the acquired winding temperature;
an inductance calculating unit for calculating d-axis inductance based on the variation of the d-phase current and the variation
of the q-phase voltage when the d-phase current is varied and on the rotating speed;

a counter electromotive voltage constant calculating unit for calculating a counter electromotive voltage constant from the
q-phase voltage, the d-phase current after being varied, the rotating speed, the q-phase current, the winding resistance,
and the d-axis inductance; and

a magnet temperature estimating unit for estimating magnet temperature of the synchronous motor based on the counter electromotive
voltage constant.

US Pat. No. 9,806,579

MAGNET PLATE FOR LINEAR MOTOR FOR PREVENTING MISALIGNMENT OF MAGNETS

FANUC CORPORATION, Yaman...

1. A magnet plate for a linear motor for producing driving force for linear movement in cooperation with an armature, the
magnet plate comprising:
a flat plate provided with a plurality of blind holes;
a plurality of permanent magnets arranged on the flat plate;
a plurality of regulating members for regulating movement of the permanent magnets on the flat plate, each of the regulating
members having, in a height direction of the regulating member,

a first end being press-fitted into a corresponding blind hole among the blind holes, and
a second end protruding from the flat plate; and
a resin layer covering a surface of the flat plate, the permanent magnets and the regulating members,
wherein
the regulating members are made of a material harder than a material of the flat plate,
each of the regulating members has, at the first end where the regulating member is press-fitted into the corresponding blind
hole,

a widened portion having a width larger than the blind hole in a width direction perpendicular to the height direction in
which the regulating member is press-fitted into the blind hole, and

a narrower portion below the widened portion and having a width smaller than the blind hole in the width direction,
each of the regulating members has, at the second end where the regulating member protrudes from the flat plate,
a protruding portion above and continuous to the widened portion, the protruding portion having, in the width direction, a
width larger than the widened portion,

a convex portion above the protruding portion, and
a concave portion between the convex portion and the protruding portion, wherein
the protruding portion, the concave portion and the convex portion are formed on side surfaces of the regulating member facing
the permanent magnets adjacent thereto, and

the concave portion has, in the width direction, a width smaller than the protruding portion and the convex portion, and defines
a gap between the protruding portion and the convex portion, and

each of the regulating members has an elongated shape along a length direction of the regulating member, the length direction
is perpendicular to the height direction and the width direction, the widened portion and the narrower portion extend along
the length direction of the regulating member, and a length of the regulating member in the length direction is greater than
a height of the regulating member in the height direction.

US Pat. No. 9,806,457

ARTICULATED ROBOT WITH CONNECTION MEMBER FOR CONNECTING WIRE BODY ARRANGED ON ARM

FANUC CORPORATION, Yaman...

1. An articulated robot comprising:
an arm which changes a direction at a joint; and
a connection member to which a wire body is connected and which is attached to the arm; wherein
the arm includes a frame having a hollow interior,
the frame includes a tubular part which has a tubular shape, a wall part extending toward the hollow interior of the frame
from the tubular part, and a bottom plate part extending along a surface of the arm from the wall part, and

has a recessed part depressed toward the interior thereof,
the recessed part is formed of the wall part and the bottom plate part, and
the connection member is arranged inside the recessed part and,
a cover member which covers the entire recessed part in a direction perpendicular to the bottom plate part, and the cover
member has a hole through which the wire bodies are able to extend externally.

US Pat. No. 9,798,295

MOTOR CONTROLLER HAVING A FUNCTION OF SUPPRESSING VIBRATIONS

FANUC CORPORATION, Yaman...

1. A motor controller for controlling a servo motor that drives a machine, comprising:
a position command unit configured to output a position command of the machine;
a position detector configured to detect the position of the machine;
a position controller configured to generate a motor velocity command based on the position command output by the position
command unit and the machine position detected by the position detector;

and, a velocity controller configured to control the motor velocity in accordance with the motor velocity command, wherein
the position controller includes a filter F(s) that approximates the inverse characteristic of the transfer characteristic
from the motor velocity command to the machine velocity, wherein the filter F(s) includes an inertia JL of a driven part, an elastic coefficient K of an elastically deformable part and a damping coefficient C of the elastically
deformable part as elements, wherein the numerator polynomial of the filter F(s) includes

(JL/K)×s2+(C/K)×s+1, and,

wherein the filter F(s) includes a low-pass filter with a time constant (C/K) and a low-pass filter with an adjustable cutoff
frequency ?adj.

US Pat. No. 9,760,082

MOTOR CONTROL APPARATUS FOR COMPENSATING REVERSE DELAY OF MOTOR

FANUC CORPORATION, Yaman...

1. A motor control apparatus including a movable unit driven by a motor and a driven unit driven by the movable unit, the
motor control apparatus comprising:
a torque command calculation unit configured to calculate a torque command value with respect to the motor;
a first position detection unit configured to detect a position of the movable unit;
a second position detection unit configured to detect a position of the driven unit;
an error calculation unit configured to calculate an error between a first position detection value detected by the first
position detection unit and a second position detection value detected by the second position detection unit;

a memory unit configured to memorize the error calculated by the error calculation unit in association with the torque command
value as an initial error; and

a compensation amount calculation unit configured to calculate a compensation amount for compensating an elastic deformation
amount of an elastic factor between the movable unit and the driven unit,

wherein the compensation amount calculation unit calculates the compensation amount based on the initial error held by the
memory unit, the torque command value held in association with the initial error, and a torque command value calculated by
the torque command calculation unit when the motor rotates reversely.

US Pat. No. 9,751,245

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:
an injection molding machine having a machine stool;
a peripheral device; and
a rack on which the peripheral device is to be mounted, wherein
the rack includes
a fixing unit for removably fixing the rack to the machine stool, and
a moving unit for making the rack movable autonomously with respect to the machine stool.

US Pat. No. 9,656,329

MACHINING JIG FOR ROTATABLY SUPPORTING WORKPIECE WITH RESPECT TO TOOL OF MACHINE TOOL AND MACHINING SYSTEM

FANUC CORPORATION, Yaman...

1. A machining jig configured to rotatably support a workpiece with respect to a tool of a machine tool, the machining jig
comprising:
a seating part which has a top surface on which the workpiece is to be placed;
a rotary drive part configured to rotate said seating part about a predetermined rotation axis;
a clamp arm which has
an arm body, and
an axially rotatable projecting part which projects from a tip end part of said arm body toward said seating part, and
a rotary clamp member which is
attached to a tip end part of said projecting part,
located at a position separated from said seating part in a direction along the rotation axis of said seating part, and
configured to axially rotate together with said projecting part and fasten the workpiece in cooperation with said seating
part;

a linear drive part configured to move said clamp arm in a direction along the rotation axis of said seating part;
a position adjusting part configured to adjust a position of said clamp arm in a plane intersecting the rotation axis of said
seating part; and

a tilt adjusting part configured to adjust a tilt of a rotation axis of said clamp member with respect to a rotation axis
of said projecting part so that the rotation axis of said clamp member becomes parallel with the rotation axis of said seating
part,

wherein the rotary clamp member is configured to be tilted with respect to said projecting part such that a workpiece engaging
surface of the rotary clamp member is parallel with the top surface of the workpiece, and

wherein the clamp arm has the form of a cantilever that projects from the position adjusting part.

US Pat. No. 9,656,339

WIRE ELECTRIC DISCHARGE MACHINE AND MACHINING PASS GENERATING APPARATUS FOR WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

5. A wire electric discharge machine configured to generate a machining pass for machining a key groove on a side surface
of a round hole,
the wire electric discharge machine comprising a processor configured to:
define a shape of the key groove to be machined,
designate a diameter of the round hole,
designate a position of the round hole, and
generate a machining pass, the machining pass suppresses an opening of the key groove from being narrowed.

US Pat. No. 9,649,708

WIRE ELECTRIC DISCHARGE MACHINE INCLUDING CONTROL MEANS FOR HOLDING WIRE ELECTRODE AT DESIRED ANGLE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine including a reel which is supported by a column and around which a wire electrode is
wound, and an upper wire guide and a lower wire guide which support the wire electrode that is drawn out from the reel, and
carrying out electric discharge machining of a workpiece fixed on a table by relatively moving the wire electrode extended
between the upper wire guide and the lower wire guide with respect to the workpiece according to a command of a machining
program, the wire electric discharge machine comprising:
a wire electrode slanting amount storage device configured to store a relationship between a weight of the reel and a slanting
amount of the extended wire electrode;

a compensation amount calculating device configured to determine a compensation amount for the slanting of the wire electrode
based on

a weight of the reel during electric discharge machining including a remaining length of the wire electrode remaining on the
reel, and

the relationship between the weight of the reel and the slanting amount of the extended wire electrode, said relationship
stored in the wire electrode slanting amount storage device; and

a controller configured to relatively move the wire electrode with respect to the workpiece so as to compensate the slanting
of the wire electrode by the compensation amount-determined by the compensation amount calculating device.

US Pat. No. 9,665,085

CUTTING CONDITION AND TOOL LIFE DISPLAY DEVICE FOR A NUMERICAL CONTROLLER

FANUC CORPORATION, Yaman...

1. A cutting condition display device, comprising:
a numerical controller configured to control at least one of a spindle and a movable axis of a finishing machine based on
a machining program among a plurality of machining programs,

wherein the cutting condition display device is configured to display cutting conditions for the finishing machine, and comprises:
a cutting condition calculation unit configured to calculate at least one of cutting conditions including a cutting speed,
a feed per spindle revolution per cutting edge of a tool, and a depth of cut for each fixed time or each predetermined block
of each of the plurality of machining programs during an operation of the finishing machine, based on any or a combination
of data on the spindle, the movable axis, said tool, and an object to be cut, which are held by the numerical controller;

a cutting condition storage unit configured to store, for each of the plurality of machining programs, the calculated at least
one cutting condition for said tool during the operation of the finishing machine; and

a graphic display unit configured to graphically display the cutting conditions stored in the cutting condition storage unit
during the operation of the finishing machine,

wherein
the plurality of machining programs includes a first machining program and a second machining program,
the cutting conditions stored in the cutting condition storage unit include
a first set of cutting conditions of the first machining program, the first set of cutting conditions indicating a first tool
life for said tool, and

a second set of cutting conditions of the second machining program, the second set of cutting conditions indicating a second
tool life for said tool, the second tool life different from the first tool life, and

the graphic display unit is configured to simultaneously display the first and second sets of cutting conditions using graphically
distinguishable first and second sets of indicators, respectively, to enable (i) comparison between the first tool life and
the second tool life of the first and second machining programs, respectively, and (ii) based on the comparison, selection
of a machining program among the plurality of machining programs for the operation of the finishing machine.

US Pat. No. 9,595,906

MOTOR CONTROL APPARATUS HAVING FUNCTION FOR PROTECTING LCL FILTER

Fanuc Corporation, Yaman...

1. A motor control apparatus comprising:
a PWM rectifier which converts AC power supplied from a three-phase AC power supply to DC power;
an LCL filter provided between the three-phase AC power supply and the PWM rectifier;
a cooling fan configured to cool the LCL filter;
a temperature detection unit configured to detect a temperature of the LCL filter;
an alarm detection unit configured to detect an alarm state when a temperature detection value of the temperature detection
unit is a predetermined value or more;

a time measurement unit configured to measure elapsed time from a start of a normal operation of the PWM rectifier; and
a protection unit configured to determine, in accordance with the elapsed time measured by the time measurement unit, an alarm
generation cause whether the alarm state is generated due to a reverse connection of a power line of the LCL filter or the
alarm state is generated due to a stop of the cooling fan when the alarm state is notified from the alarm detection unit,
and performs a protection operation in accordance with the alarm generation cause,

wherein the protection unit determines that the power line of the LCL filter has been reversely connected when the alarm state
is notified from the alarm detection unit and the elapsed time measured by the time measurement unit is less than the predetermined
time, and

wherein the protection unit determines that the cooling fan has stopped when the alarm state is notified from the alarm detection
unit and the elapsed time measured by the time measurement unit is equal to or more than the predetermined time.

US Pat. No. 9,590,464

ELECTRIC MOTOR HAVING AIR TIGHTNESS TEST HOLES

FANUC CORPORATION, Minam...

1. An electric motor comprising: a stator portion which comprises a winding; a housing which is attached to an end of the
stator portion; a rotor portion which comprises an output shaft; a bearing which supports the rotor portion; and an oil seal
which is attached to the housing such that the output shaft penetrates therethrough, wherein an air tightness test hole of
the electric motor which communicates with internal space of the electric motor formed with the stator portion and the housing
is provided at a position spaced from a rotation center of the output shaft in a radial direction at a distance larger than
half of the outer diameter of the bearing and at a distance smaller than half of the outer diameter of the oil seal, and the
oil seal seals the air tightness test hole of the electric motor.

US Pat. No. 9,583,909

TEMPERATURE CONTROLLABLE GAS LASER OSCILLATOR

Fanuc Corporation, Taman...

1. A gas laser oscillator comprising:
a resonator unit including a discharge unit for exciting a laser gas by a discharge, the resonator unit configured to oscillate
a laser beam generated by excitation of the laser gas;

a heat exchanger configured to flow a fluid therethrough to exchange heat with the laser gas;
a chiller configured to suction the fluid in the heat exchanger, cool the fluid, and supply the fluid into the heat exchanger;
a heat transfer device configured to transfer heat of the fluid to the resonator unit;
a first flow path configured to supply the fluid used for cooling the laser gas in the heat exchanger from the heat exchanger
to the heat transfer device;

a second flow path configured to supply the fluid cooled by the chiller to the heat transfer device prior to supplying the
fluid to the heat exchanger; and

a switching valve configured to switch either one of the first flow path and the second flow path.

US Pat. No. 9,566,707

ROBOT CONTROLLER AND ROBOT SYSTEM FOR MOVING ROBOT IN RESPONSE TO FORCE

FANUC CORPORATION, Yaman...

1. A robot controller for moving a robot having a plurality of axes, the robot controller comprising:
a force measuring part configured to measure a force applied to a front end of the robot;
an operation force calculating part configured to, based on the force measured by the force measuring part, calculate an operation
force for performing movement operation regarding a position of each axis among the plurality of axes of the robot;

an operation commanding part configured to output a command for moving the robot; and
an operation axis specifying part configured to perform
specifying, among the plurality of axes, at least one operation axis to be moved in response to the force, and
determining a direction of movement of the at least one operation axis as a function of a direction of the force,
wherein, when one operation axis is specified by said specifying, the operation axis specifying part is configured to perform
judging that the one operation axis is allowed to move in response to the force,

wherein, when two or more operation axes are specified by said specifying, the operation axis specifying part is configured
to perform judging whether each operation axis among the two or more operation axes is allowed to move in response to the
force or whether said each operation axis is not allowed to move even when the force is applied thereto,

said judging (1) being based on the direction of the force relative to said each operation axis, and (2) depending on a status
of the movement operation, and

wherein the operation commanding part is configured to, based on (i) said specifying, said determining and said judging by
the operation axis specifying part and (ii) the operation force calculated by the operation force calculating part, output
an operation command for moving a position of

(a) the one operation axis, when the one operation axis is specified by said specifying, or
(b) each operation axis among the two or more operation axes that is judged as allowed to move, when the two or more operation
axes are specified by said specifying.

US Pat. No. 9,559,580

ELECTRIC MOTOR DRIVE APPARATUS HAVING FUNCTION FOR DETECTING WELDING OF ELECTROMAGNETIC CONTACTOR

Fanuc Corporation, Yaman...

1. An electric motor drive apparatus comprising:
an AC/DC converter including a plurality of power devices, and converts AC voltage supplied from an AC power supply into DC
voltage by switching of the plurality of power devices;

a control circuit configured to perform PWM switching control of the plurality of power devices in accordance with switching
commands;

a current detecting circuit configured to detect input current from the AC power supply to the AC/DC converter;
an electromagnetic contactor configured to connect or cut off the supply of power from the AC power supply to the AC/DC converter;
and,

a DC link unit including a smoothing capacitor for smoothing DC voltage output from the AC/DC converter;
wherein the control circuit determines that the electromagnetic contactor has been welded when input current is detected in
a condition where with the DC link unit having been charged, when the electromagnetic contactor is on, the electromagnetic
contactor is turned off to cut off the supply of power from the AC power supply to the AC/DC converter and the plurality of
power devices are controlled by PWM switching in accordance with the switching commands from the control circuit to test whether
the input current from the AC power supply to the AC/DC converter increases when the electromagnetic contactor is cut off.

US Pat. No. 9,486,869

POWER SUPPLY DEVICE FOR ELECTRIC DISCHARGE MACHINING

FANUC CORPORATION, Yaman...

1. A power supply device for electric discharge machining, the power supply device comprising:
a voltage applying circuit configured to apply positive and negative voltages across a machining gap between an electrode
and a workpiece in a plurality of voltage application periods each being not longer than one microsecond, wherein a quiescent
period equal to or longer than each of the plurality of voltage application periods is provided between successive voltage
application periods among the plurality of voltage application periods;

a machining-gap open-state determining circuit configured to determine whether the machining gap between the electrode and
the workpiece is in open state or not before each of the plurality of voltage application periods;

an average voltage detecting circuit configured to detect an average machining gap voltage during machining, the average machining
gap voltage being an average value of the voltages applied across the machining gap over a period from a preset reference
time to a present time;

an open-state counting circuit configured to count a number of successive machining gap open states having the same polarity
detected by the machining-gap open-state determining circuit; and

an applied polarity determining circuit configured to determine polarities of the voltages to be applied across the machining
gap based on

a result of determination by the machining-gap open-state determining circuit,
the average machining gap voltage detected by the average voltage detecting circuit, and
the number of successive machining gap open states counted by the open-state counting circuit,
wherein, when the machining gap is in open state before a voltage application period among the plurality of voltage application
periods,

the applied polarity determining circuit is configured to compare a preset maximum number of successive open states with the
number of successive machining gap open states counted by the open-state counting circuit,

when the number of successive machining gap open states counted by the open-state counting circuit does not reach the maximum
number of successive open states, the applied polarity determining circuit is configured to apply, across the machining gap,
a voltage of the same polarity as a voltage applied in a last voltage application period among the plurality of voltage application
periods, and

when the number of successive machining gap open states counted by the open-state counting circuit reaches the maximum number
of successive open states, the applied polarity determining circuit is configured to apply a voltage of a polarity opposite
to the voltage applied in the last voltage application period.

US Pat. No. 9,484,704

GAS CIRCULATION TYPE LASER OSCILLATOR

FANUC CORPORATION, Yaman...

1. A laser oscillator comprising:
an electric discharge excitation part which has a discharge tube extending in one direction, and generates laser by excitation
discharge of a laser gas flow through the inside of said discharge tube,

an optical resonance part which has optical components attached to outsides of end walls in the extension direction of said
discharge tube, and resonates laser which is generated in said discharge tube, and

blower piping which connects an intake port and exhaust port of said discharge tube to form a circulation path of laser gas,
wherein

said end walls of said discharge tube are provided with through holes which connect the inside of said discharge tube and
said optical components, and

blocking members are arranged in said through holes and provided for reducing the cross-sectional areas of the through holes,
so as to block the laser gas flow through said through holes toward said optical components, and

an inner diameter of each blocking member is equal to or larger than a diameter of a reflective area of resonator mirrors
which are attached to the optical components, and

at least one blocking member is mounted to the laser oscillator by a single rib that is positioned through a hole disposed
in the end wall.

US Pat. No. 9,483,042

LOAD DISPLAY DEVICE FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A load display device for a multi-axis machine, wherein
the multi-axis machine has three linear axes for controlling a position of a tool with respect to a workpiece on a table and
two rotational axes in an order of proximity to the table from the tool, and

the multi-axis machine is configured to execute a machining program to drive the three linear axes and the two rotational
axes, thereby controlling the position and an orientation of the tool relative to the workpiece, and perform machining on
the workpiece,

the load display device comprising:
a data acquisition unit configured to acquire and store machine coordinate values and load values of the three linear axes
and the two rotational axes for each predetermined time;

a tool trajectory display unit configured to calculate three-dimensional coordinate values of a tool center point of the tool,
based on the machine coordinate values for each said predetermined time acquired by the data acquisition unit and information
on a configuration of the multi-axis machine, and display a tool trajectory of the tool center point; and

a load display unit configured to display the load values for the three linear axes and the two rotational axes stored in
the data acquisition unit for each said predetermined time, in a form of vectors of load current values for the three linear
axes and the two rotational axes or vectors of vibration values for directions of three axes of a spindle acquired by a shock
sensor attached to the spindle;

wherein the load display unit
generates, regarding the load current values or vibration values of the three linear axes in a table coordinate system defined
on the table, a synthetic vector of the load current values or vibration values of the three linear axes for each said predetermined
time on the basis of the load current values or vibration values stored for each said predetermined time,

changes, regarding the synthetic vector for each said predetermined time, display attributes, including color, thickness,
and background color, according to (i) a size of the synthetic vector and (ii) a size of an angle formed by the synthetic
vector and a previously acquired synthetic vector acquired prior to the synthetic vector,

generates, regarding the two rotational axes, a synthesized load value of the two rotational axes for each said predetermined
time,

changes, regarding the synthesized load value for each said predetermined time, display attributes of circular arrows representing
the load values of the two rotational axes according to a state of the synthesized load value, and

displays the tool trajectory of the tool center point and coordinate-system vectors representing the load values in the form
of vectors.

US Pat. No. 9,395,720

NUMERICAL CONTROLLER HAVING A TOOL POSTURE CONTROL FUNCTION FOR MULTI-AXIS MACHINING MACHINES

FANUC Corporation, Minam...

1. A numerical controller having a tool posture control function for multi-axis machining machine, which controls a multi-axis
machining machine having at least three linear axes and at least three rotation axes including one rotation axis for tool
phase control, the numerical controller comprising:
a tool position and posture instruction reading unit that reads a tool center point position instruction, a tool direction
vector instruction, and a tool phase direction vector instruction;

a tool position and posture interpolation unit that
interpolates the tool center point position instruction to obtain an interpolated tool center point position Pt,
interpolates the tool direction vector instruction to obtain Vtr,
interpolates the tool phase direction vector instruction to obtain Vpr,
normalizes the Vtr to obtain an interpolated tool direction vector Vt, and
obtains, from the Vpr and the interpolated tool direction vector Vt, a normalized and interpolated tool phase direction vector
Vp lying on the plane formed by the interpolated tool direction vector Vt and the Vpr and being perpendicular to the interpolated
tool direction vector Vt, by using the following Expression,


 and uses the interpolated tool direction vector Vt and the interpolated tool phase direction vector Vp as an interpolated
tool posture,

wherein, in the multi-axis machining machine that is configured to control a tool head with three linear axes, control a tool
direction with two rotation axes and control a tool phase direction with tool phase axis, the tool position and posture interpolation
unit further:

obtains the positions of the two rotation axes from the interpolated tool direction vector Vt by solving an expression realizing
Vt with the positions of the two rotation axes;

obtains the position of the tool phase axis from the interpolated tool phase direction vector Vp by solving an expression
realizing Vp with the position of the tool phase axis; and

obtains, from the interpolated center point position Pt, the interpolated tool direction vector Vt and a tool length compensation
amount Th, the control point position Pc to which the three linear axes are driven by using the following Expression,

Pc=Pt+Th*Vt; and

a respective axis positions arithmetic unit that calculates respective axis positions of the at least three linear axes and
the at least three rotation axes, on the basis of the interpolated tool center point position Pt and the interpolated tool
posture, wherein

the at least three linear axes and the at least three rotation axes are driven to the respective axis positions,
wherein the tool phase direction is direction which is perpendicular to the tool direction and decides direction of operation
of a working part of the tool head, wherein the working part of the tool head is part of tool head that comes into contact
with a workpiece to perform multi-axis machining, and

wherein a tool phase axis is axis created by the tool phase direction.

US Pat. No. 10,656,632

MACHINING PROGRAM MANAGEMENT APPARATUS

FANUC CORPORATION, Yaman...

1. A machining program management apparatus for managing an alteration made to a machining program stored in at least one machine tool, the machining program management apparatus comprising:at least one memory configured to
store machining program information, the machining program information being information on the machining program stored in the machine tool, and
store alteration information, the alteration information being information on an alteration made to the machining program, each of the machining program information and the alteration information stored in the memory including a machine name, a program name, and a last update date and time; and
a processor configured to
acquire, at predetermined intervals set in advance, a piece of machining program updating information including the last update date and time of the machining program stored in the machine tool,
identify a machining program, to which an alteration is made, on the basis of the machining program information stored in the at least one memory and the piece of machining program updating information,
create a piece of alteration information on the alteration,
store the piece of alteration information in the at least one memory,
update a piece of machining program information corresponding to the machining program, to which the alteration is made, in the machining program information stored in the at least one memory, and
cause a display to display the alteration information stored in the at least one memory, wherein
the machining program information includes at least contents of the machining program,
the processor is configured to
acquire the machining program, to which the alteration is made, from the machine tool,
make a comparison with the contents of the machining program included in the piece of machining program information corresponding to the machining program, to which the alteration is made, in the machining program information stored in the at least one memory to create a piece of difference information,
create the piece of alteration information on the basis of the piece of difference information and store the piece of alteration information in the at least one memory, and
update the machining program information stored in the at least one memory with contents of the machining program to which the alteration is made, and
the processor is configured to
check whether the acquired machining program updating information has been stored in the machining program information by referring to the machine name and the program name included in the machining program information and the alteration information, respectively,
in response to the acquired machining program updating information not having been stored in the machining program information, add the acquired machining program updating information to the machining program information, and
in response to the acquired machining program updating information having been stored in the machining program information, update the machining program information with the acquired machining program updating information and the machining program alteration information by referring to the last update date and time included in the machining program information and the alteration information, respectively.

US Pat. No. 10,635,081

TOOL STATE ESTIMATION APPARATUS AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A tool state estimation apparatus for estimating a state of a tool used by a machine tool to machine a workpiece, the tool state estimation apparatus comprising:a processor configured to:
acquire dynamic information on the vicinity of the tool from log data acquired during an operation of the machine tool,
generate input data based on the acquired dynamic information on the vicinity of the tool, the dynamic information including dynamic information that includes at least scattering state of chips in the machining of the workpiece, and
perform machine learning, using the generated input data, to construct a learning model; and
a storage configured to store the constructed learning model.

US Pat. No. 10,575,418

ELECTRONIC DEVICE

FANUC CORPORATION, Yaman...

1. An electronic device comprising:a casing; and
an electronic circuit board housed within the casing,
the electronic device further comprising a protector which is provided on a surface of the electronic circuit board that faces the casing, wherein a height of the protector is larger than a height of an electronic component mounted on the surface of the electronic circuit board that faces the casing wherein the protector does not extend over the electronic component so that the electronic component is uncovered, and, in a state that the electronic circuit board is housed within the casing, the protector abuts on a surface of the casing that faces the electronic circuit board, wherein
the electronic circuit board is housed within the casing by being inserted into the casing in one direction from an opening of the casing, and
the protector is formed into a rod shape extending in a direction that the electronic circuit board is inserted, wherein
the protector includes a restricting section configured to engage with a restricted section formed on the surface of the casing that faces the electronic circuit board.

US Pat. No. 10,562,179

ARTICULATED SHAFT STRUCTURE OF ROBOT AND ROBOT

Fanuc Corporation, Yaman...

1. An articulated shaft structure comprising:a first joint member;
a second joint member supported by the first joint member so as to be rotatable about a first axis;
an output hypoid gear fixed to the second joint member coaxially with the first axis;
a gear assembly attached to the first joint member;
a motor attached to the gear assembly;
wherein the gear assembly includes a housing member, an input hypoid gear, and a gear group including gears, the housing member including a second joining surface tightly fixed to a first joining surface of the first joint member with a bolt, the input hypoid gear being supported by the housing member so as to be rotatable about a second axis, the gears decelerating rotation of the motor and transmitting the rotation to the input hypoid gear,
wherein the first joining surface is parallel to the first axis;
wherein the second joining surface is perpendicular to the second axis;
wherein, with the housing member being fixed to the first joint member, the input hypoid gear is situated at a position where the input hypoid gear engages with the output hypoid gear;
wherein the bolt is fastened radially outside of all the gears included in the gear group;
wherein at least a part of the gear group protrudes from the second joining surface;
wherein the first joining surface includes a second recess capable of accommodating the protruded part of the gear group; and
wherein the first joint member has a shape that allows for formation of a first recess to accommodate another gear group having different reduction ratio from the gear group in which the part thereof is protruded from the second joining surface.

US Pat. No. 10,545,479

CONTROLLER, CONTROL METHOD, AND CONTROL PROGRAM

FANUC CORPORATION, Yaman...

1. A controller comprising:a movement plane acquisition unit configured to accept designation of a movement plane on which an operation target is to be moved in a three-dimensional machine coordinate system indicating a position in a machining area of a machine tool;
a machine coordinate conversion unit configured to convert a coordinate value in the machine coordinate system into a two-dimensional image coordinate system indicating a position in an image of the machining area imaged by a camera;
an image coordinate conversion unit configured to convert a coordinate value in the image coordinate system into a coordinate value on the movement plane in the machine coordinate system;
an operation target position acquisition unit configured to acquire current position information on the operation target in the machine coordinate system;
an operation icon display unit configured to superimpose and display an operation icon at a coordinate in the image coordinate system corresponding to the position information;
a slide position acquisition unit configured to acquire a destination of a slide position in a slide operation after the operation icon is touched by an operator;
a movement amount calculation unit configured to calculate an axial movement amount of the machine tool, on a basis of the coordinate obtained by converting the slide position in the image coordinate system into the machine coordinate system; and
an axial movement unit configured to move the operation target according to the calculated axial movement amount.

US Pat. No. 10,493,585

MACHINING SYSTEM INCLUDING ROBOT FOR TRANSPORTING MACHINED ARTICLE AND METHOD

FANUC CORPORATION, Yaman...

1. A machining system, comprising:a working machine configured to machine an article while supplying a dielectric working fluid to the article;
a robot configured to transport the machined article from the working machine, the robot being installed outside the working machine;
a controller configured to control the robot; and
a recessed wall part that is provided outside the working machine so as to demarcate a transport path of the article,
the robot including
a gripping part configured to grip the article, and
a rotating part configured to rotate the gripping part,
the controller being configured to move the gripping part with the machined article along the transport path while rotating the gripping part in the recessed wall part by the rotating part, wherein the gripping part is rotated by the rotating part about a rotational axis that moves along the transport path.

US Pat. No. 10,492,324

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 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 fix the circuit board in the slot, the fixing jigs of each pair being disposed on the sides of both surfaces of the circuit board in a manner that distal ends of the fixing jigs of the pair are spaced at a second interval that is longer than the first interval; and
pairs of jig guiding portions provided on the faceplate and extending in the insertion 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 the pair are spaced at a third interval that is longer than a sum of the second interval and thicknesses of the distal ends of the fixing jigs of the pair.

US Pat. No. 10,434,614

CONTROL DEVICE FOR MACHINE TOOL PERFORMING OSCILLATION CUTTING

FANUC CORPORATION, Yaman...

1. A control device for controlling a machine tool for cutting an outer peripheral surface or an inner peripheral surface of a workpiece with a tool, the machine tool having a spindle for performing a relative rotation between the workpiece and the tool around a central axis of the workpiece, at least one feed shaft for performing a relative feeding between the tool and the workpiece along a generatrix of the outer peripheral surface or the inner peripheral surface of the workpiece, and a position detector for detecting an actual position of the at least one feed shaft, the control device comprising:a position command generation part for generating a position command for the at least one feed shaft based on a relative feed speed of the tool and the workpiece;
a feed shaft control part that controls the at least one feed shaft according to the position command; and
a storage part for storing the rotation speed, the feed speed, machining operation conditions under which oscillation is performed using the feed shaft, and servo control conditions for the control device; wherein
the machining operation conditions include the condition that a maximum oscillation acceleration and a maximum oscillation jerk which are determined from an oscillation frequency and oscillation amplitude of an oscillation command for oscillating the tool and the workpiece relative to each other are less than a maximum acceleration and maximum jerk of an actually-moved moving object;
the servo control conditions include the condition that a value obtained by dividing a control frequency obtained from a predetermined control cycle when a command is issued to the feed shaft by an oscillation frequency of the oscillation command is not less than a predetermined value;
the feed shaft control part includes an oscillation command generation part that generates an oscillation command for the at least one feed shaft such that a number of oscillations of the tool per rotation of the spindle becomes a positive non-integral multiple and the tool intermittently cuts the workpiece, and the feed shaft control part is configured to control the at least one feed shaft based on a resultant command obtained by adding the oscillation command to a position deviation, which is a difference between the position command and the actual position of the at least one feed shaft detected by the position detector; and
the oscillation command generation part includes an estimation part for estimating an oscillation amplitude and an oscillation frequency of the oscillation command based on the rotation speed and the position command, and a determination part for determining whether or not the machining operation conditions and the servo control conditions are satisfied, and when the determination part determines that the machining operation conditions and the servo control conditions are satisfied, the oscillation command is generated based on the oscillation frequency and the oscillation amplitude.

US Pat. No. 10,424,122

AUGMENTED REALITY SIMULATION DEVICE WHICH DISPLAYS A VIRTUAL OBJECT ON A MACHINE TOOL AND COMPUTER-READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. An augmented reality simulation device comprising: extension information display means for displaying a virtual object so as to be superimposed on a real machine tool; relation information acquisition means for acquiring first relation information which is information that specifies relation between the virtual object and control axes of a numerical controller that controls the machine tool and second relation information which is information that is output from the numerical controller that specifies control settings of the control axes themselves and that also specifies an axis orientation relation between the control axes;conversion means for converting a movement amount in a first coordinate system which is a coordinate system of the control axis to movement information in a second coordinate system which is a coordinate system for allowing the extension information display means to display the virtual object on the basis of the first relation information and the second relation information; and
calculation means for calculating a display position and a display angle of the virtual object on the basis of the movement information in the second coordinate system after the conversion, wherein
the extension information display means displays the virtual object on the basis of a calculation result of the calculation means.

US Pat. No. 10,305,413

MACHINE LEARNING DEVICE WHICH LEARNS CURRENT COMMAND FOR MOTOR, MOTOR CONTROLLER, AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning device configured to learn a current command for a motor, the machine learning device comprising:a state observation unit configured to observe state variables including
(a) a motor rotation speed or
(b) a motor torque command of the motor, and
at least one of
(c) a motor torque,
(d) a motor current, and
(e) a motor voltage of the motor; and
a learning unit configured to learn the current command for the motor based on the state variables observed by the state observation unit, wherein
the learning unit includes a reward calculation unit configured to calculate a reward based on an output of the state observation unit,
the learning unit is configured to update, based on the calculated reward, a value function relating to the current command for the motor, and
the reward is increased or decreased in response to at least one of the motor torque, the motor current, or the motor voltage observed by the state observation unit.

US Pat. No. 10,303,160

NUMERICAL CONTROL SYSTEM AND NUMERICAL CONTROLLER HAVING DISPLAY SWITCHING FUNCTION

FANUC CORPORATION, Yaman...

1. A numerical control system comprising a numerical controller, a management terminal, and a terminal device connectable to each other through a network,the numerical controller comprising:
a numerical control unit;
a Human Machine Interface (HMI) functional unit;
a display unit;
a connection unit for connection between the numerical control unit and the HMI functional unit; and
a network connection unit for connection to the network,
the HMI functional unit comprising:
a display control unit that generates display data based on information received from the numerical control unit through the connection unit, and displays the generated display data on the display unit,
the numerical control unit comprising:
an error detection unit that detects an error in the HMI functional unit;
a connection control unit that releases connection to the connection unit and sets up connection to the network connection unit if the error detection unit detects the error in the HMI functional unit; and
an alarm notification unit that notifies a first alarm to the management terminal through the network connection unit,
the management terminal comprising:
a control unit; and
a network connection unit for connection to the network,
the control unit comprising:
a first alarm detection unit that detects the first alarm notified from the numerical controller; and
a second alarm notification unit that notifies a second alarm to the terminal device if the first alarm detection unit detects the first alarm,
the terminal device comprising:
a display unit for display of data;
an HMI functional unit; and
a network connection unit for connection between the network and the HMI functional unit of the terminal device,
the HMI functional unit of the terminal device comprising:
a second alarm detection unit that detects the second alarm notified from the management terminal;
a connection control unit that connects to the numerical controller through the network connection unit of the terminal device if the second alarm detection unit detects the second alarm; and
a display control unit that generates display data based on information received from the numerical controller through the network connection unit of the terminal device, and displays the generated display data on the display unit of the terminal device so that a user is able to input an instruction or data based on the generated display data.

US Pat. No. 10,234,843

THERMAL DISPLACEMENT CORRECTION DEVICE FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A thermal displacement correction device for correcting thermal displacement of a spindle device in a machine tool, the spindle device including a spindle, a column for supporting the spindle, and a spindle mount connecting the spindle to the column, the thermal displacement correction device comprising:a memory which
stores a two-dimensional model of the spindle device in a thermally symmetrical plane or in a plane parallel to the thermally symmetrical plane, wherein the two-dimensional model is divided into regions arranged in an array with multiple rows and multiple columns, and
stores a linear expansion coefficient, a heating coefficient and a radiation coefficient corresponding to each region, and a thermal conductivity coefficient between each region and its adjacent region;
a temperature estimating controller which estimates the temperature of each region based on the heating coefficient and the radiation coefficient corresponding to each region and the thermal conductivity coefficient between each region and its adjacent region, stored in the memory; and
a correction estimating controller which estimates a correction of the thermal displacement of the spindle device, based on the temperature estimated by the temperature estimating controller and the linear expansion coefficient corresponding to each region stored in the memory, by
estimating a first slope of the spindle mount,
estimating a second slope of the column supporting the spindle, and
estimating the correction, using both the first slope of the spindle mount and the second slope of the column supporting the spindle,
wherein the thermal displacement correction device performs correction by adding the correction to a position command value for a feed shaft in driving the feed shaft to a command position.

US Pat. No. 10,151,578

THICKNESS MEASUREMENT DEVICE AND THICKNESS MEASUREMENT METHOD

FANUC CORPORATION, Yaman...

1. A thickness measurement device, comprising:a chassis provided with an installation surface on which a measurement object is installed and a facing surface disposed substantially parallel to the installation surface with a gap therebetween;
a distance measurement instrument to measure distances to objects in two opposite directions;
a movement mechanism to position the distance measurement instrument at a measurement point between the installation surface and the facing surface such that the measurement directions thereof are aligned with the direction along the gap between the installation surface and the facing surface; and
an arithmetic unit to calculate the difference between the total of the distances in the two opposite directions that are measured at the measurement point by the distance measurement instrument in a state in which the measurement object is not installed on the installation surface and the total of the distances in the two opposite directions that are measured by the distance measurement instrument in a state in which the measurement object is installed on the installation surface.

US Pat. No. 10,112,304

ROBOT PROGRAMMING APPARATUS FOR TEACHING MACHINING OPERATION TO ROBOT

FANUC CORPORATION, Yaman...

1. A robot programming apparatus configured to create a robot program for operating a robot equipped with a tool to execute machining of a workpiece arranged in a work space, the robot programming apparatus comprising:a virtual space creation unit configured to create a virtual space which three-dimensionally represent the work space;
a model arrangement unit configured to arrange a workpiece model, a robot model, and a tool model which three-dimensionally represent the workpiece, the robot, and the tool in the virtual space, respectively;
a projection target arrangement unit configured to arrange in the virtual space a projection target on which an operation pattern of the tool for machining the workpiece is provided;
a machining path creation unit configured to project the operation pattern onto at least one surface, which is curved in a direction of a center axis line of the tool, of the workpiece model and create a machining path through which a machining point of the tool passes for machining the workpiece;
a position and posture determination unit configured to determine a position and a posture of the tool for machining the workpiece along the machining path based on a direction of a normal line to the at least one surface of the workpiece model and on the machining path;
a determination unit configured to determine whether or not the workpiece and the tool interfere with each other at any point along the machining path except for the machining point of the tool, based on the position and the posture of the tool determined by the position and posture determination unit; and
a position and posture correction unit configured to, when the determination unit determines that interference occurs at a point along the machining path other than the machining point, correct at least one of the position and the posture of the tool at the point where it is determined that the interference occurs without changing the machining point so that the workpiece and the tool do not interfere with each other at any point, including an inflection point, along the machining path except for the machining point of the tool, wherein the position and posture correction unit is configured to change at least one of the position and the posture of the tool by changing a coordinate system defined in association with the tool.

US Pat. No. 10,114,359

NUMERICAL CONTROL DEVICE FOR REALIZING HIGH-SPEED INPUT AND OUTPUT OF EXTERNAL SIGNAL IN SERVO CONTROLLER

FANUC CORPORATION, Yaman...

1. A numerical control device, comprising:a CPU which outputs a position command value for a servomotor;
an integrated circuit including
a servo controller connected to an amplifier driving the servomotor, wherein the servo controller outputs a current command value to the amplifier to drive the servomotor, and
an I/O unit which inputs and outputs an external signal;
a DSP which reads the position command value and performs control so as to move the servomotor to a position indicated by the position command value; and
an inter-device communication path connecting the CPU and the integrated circuit, wherein
the integrated circuit further includes:
a communication interface connected to the inter-device communication path;
an internal bus outside the I/O unit, and connecting the communication interface and the I/O unit; and
an internal communication path directly connecting the servo controller and the I/O unit to directly transmit a signal between the servo controller and the I/O unit without passing through the internal bus.

US Pat. No. 10,114,360

NUMERICAL CONTROLLER

FANUC Corporation, Minam...

1. A numerical controller for controlling a machine tool based on a processing program, the numerical controller comprising:a detecting unit configured to detect one or more factors of a plurality of factors that cause a malfunction of the numerical controller that controls the machine tool, wherein causes of the malfunction of the numerical controller detected by the detecting unit include noises, an occurrence of impact, and an amount of times one or more factors of the plurality of factors is detected;
a storing unit configured to store, when the detecting unit detects the one or more factors of the plurality of factors, (i) information of a block of the processing program which is being executed when each detected factor occurred, (ii) each detected factor that caused the malfunction of the numerical controller, and (iii) information about each detected factor in association with each other; and
a display unit configured to display marking information about the one or more detected factors based on each stored detected factor that caused the malfunction of the numerical controller and the stored information about each detected factor, the marking information displayed at a location corresponding to the block of the processing program when each detected factor occurred based on the stored information of the block of the processing program, wherein the displayed marking information is at least one graphical icon, the at least one graphical icon based on the one or more factors of the plurality of factors, thereby providing an improved determination of the cause of malfunction of the numerical controller.

US Pat. No. 10,114,623

MACHINE SYSTEM, MACHINE CONTROL COMPUTER, BASE SOFTWARE APPLICATION, COMPUTER-READABLE RECORDING MEDIUM, AND MACHINE CONTROL METHOD FOR INTERCOMMUNICATION WITH MACHINES

FANUC CORPORATION, Yaman...

1. A machine system, comprising:a machine; and
a machine control computer communicatably connected to the machine and comprising one or more control processing units and one or more memory units, a base software application and an operation software application being installed in the machine control computer,
wherein the base software application includes:
a first communication module being a program portion to enable the machine control computer to receive first machine information in a data format specific to the machine outputted from the machine to the machine control computer;
a second communication module being a program portion to enable the machine control computer to output second machine information in a data format specific to the operation software application to the operation software application;
a program portion to store the first machine information and the second machine information in a first memory unit included in the one or more memory units of the machine control computer;
a program portion to identify a data model corresponding to the machine from the first memory unit based on identification information of the machine associated with the first machine information; and
a program portion to enable the machine control computer to convert the first machine information into the second machine information based on the identified data model,
wherein the machine has a function of outputting a state of the machine to the machine control computer as the first machine information, and
wherein the operation software application is a program using the second machine information outputted from the second communication module as input information.

US Pat. No. 10,086,487

INTERNAL CLEANING DEVICE OF MACHINE TOOL

FANUC Corporation, Minam...

1. An internal cleaning device of a machine tool with a cover separating an inside of the machine tool, which is a machining space, from an outside of the machine tool, the internal cleaning device that removes chips built up inside the cover, the internal cleaning device comprising:a chip removing device that removes the chips;
a moving device that holds and moves the chip removing device;
a detecting device, attached to an end of the moving device and moved by the moving device, that detects a chip buildup status in the machine tool;
an information processing device that processes information related to the chip buildup status detected by the detecting device and determines a spot requiring a removal of chips; and
a control device of the moving device that moves the chip removing device to the spot on which a determination has been made by the information processing device that the spot requires the removal of chips.

US Pat. No. 9,964,940

NUMERICAL CONTROLLER FOR PERFORMING AXIS CONTROL OF TWO PARALLEL AXES

FANUC CORPORATION, Yaman...

1. A numerical controller that allows machining of a workpiece by controlling a machine based on a program, the numerical controller comprising:a first axis that directly moves a tool; and
a second axis that indirectly moves the tool in association with a movement of the first axis in a direction in which the first axis moves;
wherein the movement of the first axis and a movement of the second axis are allowed to be commanded in the program in such a way that the first and second axes are taken as one virtual axis, and the numerical controller further comprises:
a program read unit that sequentially reads blocks in the program; and
a cooperative drive analysis unit configured to distribute, when a block read by the program read unit contains a block of fast feed command to the virtual axis for moving the tool to a cutting feed start point, a moving amount commanded by the fast feed command to the first axis and the second axis, and wherein
the cooperative drive analysis unit is configured to distribute the moving amount commanded by the fast feed command to the first axis and the second axis so that movement of the virtual axis commanded by continuous blocks of cutting feed command that follow the block of fast feed command in the program can be achieved by movement of only the first axis.

US Pat. No. 9,956,630

WIRE ELECTRIC DISCHARGE MACHINE HAVING ERRONEOUS MACHINING PREVENTING FUNCTION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine, comprising:a workpiece table;
upper and lower wire guides;
a wire electrode supported by the upper and lower wire guides, wherein the wire electric discharge machine is configured to perform electric discharge machining on a workpiece by relatively moving the workpiece placed on the workpiece table and the wire electrode supported by the upper and lower wire guides according to a machining program; and
a processor configured to determine whether or not the top or bottom surface of the workpiece table interferes with the wire electrode at the height of the surface during the execution of the machining program.

US Pat. No. 9,956,694

MOTOR AND MECHANISM HAVING FUNCTION OF INCREASING OR DECREASING BRAKE TORQUE

FANUC CORPORATION, Yaman...

1. A motor comprising:an output axis;
a brake for holding the output axis by applying a brake torque, the output axis being locked when the brake torque is applied on the output axis;
a sensor for detecting an external torque applied to the output axis from outside; anda controller for decreasing or increasing the brake torque during operation of the brake in accordance with an increase or decrease in the external torque detected by the sensor so as to rotate the output axis.

US Pat. No. 9,958,857

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 an absolute value for variation of the positional error since reversal was detected;
a determination part that determines whether the absolute value for the variation of the positional error has exceeded a predetermined reference value; and
a backlash correction part that adds a backlash correction amount to the position command based on the positional error,
wherein the backlash correction part adds the backlash correction amount when the absolute value for the variation of the positional error exceeds the predetermined reference value.

US Pat. No. 9,946,249

CONTROL DEVICE OF MACHINING TOOL WITH POWER CONSUMPTION REDUCTION FUNCTION

FANUC CORPORATION, Yaman...

1. A control device of a machining tool with power consumption reduction function, the machining tool including a plurality of power consumption devices, the power consumption devices including at least one of a heating device and a cooling device, the control device comprising:a priority mode selection unit configured to select at least one priority mode from a plurality of priority modes;
a parameter set storage unit configured to store a plurality of parameter sets, wherein
each parameter set among the plurality of parameter sets is to be used to control the plurality of power consumption devices, and
the each parameter set corresponds to (i) a corresponding priority mode among the plurality of priority modes and (ii) an operation condition of the machining tool;
an operation condition monitoring unit configured to monitor the operation condition of the machining tool;
an extraction unit configured to extract the parameter set from the parameter set storage unit based on the selected priority mode and the operation condition of the machining tool; and
an execution unit configured to execute control of the plurality of power consumption devices based on the extracted parameter set, wherein
at least one parameter set stored in the parameter set storage unit is set with
a parameter corresponding to the heating device having a value for making the heating device in an on state, and
a parameter corresponding to the cooling device having a value for making the cooling device in an on state.

US Pat. No. 9,923,426

ELECTRIC MOTOR HAVING THREE-LAYER WINDING STRUCTURE

FANUC CORPORATION, Yaman...

1. A three-phase alternating current electric motor comprising:
a rotor having a plurality of pairs of magnetic poles;
a stator having a plurality of slots 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 inserted into the slots and wound in the stator, wherein
when 2P represents the number of poles of the rotor and N represents the number of the slots of the stator into which the
windings are inserted, a division of the slot number N by the number of pole pairs P becomes a fraction in lowest terms, and
the denominator of the fraction becomes an odd number,

in each of the slots of the stator for inserting the windings thereinto, any or some of the windings of six phases in total,
including three phases of a U phase, a V phase, and a W phase and opposite phases thereof, are disposed in three layers per
slot,

as the windings in first layers, of the windings in the three layers disposed in each slot, U-phase windings, V-phase windings,
and W-phase windings are laid out so as to have rotational symmetry with one another at a mechanical angle of ±120 degrees,

the windings in second layers, each of which is one of the remaining two layers, have the same arrangement as in the first
layers shifted by L slots, and

the windings in third layers, each of which is the other of the remaining two layers, have the same arrangement as in the
first layers shifted by L slots in a direction opposite to the arrangement of the windings in the second layers.

US Pat. No. 9,891,613

NUMERICAL CONTROLLER HAVING FUNCTION OF SUPERIMPOSING SUPERPOSITION CYCLE SYNCHRONIZED WITH PERIODIC OPERATION CYCLE

FANUC Corporation, Minam...

1. A numerical controller for controlling a machine tool which carries out machining by moving a workpiece or a tool using
a periodic operation cycle for repeatedly executing the same operation, the numerical controller comprising:
a superposition cycle storing unit configured to store command data of each execution period of a superposition cycle superimposed
with the periodic operation cycle;

a superposition cycle selecting unit configured to start superimposition of the superposition cycle in synchronization with
execution timing of the periodic operation cycle if the superposition cycle is made effective, and to end superimposition
of the superposition cycle in synchronization with execution timing of the periodic operation cycle if the superposition cycle
is made ineffective; and

a superposition cycle synthesizing unit configured to synthesize command data of the superposition cycle every execution period
in synchronization with execution timing of the periodic operation cycle.

US Pat. No. 9,893,674

MOTOR CONTROL DEVICE INCLUDING TORQUE COMMAND LIMIT UNIT

FANUC CORPORATION, Yaman...

1. A motor control device which controls a motor in a machine tool or an industrial machine, the motor control device comprising:
a power failure detection unit that detects a power failure of a power source which supplies electric power for driving the
motor;

a DC link voltage detection unit that detects a value of a DC link voltage applied to an amplifier which drives the motor;
a switch unit which switches a connection destination of the motor to the amplifier or a dynamic brake resistance;
a voltage comparison unit which compares the value of the DC link voltage with a predetermined threshold value;
a torque limit value setting unit which sets a torque limit value for decelerating the motor in accordance with a result of
comparison by the voltage comparison unit;

a torque command limit unit which limits a torque command for driving the motor to the torque limit value when the motor is
connected to the amplifier when the power failure is detected;

a velocity detection unit which detects an angular velocity of the motor;
a torque prediction value calculation unit which calculates, using the angular velocity detected by the velocity detection
unit, a deceleration torque of the motor that is predicted to be generated when the motor rotating at the angular velocity
is connected to the dynamic brake resistance as a torque prediction value; and

a torque comparison unit which compares the torque limit value set by the torque limit value setting unit with the torque
prediction value calculated by the torque prediction value calculation unit, wherein

in accordance with a result of comparison by the torque comparison unit, the switch unit switches the connection destination
of the motor when the power failure is detected to the amplifier or the dynamic brake resistance.

US Pat. No. 9,827,681

HUMAN COOPERATION ROBOT SYSTEM IN WHICH ROBOT IS CAUSED TO PERFORM RETREAT OPERATION DEPENDING ON EXTERNAL FORCE

FANUC CORPORATION, Yaman...

1. A human cooperation robot system, comprising a robot configured to perform a cooperative operation with a human while sharing
a workspace with each other, the system further comprising:
an external force detecting unit that detects an external force acting on the robot;
a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such
that the external force is decreased when the external force detected by the external force detecting unit is greater than
a first threshold value, if the human pushes the robot, which is in a stopped situation; and

an external force variation monitoring unit that stops the retreat operation when a variation width of the external force
at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than
a second threshold value.

US Pat. No. 9,821,394

MACHINE TOOL AND NUMERICAL CONTROL APPARATUS FOR CONTROLLING THE SAME

FANUC CORPORATION, Yaman...

1. A numerical control apparatus of a wire-electrical discharge machine for electrical discharge machining a work by a wire
electrode line along a machining path including a taper angle or a taper machining amount correction amount, the numerical
control apparatus comprising:
a unit configured to, when a taper angle or a taper machining amount correction amount instructed in a first front block in
two successive contact machining path blocks is different from a taper angle or a taper machining amount correction amount
instructed in a second rear block in said two successive contact machining path blocks,

automatically add a block that divides the first front block and the second rear block, wherein the added block is
from a first point by a first distance in front of a connecting point of the first front block and the second rear block,
to a second point by a second distance behind the connecting point, and
gradually change the taper angle or the taper machining amount correction amount, from the taper angle or the taper machining
amount correction amount instructed in the first front block to the taper angle or the taper machining amount correction amount
instructed in the second rear block, in the added block between the first and second points, wherein the numerical control
apparatus is configured to control the wire-electrical discharge machine to perform electrical discharge machining along the
machining path in accordance with the first front block, the added block and the second rear block.

US Pat. No. 9,791,103

SERVO CONTROLLER FOR MEASURING LUBRICATION CHARACTERISTICS OF A MACHINE BY EXPERIMENTAL MODAL ANALYSIS

FANUC CORPORATION, Yaman...

1. A servo controller for a servo motor that drives a feed axis provided for a machine tool, comprising:
a speed command generator configured to generate a speed command value for a servo motor;
a torque command generator configured to generate a torque command value for the servo motor on the basis of the speed command
value;

a speed detector configured to detect the speed of the servo motor driven on the basis of the torque command value;
a sinusoidal wave disturbance input unit configured to supply a sinusoidal wave disturbance to a speed control loop including
the speed command generator, the torque command generator and the speed detector;

a frequency response calculator configured to estimate the gain and phase of the speed control loop input/output signal on
the basis of the output of the speed control loop when the sinusoidal wave disturbance is input to the speed control loop;

a resonance frequency detector configured to detect resonance frequencies at which the gain of the frequency response estimated
by the frequency response calculator becomes maximum;

a resonance mode characteristics analyzer configured to estimate resonance characteristics from the frequency response at
and around the response frequency detected by the resonance frequency detector; and,

a reference modal damping ratio retainer configured to retain the reference modal damping ratio as a resonance characteristic
corresponding to the reference lubricating condition,

wherein the resonance mode characteristics analyzer calculates lubrication characteristics on the basis of the reference modal
damping ratio and the measured modal damping ratio at the resonance frequency corresponding to the reference modal damping
ratio.

US Pat. No. 9,764,471

TRAJECTORY GENERATION APPARATUS FOR ROBOT TO GENERATE TRAJECTORY INCLUDING CURVED PORTION

FANUC CORPORATION, Yaman...

1. A trajectory generation apparatus for robot comprising:
a reference trajectory generation unit which generates a reference trajectory including a curved portion based on a plurality
of reference teaching points;

a load judgement unit which calculates a load applied to a predetermined component of a robot when the robot is operated along
the reference trajectory and compare the load with a predetermined load judgement value;

a speed reduction unit which reduces a speed of the robot until the load becomes equal to or less than the load judgement
value when the load is greater than the load judgement value;

a comparison trajectory generation unit which sets a comparison teaching point obtained by changing a position of the reference
teaching point when the speed is reduced by the speed reduction unit and generates a comparison trajectory based on the comparison
teaching point; and

a trajectory selection unit which compares a transit time of the comparison trajectory with a transit time of the reference
trajectory and selects a trajectory of which a transit time is shorter.

US Pat. No. 9,690,284

MACHINE TOOL FOR CHAMFERING AND CHAMFERING METHOD

FANUC CORPORATION, Yaman...

1. A machine tool which comprises at least three linear movement axes and a numerical controller for controlling the linear
movement axes and performs corner chamfering on a plane according to a machining program, the machine tool for chamfering
comprising:
a storage unit configured to store an amount of chamfering by a chamfering tool and data on the chamfering tool;
an analysis unit configured to analyze the machining program;
a total machining distance calculation unit configured to calculate a sum total of machining distances in the machining program
analyzed by the analysis unit;

a chamfering compensation amount calculation unit configured to calculate a tool radius compensation amount and a tool axis
compensation amount based on the calculated sum total of machining distances, the data on the chamfering tool, and a distance
from a machining starting point of the chamfering tool, such that the chamfering is performed while changing a chamfering
area of the chamfering tool; and

a chamfering compensation unit configured to perform tool radius compensation and tool axis compensation in accordance with
the distance from the machining starting point of the chamfering tool, based on the calculated tool radius compensation amount
and tool axis compensation amount.

US Pat. No. 9,653,876

GAS LASER APPARATUS FOR DETERMINING COMPOSITION RATIO OF LASER GAS

Fanuc Corporation, Yaman...

1. A gas laser apparatus comprising:
a gas laser oscillator comprising a gas container that contains a laser gas as a laser oscillating medium and a pressure acquiring
unit that acquires a pressure value of the laser gas in the gas container;

a laser gas source of the laser gas to be contained in the gas container;
a laser gas supplying unit that supplies the laser gas of the laser gas source to the gas container;
a laser gas releasing unit that releases the laser gas from the gas container;
a laser gas pressure controlling unit that controls the laser gas supplying unit and the laser gas releasing unit on a basis
of the pressure value acquired by the pressure acquiring unit;

a laser gas pressure command outputting unit that, when the gas laser oscillator is started, outputs a first laser gas pressure
command which generates a rated laser output and a second laser gas pressure command smaller than the first laser gas pressure
command;

an actual laser output acquiring unit that acquires a first actual laser output at a predetermined laser output command after
passage of a predetermined time from issuing of the first laser gas pressure command and acquires a second actual laser output
at the predetermined laser output command after passage of the predetermined time from issuing of the second laser gas pressure
command; and

a determining unit that determines whether a composition ratio of the laser gas in the gas container is normal or not by comparing
the first actual laser output with a first reference output and comparing the second actual laser output with a second reference
output smaller than the first reference output.

US Pat. No. 9,685,836

MOTOR ABLE TO PREVENT ENTRY OF FOREIGN MATTER INSIDE HOUSING

Fanuc Corporation, Yaman...

1. A motor comprising:
a rotor including a rotary shaft;
a stator arranged at radially outward of the rotor;
a bearing which supports the rotary shaft to be able to rotate;
a housing which supports the stator and defines an inner space which houses the rotor together with the stator,
a bearing support surface arranged to be immovable relative to the housing, and surrounding an outer circumferential surface
of the bearing so as to support the bearing,

a first groove formed at the outer circumferential surface of the bearing or at the bearing support surface, the first groove
being in fluid communication with the inner space at one end of the first groove and with an outside space of the housing
at the other end of the first groove, the first groove being formed to make a compressed fluid, which is introduced into the
inner space from an external fluid feed device, pass from the one end to the other end so as to be discharged from the other
end to the outside space; and

a second groove formed at the outer circumferential surface of the bearing or at the bearing support surface, the second groove
extending in a circumferential direction of the rotary shaft so as to intersect with the first groove.

US Pat. No. 9,662,739

SPOT WELDING SYSTEM FOR MANAGING ELECTRODE INSPECTION AND ROBOT USED THEREFOR

FANUC CORPORATION, Yaman...

1. A spot welding system comprising:
a plurality of robots, each including a spot welding gun;
an inspection management device for managing an electrode inspection for inspecting electrodes of the spot welding gun, the
electrode inspection being executed in each of the robots; and

a notification unit for notifying the inspection management device of a candidate of the electrode inspection to be executed
in each of the robots, and the notification unit being configured to notify plural kinds of electrode inspections with respect
to one kind of electrode which is arranged in the spot welding gun,

wherein each of the robots comprises an inspection execution unit for selectively executing one inspection of the plural kinds
of electrode inspections with respect to said one kind of electrode which is arranged in the spot welding gun,

wherein the inspection management device comprises an inspection instruction unit for instructing an electrode inspection
to be executed in each of the robots,

wherein the inspection instruction unit of the inspection management device is configured to instruct the electrode inspection
to be executed in each of the robots based on the electrode inspection candidate notified by the notification unit of each
of the robots, and

wherein each of the robots further comprises an inspection selection unit for selecting the electrode inspection candidate,
and wherein each inspection selection unit is configured to select the electrode inspection candidate based on at least one
of a number of welding points, a number of times of electrode polishing, and position change amounts of the electrodes.

US Pat. No. 9,531,226

ROTOR OF INTERNAL PERMANENT MAGNET SYNCHRONOUS MOTOR AND INTERNAL PERMANENT MAGNET SYCNRONOUS MOTOR

Fanuc Corporation, Yaman...

1. A rotor of an internal permanent magnet synchronous motor comprising:
a rotor core rotating about an axis;
a plurality of slots formed in the rotor core at a plurality of locations in a circumferential direction and extending in
parallel to the axis; and

a plurality of permanent magnets housed in the plurality of slots and having a cross-sectional rectangular shapes, the plurality
of permanent magnets being housed so that, in the slots adjoining each other in the circumferential direction, poles different
from each other in a diametrical direction are positioned, wherein

each of the plurality of slots comprises
a holding part formed between a first outside diameter surface extending in the circumferential direction and a first inside
diameter surface facing the first outside diameter surface and extending in the circumferential direction at an inside from
the first outside diameter surface in the diametrical direction, so as to hold each of the plurality of permanent magnets,
and

an opening part formed at both sides of the holding part in the circumferential direction, the opening part being formed by
a second outside diameter surface extending from the first outside diameter surface in the circumferential direction, a second
inside diameter surface extending from the first inside diameter surface in the circumferential direction, and a connecting
surface connecting the second outside diameter surface and the second inside diameter surface,

the second outside diameter surface is formed to a smooth curved shape and does not include a flat face part so that a distance
to an outer circumferential surface of the rotor core in the diametrical direction gradually becomes smaller from both ends
of the second outside diameter surface in the circumferential direction to an intermediate part in the circumferential direction,

the connecting surface is comprised of a curved surface projecting out toward an outside of the opening part in the circumferential
direction so that the cross-sectional view of the opening part which is formed by the second outside diameter surface, the
second inside diameter surface, and an end face of the permanent magnet is a substantially triangular shape, and

a maximum length of the opening part in the diametrical direction is longer than a thickness of the permanent magnet in the
diametrical direction.

US Pat. No. 9,529,945

ROBOT SIMULATION SYSTEM WHICH SIMULATES TAKEOUT PROCESS OF WORKPIECES

FANUC CORPORATION, Yaman...

1. A robot simulation system for simulating in a virtual space a takeout process for successively taking out a plurality of
bulk stacked workpieces by a robot, based on three-dimensional information of the workpieces which is obtained by a range
sensor including two cameras and a projector,
the robot simulation system comprising a model placement part which places in the virtual space a robot model, a plurality
of workpiece models, two camera models, and a projector model which three-dimensionally express the robot, the plurality of
workpieces, and the two cameras and the projector of the range sensor, respectively,

wherein the model placement part is configured to place the plurality of workpiece models in the virtual space in a bulk stacked
state, and place the two camera models and the projector model in the virtual space so that fields of vision of the two camera
models and a projection range of the projector model encompass a measurement region which is set for bulk stacked workpiece
models,

the robot simulation system further comprising:
a first plane calculation part which calculates a group of first planes which extend through focal points of the two camera
models and divide the fields of vision of the two camera models at equal intervals when capturing the measurement region;

a second plane calculation part which calculates a group of second planes which intersect the group of first planes and extend
through the projector model and boundaries of light-dark contrast which are formed on the measurement region when the projector
model projects stripe shaped patterns of light on the measurement region;

an intersecting line calculation part which calculates a plurality of intersecting lines between the group of first planes
and the group of second planes;

a three-dimensional information calculation part which calculates positions of a plurality of intersecting points between
the plurality of intersecting lines and surfaces of the workpiece models as three-dimensional information of the workpiece
models,

a position and posture calculation part which calculates positions and postures of the workpiece models based on the three-dimensional
information of the workpiece models, and

a simulation run part which runs a simulation of the takeout process by the robot model based on the positions and postures
of the workpiece models which are calculated by the position and posture calculation part.

US Pat. No. 9,448,551

TRANSLATION/ROTATION ERROR COMPENSATION AMOUNT CREATING DEVICE

FANUC CORPORATION, Yaman...

1. A translation/rotation error compensation amount creating device for creating, for a multi-axis machining apparatus having
at least two rotation axes, a translation error compensation amount and a rotation error compensation amount both depending
on the rotation axes, the translation/rotation error compensation amount creating device comprising:
an assembly error setting section configured to preset an assembly error including at least an assembly error in a table surface
or an assembly error in a spindle turning centerline in the multi-axis machining apparatus;

a translation/rotation error compensation amount calculating section configured to calculate
the translation error compensation amount by a first arithmetic expression based on the assembly error and positions of the
two rotation axes, and

the rotation error compensation amount by a second arithmetic expression for solving an equation based on
a correct direction vector of the table surface or the spindle turning centerline based on the positions of the two rotation
axes,

the rotation error compensation amount,
the assembly error, and
an actual direction vector of the table surface or the spindle turning centerline based on the positions of the two rotation
axes; and

a translation/rotation error compensation amount input section configured to input the calculated translation error compensation
amount and the rotation error compensation amount to a translation error compensation amount and rotation error compensation
amount data table in a numerical controller controlling the multi-axis machining apparatus,

wherein
the multi-axis machining apparatus is a table rotating multi-axis machining apparatus having a rotary table,
the translation/rotation error compensation amount creating device is configured to convert the assembly error in the table
surface in the table rotating multi-axis machining apparatus into the translation error compensation amount and the rotation
error compensation amount both depending on the rotation axes,

the two rotation axes include an A axis and a C axis,
the first arithmetic expression for calculating the translation error compensation amount (?XR, ?YR, ?ZR) corresponding to
a position (a) of the A axis and a position (c) of the C axis is as follows:

and
the second arithmetic expression for calculating the rotation error compensation amount (?IR, ?JR, ?KR) is as follows:
where
an error in a displaced table centerline At?T with respect to an original table centerline Ct?T is as follows:

?tx?T, ?ty?T, ?tz?T are an X component, a Y component, and a Z component, respectively, of a deviation distance between At?T and Ct?T observed when A=0 and C=0 and corresponding to Co?T that is an intersecting point between an original A axis rotation centerline Ca?T and an original C axis rotation centerline Cc?T,

?t?T, ?t?T, ?t?T indicate that, when A=0 and C=0, At?T is tilted from Ct?T with a rotation error ?t?T around an X axis, a rotation error ?t?T around a Y axis, and a rotation error ?t?T around a Z axis, respectively, and

nT-T is a direction vector of At?T,

an error in a displaced C axis rotation centerline Ac?T with respect to the original C axis rotation centerline Cc?T is as follows:

?cx?T, ?cy?T, ?cz?T are the X component, Y component, and Z component, respectively, of a deviation distance between Ac?T and Cc?T observed when A=0 and corresponding to Co?T that is the intersecting point between the original A axis rotation centerline and the original C axis rotation centerline,

?c?T, ?c?T, ?c?T indicate that, when A=0, Ac?T is tilted from Cc?T with a rotation error ?c?T around the X axis, a rotation error ?c?T around the Y axis, and a rotation error ?c?T around the Z axis, respectively, and

nC-T is a direction vector of Ac?T,

an error in a displaced A axis rotation centerline Aa?T with respect to the original A axis rotation centerline Ca?T is as follows:

?ax?T, ?ay?T, ?az?T are the X component, Y component, and Z component, respectively, of a deviation distance between Aa?T and Ca?T corresponding to Co?T that is the intersecting point between the original A axis rotation centerline and the original C axis rotation centerline,

?a?T, ?a?T, ?a?T indicate that Aa?T is tilted from Ca?T with a rotation error ?a?T around the X axis, a rotation error ?a?T around the Y axis, and a rotation error ?a?T around the Z axis, respectively, and

nA-T is a direction vector of Aa?T,

Mc?T is a matrix that rotates, by ?c, around the vector nC-T indicative of the direction of Ac?T observed when A=0, and

Ma?T is a matrix that rotates, by ?a, around the vector nA-T indicative of the direction of Aa?T.

US Pat. No. 9,419,406

LASER OSCILLATOR PROVIDED WITH BLOWER

FANUC CORPORATION, Yaman...

1. A laser oscillator comprising: a resonator part which generates laser light; a laser medium flow path for introducing a
laser medium into the resonator part and discharging the laser medium from the resonator part; a blower which makes the laser
medium to flow through the laser medium flow path; a drive part which drives the blower; a controller which controls the drive
part; a manometer which measures a pressure of the laser medium at a predetermined position of the laser medium flow path;
and a rotation speed estimating part which estimates a rotation speed of the blower, based on a predetermined relationship
between the pressure of the laser medium at the predetermined position and the rotation speed of the blower, and on the pressure
of the laser medium measured by the manometer, wherein the controller controls the drive part so as to restart the operation
of the blower at the rotation speed estimated by the rotation speed estimating part when a power supply to the blower is stopped
and the blower is idling.

US Pat. No. 9,409,272

TOOL PATH DISPLAY APPARATUS FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A tool path display apparatus for a machine tool, the tool path display apparatus configured to display a three-dimensional
path of a movable part of the machine tool, the machine tool configured to control positions and attitudes of a tool and a
workpiece by means of a plurality of drive axes using a numerical controller, the tool path display apparatus comprising:
a data acquisition unit configured to simultaneously acquire and store, as time-series data, actual position data for the
plurality of drive axes at each time;

a movable part path calculation unit configured to determine the three-dimensional path of the movable part by calculating
three-dimensional coordinate values of the movable part as viewed from a coordinate system secured to the workpiece, based
on the actual position data stored in the data acquisition unit and data on a mechanical structure of the machine tool;

a stereoscopic image generation unit configured to determine left- and right-eye stereoscopic image data based on the three-dimensional
path of the movable part determined by the movable part path calculation unit;

a stereoscopic image display unit configured to display the left- and right-eye stereoscopic image data determined by the
stereoscopic image generation unit so that the image data are visible from the left and right eyes corresponding thereto,
wherein a point corresponding to a certain time is displayed highlighted on the stereoscopic image data generated by the stereoscopic
image generation unit, the highlighted point being displayed moving on a path as the tool moves with time;

a command position data acquisition unit configured to simultaneously acquire, as time-series data, command position data
for the plurality of drive axes at each time;

a movable part command path calculation unit configured to determine a command path of the movable part by calculating command
coordinate values of the movable part as viewed from the coordinate system secured to the workpiece, based on the command
position data for the plurality of drive axes at each time and the data on the mechanical structure of the machine tool;

a path error calculation unit configured to determine an error between the command path and the three-dimensional path of
the movable part;

an error-magnified three-dimensional path generation unit configured to generate three-dimensional path data with the error
highlighted by magnifying the error determined by the path error calculation unit at a predetermined magnification ratio relative
to the command path; and

a stereoscopic image generation unit configured to determine left- and right-eye stereoscopic image data based on the three-dimensional
path data with the highlighted error determined by the error-magnified three-dimensional path generation unit.

US Pat. No. 9,381,589

WIRE ELECTRIC DISCHARGE MACHINING METHOD AND WIRE ELECTRIC DISCHARGE MACHINE FOR MACHINING TOOL THAT USES ULTRA-HARD MATERIAL AND IS MOUNTED TO ROTATING SHAFT

FANUC CORPORATION, Yaman...

5. A wire electric discharge machine, comprising:
a rotating shaft;
upper and lower wire guides;
a wire electrode;
a cutting tool that is removably mounted to the rotating shaft and is movable relatively, in two mutually orthogonal axis
directions, with respect to the wire electrode that is stretched by the upper wire guide and the lower wire guide; and

a touch sensor,
wherein the cutting tool is configured to hold an ultra-hard material that is to be formed into a cutting blade by wire electric
discharge machining according to a machining program executable by the wire electric discharge machine, the wire electric
discharge machine being configured to perform a taper machining and further comprising:

a measurement program generation unit;
a positioning unit;
a rotation unit;
a reading unit;
a storage unit;
a controller; and
a machining program regeneration unit,
wherein
the measurement program generation unit is configured to generate a measurement program for setting, along a machining path
instructed by the machining program, measurement points at which contact between a face of the ultra-hard material and a probe
end section of the touch sensor is detected at a rotation center height of the rotating shaft, said measurement points including

an origin of a block of the machining path,
an endpoint of the block of the machining path, and
a point among a plurality of divisional positions between the origin and the endpoint;
the controller is configured to calculate each of the measurement points by separating a path that is offset by a machining
margin, from the machining path instructed by the machining program,

the machining path has a plurality of blocks including said block,
the controller is configured to automatically calculate points resulting from dividing, by an arbitrary number of divisions,
an expanse from an endpoint coordinate of each of the blocks in the machining path instructed by the machining program up
to an endpoint coordinate of a previous block among the plurality of blocks to obtain the measurement points among the plurality
of divisional positions;

the positioning unit is configured to position the probe end section of the touch sensor at each of the measurement points
on the basis of the generated measurement program;

the rotation unit is configured to cause the rotating shaft, to which the cutting tool is mounted, to rotate in a direction
in which the face of the ultra-hard material being fixed to the cutting tool, comes into contact with the probe end section
of the touch sensor, said face of the ultra-hard material defining a tool rake face;

the reading unit is configured to read rotating shaft coordinate information of the rotating shaft for which the face of the
ultra-hard material at each of the measurement points is at the rotation center height of the rotating shaft, on the basis
of a detection signal obtained from the touch sensor obtained when the face of the ultra-hard material comes into contact
with the probe end section of the touch sensor;

the storage unit is configured to store (i) path coordinate position information, being coordinate data in the two orthogonal
axes at each of the measurement points, as well as (ii) the rotating shaft coordinate information read by the reading unit;
and

the machining program regeneration unit is configured to regenerate a machining program from the path coordinate position
information and the rotating shaft coordinate information that are stored in the storage unit for each of the measurement
points;

wherein the wire electric discharge machine is configured to perform wire electric discharge machining on the ultra-hard material
to form the cutting blade by the wire electrode that is stretched by the upper and lower wire guides, according to the machining
program regenerated by the machining program regeneration unit.

US Pat. No. 9,374,897

PRINTED WIRING BOARD

FANUC CORPORATION, Yaman...

1. A printed wiring board comprising:
three or more than three through holes,
an inner wall of the through hole is covered by conductive coating,
into which same size leads of an electronic component are inserted,
configured to be soldered by dip soldering in melting solder, wherein
the three or more than three through holes have two or more diameters, and the diameter of the through hole having more adjacent
through holes is not larger than the diameter of the through hole having less adjacent through holes.

US Pat. No. 9,361,260

MASTER DEVICE THAT CHANGES DATA COMMUNICATION SPEED WHEN PREPARATION TO DRIVE MOTOR IS COMPLETED

FANUC CORPORATION, Yaman...

1. A master device that is connected to a slave device via a serial communication bus for carrying out data transmission and
reception in order to control motors connected via an inverter to a DC link part, which is connected to an alternating-current
power source via a converter, the master device comprising:
a first communication speed setting unit configured to set a data communication speed of data transmitted and received between
the master device and the slave device during the period from the time when the master device is activated to the time when
the preparation to drive the motors is completed, to a first communication speed;

a second communication speed setting unit configured to set a data communication speed of data transmitted and received between
the master device and the slave device when the preparation to drive the motors is completed, to a second communication speed
lower than the first communication speed;

a change notification unit configured to notify the change of the data communication speed from the first communication speed
to the second communication speed to the slave device; and

a bandwidth change unit configured to change a bandwidth of a band variable filter provided in at least one of the master
device and the slave device in order to remove noise received in the serial communication from a first bandwidth to a second
bandwidth narrower than the first bandwidth, in accordance with the change of the data communication speed from the first
communication speed to the second communication speed, in order to remove noise received in the serial communication.

US Pat. No. 10,614,566

INSPECTION CONDITION DETERMINATION DEVICE, INSPECTION CONDITION DETERMINATION METHOD, AND INSPECTION CONDITION DETERMINATION PROGRAM

FANUC CORPORATION, Yaman...

1. An inspection condition determination device comprising:an addition unit that adds data mimicking a flaw assumed to occur in an inspection target to a designated position of a three-dimensional model of the inspection target;
a generation unit that generates a first image by replicating an optical condition for capturing an image of the inspection target on the three-dimensional model, and a second image by replicating the optical condition on the three-dimensional model to which the data mimicking the flaw is added, the optical condition being one of a plurality of optical conditions;
a determination unit that determines whether or not a difference between the first image and the second image at the designated position exceeds a threshold that allows detection of the flaw in the inspection target; and
an extraction unit that extracts a combination of the plurality of optical conditions, the combination including optical conditions available for detecting flaws of all multiple designated patterns, each of the plurality of optical conditions being a replicated optical condition,
wherein each of the plurality of optical conditions includes at least one parameter, and
wherein the extraction unit extracts single optical conditions sequentially available for detecting flaws of more patterns undetectable under already extracted optical conditions.

US Pat. No. 10,607,762

REACTOR INCLUDING TUBULAR CORE, MOTOR DRIVE DEVICE, AND AMPLIFIER DEVICE

FANUC CORPORATION, Yaman...

1. A reactor comprising:a tubular core including a plurality of core segments arranged to align in a circumferential direction;
a coil provided in the core;
a terminal provided at an first end of the core in an axial direction, the coil being connected to the terminal; and
an attachment flange fixed to an outer peripheral surface of the core and extending radially outside the outer peripheral surface of the core, wherein the attachment flange is disposed at a position between the terminal and a second end of the core opposite the first end, and wherein the attachment flange has a larger surface in the radial direction with respect to an entire outer circumference of the core.

US Pat. No. 10,599,123

MACHINE TOOL WITH FUNCTION TO AUTOMATICALLY MODIFY CUTTING CONDITIONS

FANUC CORPORATION, Yaman...

1. A machine tool for machining a workpiece according to a machining program,the machine tool configured to
receive data including
upper limits and lower limits for cutting conditions including a cutting width, a cutting depth, and a cutting load of a tool used for machining, and
a range of the machining program and a modification condition of the machining program for modifying at least one of the cutting width and the cutting depth of the tool,
store the received data in a memory of the machine tool,
automatically modify, based on the modification condition, the at least one of the cutting width and the cutting depth of the tool in the machining program, and
calculate a cutting load imposed upon cutting, based on the modified at least one of the cutting width and the cutting depth,
wherein the machine tool includes a controller configured to
determine whether or not (i) the modified cutting width or cutting depth and (ii) the calculated cutting load fall within ranges between the received upper limits and the received lower limits of the cutting width, cutting depth and cutting load, respectively, and
in response to a determination result that (i) the modified cutting width or cutting depth and (ii) the calculated cutting load fall within the ranges between the received upper limits and the received lower limits of the cutting width, cutting depth and cutting load, respectively,
modify the machining program to apply the modified at least one of the cutting width and the cutting depth in accordance with the range of the machining program stored in the memory, and
execute an actual operation according to the modified machining program.

US Pat. No. 10,601,180

LOCK MECHANISM

FANUC CORPORATION, Yaman...

1. A lock mechanism for locking inside a casing a plurality of printed circuit boards which are connected through connectors to a backplane inside the casing, whereinthe lock mechanism has an engaging member provided with a plurality of engaging pieces respectively engageable with engaged portions which are respectively formed in the plurality of printed circuit boards; and
the engaging pieces are configured such that the printed circuit boards are pressed in a direction to fit the connectors of the printed circuit boards with the connectors of the backplane when the engaging pieces are respectively engaged with the engaged portions.

US Pat. No. 10,589,420

HAND DEVICE

Fanuc Corporation, Yaman...

1. A hand device, comprising:a first hand fixed to a robot arm;
a second hand that is not fixed to the robot arm and that has a workpiece stage on which a workpiece is to be placed and also that is to be coupled to the first hand;
a positioning mechanism that positions the second hand relative to the first hand when the second hand is coupled to the first hand;
a coupling mechanism capable of coupling the second hand having been positioned by the positioning mechanism to the first hand, and also capable of uncoupling the second hand from the first hand;
wherein, due to the coupling, moving the first hand by the robot arm results in simultaneous movement of the workpiece and the second hand;
wherein the hand device is configured to clamp the workpiece between the first hand and the second hand by moving at least a part of the first hand toward the second hand;
wherein the coupling by the coupling mechanism restricts a movement of the first hand in a direction away from the second hand; and
wherein the coupling mechanism comprises:
a first engaging member provided in the first hand;
a second engaging member provided in the second hand; and
an engaging member driving device that is provided in the first hand and that moves the first engaging member in a predetermined direction to engage the first engaging member with the second engaging member in order to couple the second hand to the first hand in a state where the second hand has been positioned by the positioning mechanism.

US Pat. No. 10,571,882

CONTROLLER

FANUC CORPORATION, Yaman...

1. A controller for a robot or a machine tool, the controller comprising:an input key including a fingerprint detection unit to be touched by a finger of an operator, the fingerprint detection unit having input key information linked in advance therewith, and the input key having a respective function associated therewith; and
a control unit, wherein
the control unit comprises:
a key information transmission part that transmits the input key information if the operator touches the fingerprint detection unit;
a key information receiving part that receives the input key information from the key information transmission part; and
an individual identification information specification part that determines whether fingerprint information of a finger that has touched the fingerprint detection unit matches stored operator identification information; and
a key information determination part that:
enables the input key information and the function associated with the input key if the individual identification information specification part has determined that the fingerprint information matches stored operator identification information, and
disables the input key information and the function associated with the input key if the individual identification information specification part has failed to determine that the fingerprint information matches stored operator identification information.

US Pat. No. 10,545,477

NUMERICAL CONTROLLER HAVING CUTTING IN/OUT MOTION INSERTING FUNCTION OR CIRCULAR MOTION INSERTING FUNCTION

FANUC Corporation, Minam...

1. A numerical controller configured to control a machine tool according to a machining program, the machine tool performing lathe-turning machining in which a cutting tool moves in contact with a rotating workpiece to form the workpiece into a desired shape, the numerical controller comprising:a processor configured to:
analyze operation conditions for circular motion instructed in the machining program;
insert and remove the circular motion that is generated based on the analyzed operation conditions into the lathe-turning machining; and
insert the circular motion, of which the tangential speed is the same as the feeding speed for cutting in the location where the circular motion is inserted during the lathe-turning machining, into the lathe-turning machining,
wherein a circular motion execution flag exec_f represents whether the circular motion is being executed, and
the circular motion is inserted into the cutting of the workpiece to allow the workpiece and the cutting tool to separate from each other to efficiently cool the cutting tool and address reduction of service life of the cutting tool.

US Pat. No. 10,511,612

SYSTEM AND METHOD OF DETECTING INTRUSION INTO COMMUNICATION ENVIRONMENT

FANUC CORPORATION, Yaman...

1. A system configured to detect intrusion into a communication environment in which a plurality of communication devices is communicably connected via a communication network, the system comprising a processor configured tomonitor information or communication in the communication environment and detect occurrence of a security incident in the communication environment,
simulatively execute a normal workflow, which is predetermined to be executed in the communication environment by at least one of the communication devices, in a test communication environment provided as a part of the communication environment or another communication environment different from the communication environment, in response to detecting the security incident,
monitor information or communication in the test communication environment when the normal workflow is executed in the test communication environment,
set, as the test communication environment, a virtual communication environment in which at least two virtual communication devices virtualizing at least two of the communication devices are communicably connected via a virtual communication network virtualizing the communication network, in response to detecting the security incident,
analyze the security incident,
determine a degree of risk of the security incident,
in response to determining that the degree of risk of the security incident is higher than a predetermined threshold,
disconnect the communication between the test communication environment and the part of the communication environment other than the test communication environment, when the test communication environment is provided as the part of the communication environment, and
disconnect the communication between the test communication environment and the communication environment, when the test communication environment is provided as the another communication environment, and
simulatively allow events of the information or communication anomalies, which are predicted to occur due to the intrusion into the communication environment when the normal workflow is executed, to occur when the normal workflow is executed in the test communication environment.

US Pat. No. 10,444,731

CONTROLLER AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A controller that performs synchronous control of a slave axis so that the slave axis is synchronized with a position of a master axis, the controller comprising:a machine learning device that learns a future predicted position of the master axis with respect to an operation state of the master axis, wherein
the machine learning device includes
a state observing section that observes, as a state variable indicating a current state of an environment, master axis predicted position data indicating the future predicted position of the master axis and master axis operation state data indicating the operation state of the master axis,
a judgment data acquiring section that acquires judgment data indicating a properness judgment result of a synchronization error of the slave axis, and
a learning section that learns the future predicted position of the master axis by correlating the future predicted position of the master axis with the master axis operation state data by using the state variable and the judgment data.

US Pat. No. 10,437,235

NUMERICAL CONTROLLER HAVING A MACHINING TIME PREDICTION FUNCTION

Fanuc Corporation, Yaman...

1. A numerical controller performing machining of a workpiece by controlling a machine including at least one axis based on a machining program, the numerical controller comprising:a reference machining time prediction unit for, prior to a first actual machining by the machine, predicting a reference machining time corresponding to a machining time not considering acceleration/deceleration of the axis based on the machining program;
an acceleration/deceleration frequency prediction unit for, prior to the first actual machining by the machine, predicting the number of times of acceleration/deceleration of the axis in the machining based on the machining program;
a data storage unit for storing information related to a deviation time corresponding to a difference between a first actual machining time corresponding to a machining time required for the first actual machining by the machine and the reference machining time;
a correction time calculation unit for calculating, after the first actual machining, a correction time for correcting the reference machining time based on the number of times of acceleration/deceleration predicted by the acceleration/deceleration frequency prediction unit and the information related to the deviation time stored in the data storage unit; and
a machining time prediction unit for calculating a predicted machining time for a second actual machining subsequent to the first actual machining, by correcting the reference machining time using the correction time.

US Pat. No. 10,427,262

MACHINE TOOL WITH ROTARY TABLE WITH SUPPRESSED DIVERGENCE BETWEEN ESTIMATE BRAKE LIFTTIME AND ACTUAL BRAKE LIFETIME

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:a rotary table configured to mount a workpiece thereupon;
a brake configured to retain the rotary table at an indexed position;
a display;
a controller configured to calculate a disturbance torque imposed on the brake while the rotary table is retained by the brake; and
a memory configured to store a table in which a plurality of values of a first coefficient corresponds to a plurality of different sizes of the disturbance torque;
wherein
the controller is configured to, each time the disturbance torque is imposed on the brake,
calculate a size of the disturbance torque,
find a value of the first coefficient corresponding to the calculated size of the disturbance torque based on (i) the calculated size of the disturbance torque, and (ii) the table stored in the memory,
accumulate the found value of the first coefficient, and
cause the display to generate an indicator of necessity of a replacement of the brake in response to a determination that the value of the first coefficient accumulated over multiple times when the disturbance torque is imposed on the brake reaches a predetermined value.

US Pat. No. 10,327,328

PRINTED CIRCUIT BOARD

FANUC CORPORATION, Yaman...

1. A printed circuit board comprising:a main printed circuit board in which a wiring pattern is formed on an insulated substrate;
a deterioration detection wiring board in which deterioration detection wiring which is wiring having a form whereby deterioration is promoted compared to the wiring pattern is formed on a separate insulated substrate from the main printed circuit board, and is exchangeably connected to the main printed circuit board in a vicinity thereof by way of a replacement-enabling connection part;
a plurality of pad parts formed on the separate insulated substrate, each one of the plurality of pad parts positioned separately from other pad parts of the plurality of pad parts by a distance;
a deterioration detection wiring pattern formed on the separate insulated substrate, the deterioration detection wiring pattern positioned to connect a first pad part of the plurality of pad parts to a second pad part of the plurality of pad parts; and
a solder resist, the solder resist positioned to cover each one of the plurality of pad parts and positioned to partially cover the deterioration detection wiring pattern to form an interrupted coverage of the solder resist at a plurality of locations such that the deterioration detection wiring pattern is exposed to air at the plurality of locations between the first pad part and the second pad part.

US Pat. No. 10,232,457

ARC WELDING ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. An arc welding robot system that performs automatic arc welding by detecting a welding current flowing while welding proceeds with weaving of a welding torch and making the welding torch trace a weld line in a welding work as a center of the weaving using an arc sensor,the arc welding robot system comprising a robot controller and a teaching operation terminal,
the robot controller comprising:
the arc sensor; and
a welding current storage that stores the current value of a welding current detected by the arc sensor during implementation of the arc welding,
the teaching operation terminal comprising:
a display on which data is displayed; and
a processor configured to:
display the current value and the waveform of the welding current in any weaving cycle on the display;
display a sampling current area on the display; and
shift the waveform of the welding current in a temporal axis direction on the display based on a delay time adjustment value.

US Pat. No. 10,226,836

CONTROLLER OF LASER MACHINING DEVICE AND CONTROLLING METHOD FOR REDUCING APPROACH TIME

FANUC CORPORATION, Yaman...

1. A controller for controlling a laser machining device, wherein the laser machining device includes a nozzle for radiating laser, the controller comprising:a processor programmed to specify a target gap amount and a tolerance of the target gap amount, the target gap amount corresponding to a distance between the nozzle and a workpiece during laser machining; and
a sensor configured to detect an actual gap amount between the nozzle and the workpiece,
wherein the processor is programmed to
control a position of the nozzle based on the target gap amount and the actual gap amount,
determine whether or not positioning of the nozzle is completed in accordance with the target gap amount and the tolerance of the target gap amount,
determine whether or not completion of the positioning of the nozzle is expected, and
determine whether or not a subsequent process is to be carried out in a state where completion of the positioning of the nozzle is expected, wherein the subsequent process has been designated in the controller to be carried out after the positioning of the nozzle is completed,
wherein the processor is programmed to
in response to a determination that the subsequent process is to be carried out in a state where completion of the positioning of the nozzle is expected,
cause the subsequent process to be carried out at a time when the processor determines that completion of the positioning of the nozzle is expected, and
in response to a determination that the subsequent process is not to be carried out in a state where completion of the positioning of the nozzle is expected,
cause the subsequent process to be carried out at a time when the processor determines that the positioning of the nozzle is completed, and
wherein the processor is programmed to determine whether or not completion of the positioning of the nozzle is expected, based on
(1) whether or not the nozzle and the workpiece have come in contact with each other, and
(2) information on an operational state of the nozzle, when the nozzle has not come in contact with the workpiece.

US Pat. No. 10,216,378

MACHINE CONTROL SYSTEM DISPLAYING OPERATION INFORMATION OF MACHINE ON DISPLAY DEVICE CORRESPONDING TO OPERATOR

FANUC CORPORATION, Yaman...

1. A machine control system comprising:at least one machine including an industrial robot or a machine tool;
at least one controller which controls the at least one machine;
a display device which displays operation information for operating the at least one machine or the at least one controller;
an external storage device which stores personal information for specifying an operator and an operation information screen displayed on the display device by the operator in association with each other;
an authentication unit to authenticate the operator based on the personal information stored in the external storage device;
wherein the external storage device stores the operation information screen displayed on the display device at each operation and the number of times the screen is displayed, and the operation information screen displayed on the display device at a last operation, for each of the plurality of different pieces of personal information,
wherein after the authentication unit authenticates the operator, the at least one controller connected to the display device is adapted to:
if the controller has never connected to the external storage device, read out, from the external storage device, the operation information screen which was most frequently displayed from among the plurality of operation information screens stored for each personal information in the external storage device, and display the same on the display device, and
if the controller has previously connected to the external storage device, read out, for each piece of personal information, the operation information screen displayed on the display device at the end of the operation for each piece of personal information, from the external storage device, and display the same on the display device.

US Pat. No. 10,146,203

SPOT WELDING SYSTEM FOR MEASURING POSITION OF WELDING POINT AT WHICH WELDING IS PERFORMED

FANUC CORPORATION, Yaman...

1. A spot welding system comprising:a spot welding gun including a pair of electrodes disposed so as to be opposed to each other;
a robot which changes a relative position of the spot welding gun and a workpiece so that the workpiece is disposed between the pair of electrodes; and
a control device which controls the spot welding gun and the robot, wherein
the robot includes a robot position detector for detecting a position and a posture of the robot,
the spot welding gun includes a movable electrode which can move, an opposite electrode which is opposed to the movable electrode, an electrode drive motor which drives the movable electrode, and an electrode position detector for detecting a position of the movable electrode,
the control device includes a storage part which stores an operation program and is formed so as to be capable of detecting a state value of the electrode drive motor including an electric current, a torque, or a number of rotations of the electrode drive motor, and further, drives the movable electrode and is formed so as to perform a position detection control which detects a position of the workpiece based on the position of the movable electrode when the state value of the electrode drive motor deviates from a predetermined range,
a plurality of welding points are set in the operation program and the operation program includes a workpiece detection parameter for performing the position detection control,
the workpiece detection parameter is set at each welding point, and
the control device performs the position detection control based on the workpiece detection parameter obtained from the operation program with respect to each welding point.

US Pat. No. 10,128,727

ROTOR MEMBER, ROTOR, ELECTRIC MOTOR, MACHINE TOOL, AND MANUFACTURING METHOD OF ROTOR

FANUC CORPORATION, Yaman...

1. A method for manufacturing a rotor, the rotor including a rotating axis having a tapered surface on an outer peripheral surface of the rotating axis and a rotor member fixed to the tapered outer peripheral surface of the rotating axis, comprising the steps of:providing a sleeve part, a plurality of magnets and a cylindrical holding member, as component parts of the rotor member, wherein
the sleeve part is a cylindrical sleeve part including a circular outer peripheral surface and an inner peripheral surface having a tapered surface which is fitted to the tapered outer peripheral surface of the rotating axis by interference fit,
the sleeve part is configured by an iron-based metal,
at least a part of the outer peripheral surface of the sleeve part is subjected to a phosphoric acid-based, a sulfuric acid-based, or a hydrochloride acid-based chemical surface treatment,
a plurality of magnets include an inner peripheral surface having a curvature radius larger than a curvature radius of the outer peripheral surface of the sleeve part,
the cylindrical holding member is configured by fiber reinforced resin having a carbon fiber,
fabricating the rotor member provided with a gap of a radial direction between the outer peripheral surface of the sleeve part and the inner peripheral surface of each of the magnets, the gap being increased toward a circumferential edge portion of the magnets, comprising the steps of:
arranging the plurality of magnets at least in the circumferential direction of the sleeve part along the outer peripheral surface of the sleeve part while facing the outer peripheral surface of the sleeve part with the inner peripheral surface of the magnets each other;
impregnating an adhesive between the sleeve part and the magnets, the adhesive being an acryl-based anaerobic adhesive containing hydroperoxide;
arranging the holding member so as to surround the plurality of magnets;
press-fitting the rotor member to a radial outside of the rotating axis before the adhesive is hardened;
allowing the outer peripheral surface of the sleeve part and the inner peripheral surface of the magnets to make contact with each other such that the gap is eliminated by diameter expansion of the sleeve part due to the press-fitting of the rotating axis when the rotor member is press-fitted; and
allowing the sleeve part and the plurality of magnets to be interposed between the rotating axis and the holding member by elastic restoring force generated in the holding member toward a radial inside by the press-fitting of the rotating axis.

US Pat. No. 10,088,834

CONTROL SYSTEM HAVING FUNCTION FOR OPTIMIZING CONTROL SOFTWARE OF NUMERICAL CONTROLLER IN ACCORDANCE WITH MACHINING PROGRAM

FANUC Corporation, Minam...

1. A control system including an execution environment of control software that analyzes a control program and executes processing for outputting control information on a machine as a control object, the control system including at least one processor and a memory that stores instructions, when executed by the at least one processor, performs a method comprising:receiving the control program and a use history of the control program;
calculating a use frequency of a function used by the control program based on the control program, or on the control program and the use history of the control program;
optimizing a source code of the control software to generate an optimized source code based on the calculated use frequency of the function used by the control program;
generating optimized control software based on the optimized source code; and
transferring the optimized control software to the execution environment of the control software.

US Pat. No. 10,058,944

WIRE ELECTRIC DISCHARGE MACHINE DETERMINING WHETHER OR NOT ELECTRICAL DISCHARGE MACHINING OF WORKPIECE CAN BE PERFORMED

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine configured to perform wire electrical discharge machining while moving a wire electrode, which is stretched between upper and lower wire guides, relative to a table on which a workpiece is placed and determine whether or not electrical discharge machining of the workpiece can be performed, the wire electric discharge machine comprising:a contact detection device configured to detect the contact between the wire electrode and the workpiece by applying a predetermined voltage to the wire electrode; and
a numerical control device configured to:
control operations of the wire electric discharge machine,
detect the breaking of the wire electrode,
determine that wire electrical discharge machining of the workpiece can be performed
when the wire electrode is moved toward the workpiece and the contact detection device detects the contact,
when the breaking of the wire electrode is not detected, and
when the contact detection device detects
a drop of voltage applied to the wire electrode, or
a current flowing between the wire electrode and the workpiece, and
determine that the wire electrical discharge machining of the workpiece cannot be performed when the breaking of the wire electrode is detected before the contact detection device detects the contact; and
display a result of the determination.

US Pat. No. 10,061,296

SAFETY SWITCH DEVICE, OPERATION TERMINAL, AND MACHINE CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A machine control system comprising:a portable operation terminal including a communication unit which communicates with a peripheral device and a touch panel unit used for display and input, the operation terminal outputting machine operation information for operating a machine via the communication unit based on an input operation to the touch panel unit;
a controller which controls operation of the machine based on the machine operation information received from the operation terminal; and
a safety switch device which is removably mounted on the operation terminal and includes a switch unit which outputs a stop instruction signal for issuing an instruction to stop the machine by being operated, and a packet generation unit which converts the stop instruction signal output by operating the switch unit into a packet and outputs the packet to the communication unit of the operation terminal,
wherein the operation terminal transfers the packet received from the safety switch device to the controller via the communication unit, and
the controller restores a stop instruction signal from the packet received from the operation terminal and stops the machine based on the restored stop instruction signal.

US Pat. No. 10,048,677

NUMERICAL CONTROLLER THAT SHORTENS CYCLE TIME OF MACHINING PROGRAM

FANUC Corporation, Minam...

1. A numerical controller that controls a machine tool including control axes based on a machining program, the numerical controller comprising a processor configured to:decode a block read out from the machining program;
calculate execution data to be used for control over the machine tool; and
control the machine tool based on the calculated execution data,
wherein
if, based on the calculated execution data, a travel amount resulting from travel instructions for the control axes of the machine tool is determined to result in zero movement of the control axes, the processor is configured to modify the execution data by omitting the block read out from the machining program,
the travel instructions for the control axes of the machine tool determined to result in zero movement of the control axes consisting of at least one of a tool correction vector and a setting value for a macro variable.

US Pat. No. 10,042,712

NUMERICAL CONTROLLER

FANUC CORPORATION, Yaman...

1. A numerical controller which is capable of backing up data stored in a volatile memory to an external memory via an interface, the numerical controller comprising:a processor;
a non-volatile memory, controlled by the processor to store an address of a valid data areas in the volatile memory;
a detection circuit, controlled by the processor to detect abnormality of data when data stored in the volatile memory is read out; and
a backup processing continuance unit, controlled by the processer to:
compare an address of the abnormal data stored in the volatile memory with a valid data area address stored in the non-volatile memory, when the detection circuit detects abnormal data,
stop backup processing if the comparison indicates that the address of the detected abnormal data matches the valid data area address, and
continue backup processing if the comparison indicates that the address of the detected abnormal data does not match the valid data area address.

US Pat. No. 10,040,139

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 MACHINING

FANUC CORPORATION, Yaman...

3. A program creation apparatus for a wire electric discharge machine for performing turning tool machining, the program creation apparatus configured to create a program for machining an edge part of the turning tool, the program creation apparatus comprising:a storage unit configured to store a machining program for machining the turning tool;
an input unit configured to input a result obtained by measuring a height from a reference face at a plurality of measurement points on a route of the machining program;
an error calculation unit configured to calculate, for each measurement point among the plurality of measurement points, a height error of a surface of a tip attached to the turning tool with respect to a reference rake face having no tip-attaching error, on the basis of the inputted value of the measured height;
a correction amount calculation unit configured to 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) an angle formed by a rake face and a flank face of the turning tool that is determined in design, 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
a machining program creation unit configured to create a new machining program obtained by correcting the machining program on the basis of the calculated correction amount.

US Pat. No. 10,035,206

CONTROLLER FOR WIRE ELECTRIC DISCHARGE MACHINE HAVING CONSUMABLE EXCHANGE FUNCTION

FANUC CORPORATION, Yaman...

1. A controller for a wire electric discharge machine, the controller creating a machining path based on an axis movement instruction in a machining program, performing programmed operation in accordance with the machining program, and moving a wire electrode and a workpiece relative to each other in accordance with the created machining path, the controller is configured to:execute the machining program;
monitor whether a consumable has reached an end of life thereof;
monitor a discharge state during the programmed operation;
refer to a result of monitoring the consumable and a result of monitoring the discharge state to evaluate time for exchange of the consumable;
output an instruction to stop the executed programmed operation when the time for exchange of the consumable has been reached;
output an instruction to exchange the consumable to exchange the consumable when receiving the instruction to exchange the consumable and monitor whether the consumable has been exchanged; and
output an instruction to resume the programmed operation when the exchange of the consumable has been completed.

US Pat. No. 10,035,268

MEASUREMENT SYSTEM USED FOR CALIBRATING MECHANICAL PARAMETERS OF ROBOT

FANUC CORPORATION, Yaman...

1. A measurement system comprising:a multi-articulated robot including a light receiving device at a front end of an arm; and
a machine tool that is provided inside a range of operation of the robot and utilizes the light receiving device to measure a target fastened to the machine tool, wherein
the target has a geometric feature enabling identification of information on a position of an image of the target formed on a light receiving surface of the light receiving device and information on a length relating to a distance between the light receiving device and the target, and
the measurement system further comprises:
a measurement position/posture determining part determining a plurality of stop positions of the machine tool and a plurality of measurement positions and postures of the robot whereby when the machine tool is at the plurality of stop positions, the target is included in a field of vision of the light receiving device,
a positioning part successively positioning the machine tool at the plurality of stop positions and successively positioning the robot at the plurality of measurement positions and postures corresponding to the plurality of stop positions,
a target detecting part forming the image of the target on the light receiving surface of the light receiving device and using information on the position of the target and information on the length as the basis to detect information on the distance between the light receiving device and the target,
a robot moving part moving the robot so that in a state where the machine tool is at a stop position and the robot is at a measurement position and posture, a difference between a position of the target on the light receiving surface of the light receiving device and a predetermined location of the image acquired by the light receiving device becomes within a predetermined error and a difference of information on the distance and a predetermined value becomes within a predetermined error,
a robot end point storing part storing positions and postures of the robot after being moved by the robot moving part as end points linked with the stop positions of the machine tool and the measurement positions and postures, and
a calculating part using the plurality of end points corresponding to the plurality of stop positions and the plurality of measurement positions and postures and the plurality of stop positions as the basis to simultaneously find error of the mechanical parameters of the robot and a correspondence between the coordinate system of the robot and the coordinate system of the machine tool.

US Pat. No. 10,001,212

CONTROL SYSTEM OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A control system of a machine tool,the machine tool including
a rotary spindle,
a feed axis configured to generate feed motion of said spindle with respect to a workpiece, and
a spindle motor configured to rotate the spindle,
the control system comprising:
a current detector configured to detect a current value of a current flowing through the spindle motor,
a temperature detector configured to detect, at a first time, a temperature value of a temperature of said spindle motor,
a load calculator configured to calculate a load of the spindle motor based on the current value detected by the current detector,
a controller configured to
based on a predetermined maximum allowable temperature of said spindle motor and the temperature value detected at said first time, estimate a remaining time from the first time when the temperature value is detected until a second time when the temperature of said spindle motor reaches the maximum allowable temperature in a case where the current value detected by said current detector at said first time continues to flow through said spindle motor from the first time to the second time,
perform override control of the spindle motor by changing a speed of said feed motion of the spindle in accordance with the estimated value of said remaining time, and
repeat the override control of the spindle motor in accordance with the estimated value of said remaining time until the load of the spindle motor calculated by the load calculator is equal to or less than a continuous rated load of the spindle motor.

US Pat. No. 9,983,608

OUTPUT MODULE FOR PROGRAMMABLE CONTROLLER

FANUC CORPORATION, Yaman...

1. An output module for a programmable controller, the output module comprising:a control circuit configured to receive an instruction from a higher-level device;
load output circuits configured to receive an ON/OFF instruction from the control circuit and control current flowing through a load connected; and
an output common terminal, to which an external power supply for load configured to supply load current to each of the load output circuits is configured to be connected, wherein
the output module further includes an output common output circuit configured to supply load current to each of the load output circuits,
the control circuit is configured to control ON/OFF of the output common output circuit in accordance with an instruction from the higher-level device,
the output common output circuit internally includes a monitoring circuit configured to monitor a voltage value and a current value at an ON time, and
the monitoring circuit is configured to transmit a status of the output common output circuit to the control circuit.

US Pat. No. 9,958,853

NUMERICAL CONTROLLER HAVING TAPER ANGLE COMPENSATING FUNCTION OF TAPER MACHINING IN SKIVING

FANUC CORPORATION, Minam...

1. A numerical controller that controls a machine according to a program,wherein the machine performs skiving in which cutting is performed by relatively moving a tool with respect to a workpiece in an axial direction of a first axis, an axial direction of a second axis orthogonal to the first axis, and an axial direction of a third axis orthogonal to the first axis and the second axis,
the workpiece rotates about the first axis, and
the tool has a linear blade arranged substantially parallel to a plane including the first axis and the second axis and inclined with respect to the first axis,
the numerical controller comprising:
a tool data storage unit that stores tool data including at least information on the inclination of the linear blade with respect to the first axis and information on a length of the linear blade;
an instruction block analyzing unit that reads an instruction block from the program, analyzes the instruction block and generates and outputs instruction data indicating a movement amount of the tool on each axis instructed by the instruction block;
a tool movement amount compensating unit that calculates, based on at least the tool data stored in the tool data storage unit, a compensating amount for compensating the movement amount such that an actually-machined taper angle matches a taper angle instructed by an instruction block, and outputs a compensated instruction data which is obtained by compensating the instruction data, output by the instruction block analyzing unit, based on the compensating amount, in case where the instruction block instructs taper machining in which machining is performed such that a machined surface of the workpiece takes a taper angle, formed by the first angle and the third angle, with respect to the first axis, on a plane including the first axis and the third axis; and
an interpolating unit that executes interpolation processing based on the instruction data or the compensated instruction data, and generates and outputs interpolation data for every interpolation cycle.

US Pat. No. 9,933,771

MACHINE TOOL HAVING FUNCTION OF SAFETY CONTROLLING PERIPHERAL DEVICES

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:two independent sequence programs for safety function to monitor status of safety signals;
two storage units in which the sequence programs for safety function are separately saved; and
first and second CPUs to respectively activate the sequence programs for safety function,
wherein the storage units each include
a fixed program area in which programs are not modifiable, and
a variable program area in which programs are addable and modifiable,
wherein the sequence programs for safety function for controlling over components of the machine tool are stored in advance in the fixed program area,
wherein a peripheral device program area that is partitioned into a plurality of areas is included in the variable program area,
wherein the first and second CPUs are configured to monitor whether input-output signals that are inputted and outputted with execution of peripheral device programs stored in the respective peripheral device program areas coincide with each other or not, and
wherein the second CPU is configured to execute the sequence programs for safety function at execution cycles predetermined separately for each of the sequence programs for safety function.

US Pat. No. 9,933,776

NUMERICAL CONTROL DEVICE TO CHANGE PARAMETER USING NC PROGRAM

FANUC Corporation, Minam...

1. A numerical control device configured to change parameter using NC program, comprising:an NC program storing unit configured to store the NC program including a parameter rewriting command for changing a parameter set in the numerical control device;
a parameter storage unit configured to store a plurality of parameters of the numerical control device;
a numerical control device manipulation unit configured to acquire, from an operator, a parameter to be changed and a value of the parameter to be changed, and configured to send a command to rewrite the parameter value of the received parameter to be changed;
a parameter change unit configured to specify the parameter to be changed from the plurality of parameters stored in the parameter storage unit based on the acquired parameter received from the operator, and configured to rewrite the specified parameter to the acquired parameter value;
a parameter change monitoring unit configured to detect a change of the parameter by monitoring the parameter change unit, and configured to output a command for starting the NC program based on the detected change of the parameter; and
an NC program execution unit configured to execute the NC program based on the command from the parameter change monitoring unit.

US Pat. No. 9,902,031

SPINDLE PHASE INDEXING DEVICE FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A spindle phase indexing device for a machine tool comprising:
a guide rail which is detachably or fixedly attached to a workpiece table of the machine tool;
a phase indexing jig configured to travel on the guide rail, the phase indexing jig including a concave or convex first fitting
part;

a cutting tool attached to a spindle of the machine tool, the cutting tool including a convex or concave, respectively, second
fitting part configured to be fitted with the first fitting part; and

a controller configured to store therein a phase of the spindle at a point in time when the first fitting part and the second
fitting part are fitted together,

wherein the first fitting part and the second fitting part are formed so as to constrain rotation of the cutting tool when
the first fitting part and the second fitting part are fitted together.

US Pat. No. 9,890,573

SLIDING DOOR OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A sliding door disposed in an opening of a cover surrounding a machine tool, the sliding door comprising:
a door frame; and
at least two door panels located inside the machine tool with respect to the door frame, wherein
the door frame comprises a lower door frame guide track,
the at least two door panels comprise a first door panel and a second door panel,
the first door panel is located closer to the door frame than the second door panel, and comprises
a lower door panel guide track, and
at least one sliding member configured to slide on a vertical surface of the lower door frame guide track,
the second door panel comprises at least two lower sliding members,
the at least two lower sliding members of the second door panel comprise
at least one first lower sliding member configured to slide on the vertical surface of the lower door frame guide track, and
at least one second lower sliding member configured to slide on a vertical surface of the lower door panel guide track.

US Pat. No. 9,893,490

LASER POWER-SUPPLY DEVICE THAT CONTROLS A PLURALITY OF LIGHT-EMITTING ELEMENTS

FANUC CORPORATION, Yaman...

1. A laser power-supply device comprising:
a light-emitting unit; and
a power-supply unit including a voltage input unit into which an AC voltage is inputted, a rectifier circuit that rectifies
the AC voltage, and a plurality of sub-switching regulator units; and

wherein:
the plurality of sub-switching regulator units are connected in parallel to an output of the rectifier circuit, and connected
to separate respective outputs of a current command unit,

the light-emitting unit includes a plurality of sub-light-emitting units,
each of the sub-light-emitting units includes one light-emitting element row in which a plurality of light-emitting elements
is connected in series, a current being supplied to the one light-emitting element row from each of the plurality of sub-switching
regulator units, and

each of the sub-switching regulator units includes a switching circuit, a smoothing circuit, a current detection circuit that
detects an output current, and a control circuit that controls the switching circuit on the basis of a respective current
command value received from the output of the current command unit, and a respective detected output current detected by the
current detection unit.

US Pat. No. 9,851,226

OPTICAL ENCODER FOR PREVENTING CROSSTALK

FANUC CORPORATION, Yaman...

1. An optical encoder comprising:
a movable slit part that is movable integrally with a target object to be measured and has a plurality of slit arrays spaced
apart from one another;

a light emitting part configured to emit light toward the plurality of slit arrays; and,
a plurality of light receiving parts arranged so as to correspond to the plurality of slit arrays and to detect light which
is emitted from the light emitting part and passes through the plurality of slit arrays,

wherein at least one light receiving part of the plurality of light receiving parts has an inner edge located on an inner
side relative to an optical axis of the light emitted from the light emitting part and an outer edge located on an outer side
relative to the optical axis, at least one of the inner edge and the outer edge being disposed at a greater distance from
the optical axis than an edge of a slit array corresponding to the at least one light receiving part, wherein the distance
remains constant throughout operation of the optical encoder, and

wherein the at least one the light receiving part is disposed within a range defined between two lines that extend parallel
to the optical axis from the inner edge of a first light blocking part located on the inner side of the slit array and from
the outer edge of a second light blocking part located on the outer side of the slit array, respectively, the first and second
light blocking part being a pair of light blocking part that extend adjacent to opposite sides of the slit array corresponding
to the at least one light receiving part and that do not allow light to pass therethrough.

US Pat. No. 9,823,096

REFLECTIVE TYPE OPTICAL ENCODER

Fanuc Corporation, Yaman...

1. An optical encoder comprising:
a rotary type code plate which has a first major surface, and a second major surface which faces the opposite side of said
first major surface,

a light emitter which emits light toward said first major surface, and
a light receiver which receives the light reflected by said code plate, wherein
said first major surface is provided with a nonplanar incident part which extends in a ring shape around a rotation axis of
said code plate and transmits the light emitted from said light emitter to the inside of said code plate,

said second major surface is provided with a planar primary reflection part which totally reflects the light which advances
through the inside of said code plate,

said first major surface is further provided with a code pattern part which extends in a ring shape around a rotation axis
of said code plate at a different position from said incident part, and which switches transmission/non-transmission of the
totally reflected light by said primary reflection part in accordance with a rotation position of said code plate, and

said code pattern part has nonplanar exit parts which transmit the totally reflected light by said primary reflection part
toward said light receiver, and planar secondary reflection parts which again totally reflect the totally reflected light
by said primary reflection part, wherein the exit parts include a boundary surface angled relative to an incident angle of
the light to be totally reflected with respect to the second major surface such that the totally reflected light by the primary
reflection part reaches the boundary surface of the exit parts at an incident angle of substantially zero and the exit parts
transmit the totally reflected light to the light receiver without being substantially refracted, said secondary reflection
parts and said exit parts being arranged alternately in a circumferential direction around the rotation axis of said code
plate.

US Pat. No. 9,751,172

WORKPIECE FASTENING DEVICE FOR PRESSING PLURALITY OF LOCATIONS OF WORKPIECE

FANUC CORPORATION, Yaman...

1. A workpiece fastening device comprising
a table on which a workpiece is placed, said workpiece having notched parts which extend along a portion in a height direction
thereof,

an arm which can move so as to press said workpiece which is placed on said table against said table, and
a drive part which drives said arm, wherein
said arm comprises a connection member which is connected to said drive part, and a rotary member which is attached to said
connection member to be able to rotate about a rotation axis which extends in a direction intersecting with a movement direction
of said arm, and

said rotary member comprises a first pressing part and second pressing part which are arranged at the opposite sides of said
rotation axis, each of said first pressing part and second pressing part sticks out in a direction of said rotation axis and
has a dimension and shape corresponding to each of said notched parts, and

said first pressing part and second pressing part presse said notched parts of said workpiece which is placed on said table
against said table by each of said first pressing part and second pressing part.

US Pat. No. 9,751,178

SERVO CONTROL APPARATUS HAVING FUNCTION OF SENSORLESS CONTROLLED STOP

Fanuc Corporation, Yaman...

1. A servo control apparatus for controlling a servomotor installed in a machine tool or an industrial machine, comprising:
a sensor unit for detecting a speed of the servomotor and outputting the speed as speed feedback; an amplifier for driving
the servomotor, and feeding back a current flowing through the servomotor; a magnetic pole position detector for detecting
a magnetic pole position of the servomotor; a position controller for outputting a speed command based on a position command
for the servomotor and a position of the servomotor calculated from the detected speed; a speed controller for outputting
a current command based on the speed command and the detected speed; a current controller for outputting a voltage command
based on the current command and the detected current; a speed estimator for calculating an estimated speed based on the voltage
command; a magnetic pole position estimator for calculating an estimated magnetic pole position from the estimated speed;
a sensor malfunction detector for detecting a malfunction in the sensor unit; a stop position command generator for generating
a stop position command to stop the servomotor; a first switch for switching from the position command to the stop position
command, when the sensor malfunction detector has detected the malfunction in the sensor unit; a second switch for switching
from the magnetic pole position to the estimated magnetic pole position, when the sensor malfunction detector has detected
the malfunction in the sensor unit; and a third switch for switching from the speed feedback to the estimated speed, when
the sensor malfunction detector has detected the malfunction in the sensor unit.

US Pat. No. 9,751,217

ROBOT HAND FOR TRANSPORTING ARTICLE, ROBOT AND ROBOT SYSTEM PROVIDED WITH ROBOT HAND, AND METHOD FOR CONTROLLING ROBOT HAND

FANUC CORPORATION, Yaman...

1. A method of controlling a robot hand,
the robot hand including:
a base;
a first hand arm mounted on the base to be reciprocable on a first track parallel to a first axis, the first hand arm including
a holding part configured to hold an article, and the first hand arm configured to move the holding part between (i) a first
distal position away from the base in a first direction and (ii) a first proximal position closer to the base than the first
distal position; and

a second hand arm mounted on the base to be reciprocable on a second track parallel to the first axis, the second hand arm
including a counter balancer weight, and the second hand arm configured to move the counter balancer weight between (a) a
second distal position away from the base in a second direction opposite to the first direction and (b) a second proximal
position closer to the base than the second distal position,

wherein the first track and the second track are separate away from each other in a direction intersecting the first axis,
the method comprising:
moving the counter balancer weight from the second proximal position to the second distal position by the second hand arm;
moving the holding part from the first proximal position to the first distal position by the first hand arm, wherein the holding
part is moved from the first proximal position to the first distal position by the first hand arm after the counter balancer
weight is moved from the second proximal position to the second distal position by the second hand arm; and

holding the article by driving the holding part.

US Pat. No. 9,709,975

CONTROL SYSTEM OF SERVO MOTORS IMPROVING PROCESSING PRECISION OF PLURALITY OF AXES

FANUC CORPORATION, Yaman...

1. A control system of servo motors in a machine tool or an industrial machine which uses coordinated operations of a plurality
of axes including two mutually orthogonal axes which are driven by servo motors so as to process a workpiece into the shape
of a closed figure having a convex area existing in one quadrant defined by X-axis and Y-axis or a columnar member or conical
member with that closed figure positioned in parallel at a top end and bottom end, comprising
a host control device which generates position command values at every predetermined sampling period for processing said workpiece,
a servo control system which uses said position command values as the basis to drive said servo motors of the axes to operate
a driven member which processes said workpiece, and

position detectors which detect positions of said servo motors or a position of said driven member and further comprising:
a position error computing part which computes position error between said position command values and detected positions
of said servo motors,

a reference angle generating part, and
learning control parts
said reference angle generating part performs as follows:
designates any position inside of a closed figure which said position command value forms as the center point P and defines
this coordinate from the origin point (0,0) as P(Xo, Yo),

designates a reference point S which is the processing point one sampling point before on said closed figure and defines this
coordinate as S(Xs, Ys),

designates a processing point M at which processing is currently being performed and defines this coordinate as M(Xm, Ym),
calculates lengths PS, SM, and MP of sides of a triangle which connects the reference point S, the processing point M and
the center point P by using the following formula 1, formula 2, and formula 3,

PS=((Xs?Xo)2+(Ys?Yo)2)1/2  (1)

SM=((Xm?Xs)2+(Ym?Ys)2)1/2  (2)

MP=((Xo?Xm)2+(Yo?Ym)2)1/2  (3)

calculates an amount of change ?? per sampling period of the reference angle ? between two sides PS and MP by using the following
formula 4,

??=arccos(MP2+PS2?SM2)/(2*MP*PS)  (4) and

calculates reference angle ?n which monotonously increases or monotonously decreases from a current processing point at a
predetermined sampling period “n” as the cumulative value of the ??, and

said learning control parts perform angle synchronization type learning control based on said reference angle ?n and said
position error.

US Pat. No. 9,707,653

AUTOMATIC TOOL CHANGER OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. An automatic tool changer of a machine tool, the automatic tool changer comprising:
a spindle head rotatably supporting a spindle;
a tool magazine including a plurality of grips each configured to hold a respective tool;
a fulcrum about which the tool magazine is pivotable between
an approached position in which one grip among the plurality of grips is closer to the spindle head for tool replacement,
and

a separated position in which said one grip is further away from the spindle head; and
a magazine driving motor configured to turn the tool magazine about an axis for tool indexing when the tool magazine is at
the approached position,

wherein
the magazine driving motor is fixed to a non-movable unit of the machine tool,
the spindle head and spindle are movable relative to the non-movable unit,
the tool magazine includes a first power transmission unit,
the magazine driving motor includes a second power transmission unit,
when the tool magazine is at the approached position, the first-power transmission unit and the second power transmission
unit are connected with each other for power transmission from the magazine driving motor to the tool magazine to turn the
tool magazine about the axis for tool indexing, and

when the tool magazine is at the separated position, the first power transmission unit and the second power transmission unit
are disconnected from each other, and

wherein the first power transmission unit and the second power transmission unit are configured to be connected with each
other when the tool magazine is at the approached position, regardless of the position to which the spindle and the spindle
head are moved relative to the non-movable unit.

US Pat. No. 9,669,479

DATA COLLECTION SYSTEM FOR ELECTRIC DISCHARGE MACHINES

FANUC CORPORATION, Yaman...

1. A data collection system for electric discharge machines, comprising a computer connected with the electric discharge machines
over a data transmission path, wherein
information on machining conditions of an electric discharge machine, among the electric discharge machines, is stored in
a first storage unit of the electric discharge machine,

information sent from the electric discharge machine after completion of machining is collected by the computer,
the electric discharge machine comprises:
a detection unit that detects a physical quantity relating to machining conditions during machining either at predetermined
intervals or each time a moving part of the electric discharge machine has traveled a predetermined distance,

a determination unit that determines whether the physical quantity detected by the detection unit exceeds a predetermined
threshold or not,

the first storage unit that
stores the physical quantity or information indicating the fact that the physical quantity exceeds the threshold only when
the determination unit determines that the detected physical quantity exceeds the predefined threshold,

but does not store any information when the determination unit determines that the detected physical quantity does not exceed
the predefined threshold, and

a transmission unit that sends the physical quantity or the information indicating the fact that the physical quantity exceeds
the threshold, stored in the first storage unit, after the machining by the electric discharge machine, and

the computer comprises:
a reception unit that receives the physical quantity or the information indicating the fact that the physical quantity exceeds
the threshold sent from the transmission unit after the machining by the electric discharge machine, and

a second storage unit that stores the physical quantity or the information indicating the fact that the physical quantity
exceeds the threshold, received by the reception unit.

US Pat. No. 9,671,773

NUMERICAL CONTROL SYSTEM

FANUC Corporation, Minam...

1. A numerical control system in which a numerical controller and a plurality of units are connected via a daisy-chain serial
bus, and transmission from the numerical controller to the plurality of units is performed via the serial bus and transmission
from the plurality of units to the numerical controller is performed via the serial bus, wherein
the plurality of units are grouped into a first group and a second group, the units of the first group being closer to the
numerical controller relative to the units of the second group, and

a communication cycle in the communication between the numerical controller and the units of the second group is set n times
(n is an integer of 2 or larger) as large as a communication cycle in the communication between the numerical controller and
the units of the first group, and wherein

among the units of the second group, a certain number of units is classified into a second group first subgroup, and the remaining
units of the second group are classified into a second group second subgroup, the second group first subgroup being closer
to the numerical controller relative to the second group second subgroup, and

the units of the second group first subgroup receive and store signals transmitted from the units of the second group second
subgroup toward the numerical controller, and select the stored signals or signals of the units of the second group first
subgroup, and transmit the selected signals to the numerical controller in each communication cycle of the first group.

US Pat. No. 9,665,087

NUMERICAL CONTROLLER OF MACHINE TOOL FOR DRILLING

FANUC Corporation, Minam...

1. A numerical controller that includes a feed shaft configured to move a rotary tool and a spindle configured to rotatably
drive the rotary tool to perform drilling work for forming a hole in a workpiece using to rotary tool, the numerical controller
comprising:
a specified arbitrary area setting unit configured to set a specified arbitrary area including a contact position where the
workpiece and the rotary tool come in contact with each other for the first time, above and below the contact position in
the machining direction of the rotary tool;

an updating unit configured to update a current position of the feed shaft configured to move the rotary tool;
a speed changing unit configured to accelerate a feed speed of the feed shaft and a spindle rotation speed of the spindle
in accordance with the current position of the rotary tool when the current position of the rotary tool is in the specified
arbitrary area;

an instructing unit configured to instruct:
a hole bottom position being the position where drilling ends,
a drilling instruction start position,
a reference feed speed as a feed speed during drilling after an end position of the specified arbitrary area,
a reference spindle rotation speed as a spindle rotation speed during drilling after the end position of the specified arbitrary
area,

a specified arbitrary area start position,
a specified arbitrary area end position,
a specified arbitrary feed speed ratio of the feed speed of the feed shaft from the drilling instruction start position to
the specified arbitrary area start position with respect to the reference feed speed, and

a specified arbitrary spindle rotation speed ratio of the spindle rotation speed of the spindle from the drilling instruction
start position to the specified arbitrary area start position with respect to the reference spindle rotation speed; and

a speed ratio calculating unit configured to, in the specified arbitrary area, calculate a feed speed ratio of the feed shaft
of the rotary tool in the current position from the specified arbitrary feed speed ratio and calculate a spindle rotation
speed ratio of the spindle from the specified arbitrary spindle rotation speed ratio, wherein

the speed changing unit is further configured to calculate the feed speed and the spindle rotation speed in the current position
from the feed speed ratio and the spindle rotation speed ratio, and wherein

the reference feed speed is larger than the feed speed of the feed shaft from the drilling instruction start position to the
specified arbitrary area start position, and the reference spindle rotation speed is larger than the spindle rotation speed
of the spindle from the drilling instruction start position to the specified arbitrary area start position.

US Pat. No. 9,605,701

FRONT SHEET FIXING STRUCTURE

FANUC CORPORATION, Yaman...

1. A device, comprising:
a front sheet;
a housing comprising an opening for a display device or control panel; and
a front sheet fixing structure attaching the front sheet to the housing, wherein a front metal plate comprising an opening
corresponding to the opening of the housing and having a thermal expansion coefficient substantially equal to that of the
front sheet is secured to the housing on the side of an inner bottom surface of the housing via a stress-relief adhesive or
a double-sided tape, and the front sheet is attached to the inner bottom surface of the housing so as to close the opening
of the housing via the front metal plate; wherein:

the housing comprises a first wall and a second wall, wherein the inner bottom surface is formed on the first wall and the
opening is bounded at least in part by the first wall, wherein the second wall is spaced away from the opening by the first
wall, wherein the second wall forms a skirt such that the second wall extends upwards away from the first wall; wherein

the front metal plate comprises a plate-like mounting portion having a frame-like mounting surface parallel to the inner bottom
surface of the housing and a plate-like portion, projecting upwards away from the mounting portion, having a vertical surface
perpendicular to the mounting surface and substantially parallel to the second wall of the housing;

the mounting surface of the mounting portion is affixed to the inner bottom surface of the housing with an adhesive or a double-sided
tape; and

wherein the front sheet fixing structure further comprises a fixing metal plate which includes a first part having a surface
parallel to the inner bottom surface of the housing and a second part having a surface perpendicular to the inner bottom surface
of the housing, such that the front metal plate is kept from moving in a direction perpendicular to the mounting surface of
the mounting portion as lugs protruding from the second part are inserted into slots of the plate-like portion of the front
metal plate, and the first part is secured to the housing so that a gap for absorbing a dimensional difference between the
second part and the vertical surface of the front metal plate is formed.

US Pat. No. 9,597,827

MOLD CLAMPING FORCE SETTING DEVICE AND MOLD CLAMPING FORCE SETTING METHOD OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A mold clamping force setting device of an injection molding machine, the injection molding machine including a mold clamping
part that closes a mold based on a set mold clamping force to generate a mold clamping force and an injection part that injects
molten resin into the mold, the mold clamping force setting device comprising:
a plurality of mold clamping force detecting parts configured to detect mold clamping forces in different positions on the
mold clamping part;

a maximum mold clamping force increase amount calculation part configured to perform injection with an optional set mold clamping
force and obtain a maximum mold clamping force increase amount being the difference between the mold clamping forces, generated
when the mold is closed, that have been detected by the mold clamping force detecting parts and a maximum mold clamping force
value during injection, generated when molten resin is injected into the mold, for each of the mold clamping force detecting
parts;

a storing part configured to store therein mold clamping forces generated when the mold is closed and the corresponding maximum
mold clamping force increase amounts, for each of the mold clamping force detecting parts;

an extracting part configured to extract two or more pairs of the set mold clamping force and the maximum mold clamping force
increase amount that are different in maximum mold clamping force increase amount and have a set mold clamping forces not
enough to open the mold, in at least one of the mold clamping force detecting parts;

a relational expression calculation part configured to, for the mold clamping force detecting part for which the two or more
pairs of the set mold clamping force and the maximum mold clamping force increase amount are extracted by the extracting part,
obtain a relational expression indicating a maximum mold clamping force increase amount with respect to a set mold clamping
force from the two or more pairs as a relational expression of the mold clamping force detecting part;

a mold clamping force calculation part configured to, for the mold clamping force detecting parts for which the relational
expressions therefore are obtained by the relational expression calculation part, out of the plurality of mold clamping force
detecting parts, perform injection with a set mold clamping force smaller than the set mold clamping forces included in the
two or more pairs, extracted in association with the mold clamping force detecting part, calculate the maximum mold clamping
force increase amount, and obtain a set clamping force when the maximum mold clamping force increase amount exceeds a predetermined
threshold determined based on the relational expression of the mold clamping force detecting part; and

a mold clamping force setting part configured to set a set mold clamping force immediately before the set mold clamping force
obtained by the mold clamping force calculation part to a required minimum mold clamping force that does not open the mold.

US Pat. No. 9,588,501

SERVOMOTOR CONTROL DEVICE

Fanuc Corporation, Yaman...

1. A servomotor control device comprising:
an inverter circuit configured to drive a servomotor by converting direct current to alternate current and supplying the alternate
current obtained by the conversion to the servomotor;

a pulse width modulation circuit configured to output a pulse width modulation signal to the inverter circuit;
a cutoff circuit configured to receive a safety signal and the pulse width modulation signal, outputs the pulse width modulation
signal to the inverter circuit when the safety signal is turned on, and does not output the pulse width modulation signal
to the inverter circuit when the safely signal is turned off; and

a servomotor control circuit configured to output the safety signal to the cutoff circuit and receives a monitor signal output
from the cutoff circuit,

wherein the servomotor control circuit turns off, within one cycle time of the pulse width modulation signal, the safety signal
input to the cutoff circuit where the pulse width modulation signal is turned off during servomotor drive and detects an abnormality
when an off state is not detected using the monitor signal.

US Pat. No. 9,566,680

MACHINE TOOL HAVING SCATTERING PREVENTION COVER

FANUC CORPORATION, Yaman...

1. A machine tool having a saddle moving over a bed and a table moving over the saddle and machining a workpiece placed on
the table, the machine tool being controlled by a control unit that executes a machining program, the machine tool comprising:
a scattering prevention cover that is fixed to the table, receives chips generated and a cutting fluid supplied during machining
of a workpiece on the table, surrounds the workpiece, and has a discharging section that discharges the chips and cutting
fluid;

a first flow path that is fixed to the saddle, receives the chips and cutting fluid discharged from the discharging section
of the scattering prevention cover, and has a discharging section that discharges the received chips and cutting fluid; and

a second flow path that is fixed to the bed, receives the chips and cutting fluid discharged from the discharging section
of the first flow path, and has a discharging section that discharges the received chips and cutting fluid, wherein

the control unit is configured to recognize a distance of movement in the machining program when the table or the saddle moves
during machining of the workpiece, and to make an adjustment to acceleration according to a criterion of determination of
movement distance set in advance in the control unit and then move the table or the saddle.

US Pat. No. 9,566,734

DRIVE MECHANISM OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A drive mechanism of an injection molding machine comprising:
a movable plate configured to advance and retreat along a guide member;
a rear plate facing the movable plate;
a ball screw including a ball screw nut and a ball screw shaft;
a driving motor configured to drive the ball screw shaft through a coupling member; and
a motor fixing member to which the driving motor is fixed, wherein
the ball screw nut is fixed to the movable plate,
the ball screw shaft is rotatably supported by the rear plate so as not to be movable in an axial direction,
the motor fixing member has an adjustable relative position with respect to the rear plate,
the drive mechanism further comprises a position adjustment part configured to adjust the relative position between the rear
plate and the motor fixing member, and

the position adjustment part includes:
a first screw hole extending in a first direction of the injection molding machine;
a second screw hole extending in a second direction of the injection molding machine, the second direction being perpendicular
to the first direction,

a first bolt threadably engaged with a thread of the first screw hole,
a second bolt threadably engaged with a thread of the second screw hole,
a first abutting part that abuts on the first bolt, said first abutting part being provided on the rear plate; and
a second abutting part that abuts on the second bolt, said second abutting part being provided on one of the motor fixing
member and a motor-fixing-member supporting member that supports the motor fixing member.

US Pat. No. 9,557,732

NUMERICAL CONTROLLER HAVING PROGRAM RESUMING FUNCTION

FANUC Corporation, Minam...

1. A numerical controller (NC) having a program resuming function, the numerical controller including:
an NC section that sequentially reads out blocks of a machining program to thereby control a motor connected to the numerical
controller;

and a programmable machine controller (PMC) section that receives a signal state change command from the NC section, decodes
the signal state change command by a sequence program, and controls a peripheral machine section connected to an input-output
interface mounted on the numerical controller, using the signal obtained by decoding, wherein

the numerical controller controls each of the NC section and the PMC section to perform machining of a workpiece, and
the numerical controller has the program resuming function for
detecting in advance, with the NC section during execution of machining, an uncut block in which the machining of the workpiece
is easily resumed, in order to resume the machining of the workpiece when the machining of the workpiece is suspended,

storing one or a plurality of items of information concerning the uncut block in a memory of the NC section as NC section
program resumption block data, and

performing resumption of the machining of the workpiece on the basis of the NC section program resumption block data arbitrarily
selected after the machining of the workpiece is suspended, and wherein the

numerical controller further comprises:
an NC section program resumption block data identification number storing section that adds, when the information concerning
the uncut block is stored as the NC section program resumption block data during execution of machining of the workpiece,
a unique identification number to the information concerning the uncut block and stores the information concerning the uncut
block;

an NC section identification number output section that outputs the identification number added to the NC section program
resumption block data corresponding to the signal state change command, to the PMC section, every time a signal state change
command for outputting a signal from the NC section to the PMC section is executed by the NC section for the purpose of causing
the PMC section to perform mainly operation of the peripheral machine section during execution of machining of the workpiece,
and notifies the PMC section of timing for storing data necessary for the resumption; and

a PMC section program resumption block data storing section that stores the PMC section program resumption block data, which
includes the signal state obtained by decoding, by the sequence program, the signal state change command received from the
NC section and data with which the PMC section controls the peripheral machine section, in a memory of the PMC section, at
a timing when the identification number is output by the NC section identification number output section, in the PMC section.

US Pat. No. 9,541,917

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

FANUC Corporation, Minam...

1. A processing information acquisition system in a processing machine which supplies a processing point with energy or material,
the processing information acquisition system comprising:
a numerical controller comprising:
a position information acquisition unit which acquires position information in at least two axial directions of a feed unit
of energy or material;

a feed rate control unit which receives a feed condition command of energy or material, converts said feed condition command
to a control command which controls a feed of energy or material, and uses the converted control command to control a feed
rate of energy or material from said feed unit;

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

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

wherein said processing machine is a plasma processing machine and where said fed energy or material is an arc current, plasma
generating current, gas, or welding filler,

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

wherein said related information is comprised of first related information prescribed in a peak output and a current command
value and a second related information prescribed by a peak output, and said feed rate estimation unit uses a current command
value and said first related information to estimate a peak output, and uses an estimated peak output and said second related
information to estimate the estimated feed rate of energy or material.

US Pat. No. 9,513,325

MATRIX KEY INPUT INTERFACE

FANUC CORPORATION, Yaman...

1. A matrix key input interface with a sink key matrix circuit, the sink key matrix circuit comprising:
m (m is a natural number) key common signal lines and n+1 (n is a natural number) key data signal lines wired in a matrix;
and

m×n key switches connected between the m key common signal lines and a first to an n-th key data signal lines, the key common
signal lines intersecting the key data signal lines,

wherein a sneak preventing diode is connected between the n+1-th key data signal line and each of the m key common signal
lines,

the matrix key input interface further comprising:
a monitoring unit that periodically monitors all of the n+1 key data signal lines while key scan signal is not output to any
of the m key common signal lines; and

a detection unit that detects an earth fault when any of the key data signal lines is at an L level while the key data signal
lines are being monitored by the monitoring unit.

US Pat. No. 9,486,888

CONTROLLER HAVING FUNCTION FOR DISPLAYING MOTOR LOAD

FANUC CORPORATION, Yaman...

1. A controller for controlling a motor which drives a spindle of a machine tool, the controller comprising:
a first storing part which stores first data representing a relationship between a rotation frequency of the motor and a maximum
output of the motor;

a second storing part which stores second data representing a relationship between the rotation frequency of the motor and
a continuous rating output of the motor;

a first ratio calculating part which calculates a first ratio corresponding to a ratio of one of the maximum output and the
continuous rating output to the other at a present rotation frequency of the motor;

a second ratio calculating part which calculates a second ratio corresponding to a ratio of a present actual output of the
motor to the one of the maximum output and the continuous rating output at the present rotation frequency of the motor; and

a displaying part which displays the first ratio and the second ratio on the same screen,
wherein the controller is coupled to the motor and configured to control the motor based on the present rotation frequency
of the motor and the present actual output of the motor operation at a time of operation when the spindle is driven by the
motor to carry out a processing on a workpiece, and

wherein the displaying part displays the first ratio and the second ratio on the same screen to enable control of the motor
based on the displayed first and second ratios.

US Pat. No. 9,481,092

GEAR GRIPPING DEVICE AND METHOD FOR GRIPPING A GEAR

Fanuc Corporation, Yaman...

1. A gear gripping device comprising:
a pawl provided to be movable so as to approach a circumference of a gear and capable of engaging a gear groove formed at
the circumference of the gear;

a first drive part which drives the pawl so as to abut against the circumference of the gear;
a second drive part which rotates the gear in a circumferential direction of the gear; and
an engagement detection part which detects whether the pawl engages the gear groove.

US Pat. No. 9,252,552

GAS LASER OSCILLATOR CAPABLE OF ESTIMATING SEALABILITY OF GAS CONTAINER

FANUC CORPORATION, Yaman...

1. A gas laser oscillator, comprising:
a gas container in which a laser gas is circulated;
at least one of discharge tube arranged in a circulation path of the laser gas;
an output command part configured to output a power supply output command;
a power supply unit configured to apply a discharge tube voltage corresponding to the power supply output command to the discharge
tubs so as to start discharge in the discharge tube;

a voltage detection part configured to detect the discharge tube voltage;
a discharge start determination part configured to determine whether or not the discharge has been started in the discharge
tube on the basis of a value detected by the voltage detection part when the power supply output command is gradually increased;
and

a sealability determination part configured to determine that sealability of the gas container has been reduced when a discharge
start time from application of the discharge tube voltage until when the discharge start determination part determines the
start of the discharge exceeds a predetermined first threshold value.

US Pat. No. 9,200,972

EXTERNAL FORCE JUDGMENT METHOD AND EXTERNAL FORCE JUDGMENT DEVICE OF HUMAN-COLLABORATIVE INDUSTRIAL ROBOT

FANUC CORPORATION, Yaman...

1. An external force judgment method for judging a presence or absence of an external force acting on a robot including a
first member and a second member movably connected to the first member through a deceleration mechanism, the method comprising:
a reference value acquisition step of acquiring a reference value of a relative position or angle of the second member with
respect to the first member when the robot on which no external force is acting or on which a known external force is acting
is assumed to be operated or is operated by a predetermined command in advance;

a measured value acquisition step of acquiring a measured value of a relative position or angle of the second member with
respect to the first member when the robot is operated by the predetermined command, wherein, one of a detection unit and
a detected unit paired with the detection unit is arranged on the first member or a part not relatively moving with respect
to the first member, whereas another of the detection unit and the detected unit is arranged on the second member or a part
not relatively moving with respect to the second member, and a value detected by the detection unit is the measured value;
and

a judgment step of judging the presence or absence of an external force acting on the robot based on a difference between
the reference value acquired by the reference value acquisition step and the measured value acquired by the measured value
acquisition step and a predetermined threshold value.

US Pat. No. 9,157,831

NUMERICAL CONTROL DEVICE HAVING FUNCTION OF ESTIMATING EXPIRATION OF LIFE OF BEARING SUPPORTING SPINDLE

FANUC Corporation, Minam...

1. A numerical control device having a function of estimating the lifetime of a bearing which supports a spindle of a machine
tool and configured to control the machine tool, the numerical control device comprising:
a physical quantity acquisition unit configured to acquire, for each predetermined period, a rotational speed of the spindle
and a torque of a feed shaft from a control unit for controlling drive shafts or detectors mounted on the drive shafts;

a cutting signal monitoring unit configured to monitor a cutting signal output from the control unit and indicative of a cutting
state;

a load calculation unit configured to calculate a force acting on the spindle based on the torque of the spindle acquired
by the physical quantity acquisition unit;

a weight extraction unit configured to extract a weight corresponding to the force on the spindle calculated by the load calculation
unit from a previously given table;

an integration unit configured to integrate the rotational speed of the spindle for each predetermined period if the cutting
signal indicates a non-cutting state and to integrate, for each predetermined period, a second rotational speed of the spindle
obtained by multiplying the rotational speed of the spindle acquired by the physical quantity acquisition unit by the weight
extracted by the weight extraction unit if the cutting signal indicates the cutting state; and

a storage unit configured to store an integrated value integrated by the integration unit,
the lifetime of the bearing being estimated based on the integrated value obtained by the integration unit.

US Pat. No. 10,637,205

LASER DEVICE

FANUC CORPORATION, Yaman...

1. A laser device that outputs a laser beam by means of transmission through an optical fiber using a laser diode as a laser beam source or an excitation beam source, the laser device comprising:a laser oscillator;
at least one first photodetector and at least one second photodetector, wherein
when a reflected beam returns to the optical fiber of the laser device after being reflected off of a work;
the first photodetector detects a first quantity of a first part of the reflected beam, the first part of the reflected beam being a part that propagates mainly through a cladding of the optical fiber; and
the second photodetector detects a second quantity of a second part of the reflected beam, the second part of the reflected beam being a part that propagates mainly through a core of the optical fiber;
a power supplier that supplies a driving current to the laser diode; and
a controller that controls the power supplier, wherein
the second photodetector is located at a first end of the laser oscillator opposite a second end of the laser oscillator connected to the optical fiber,
the controller is configured to control the power supplier in response to the first quantity of the first part of the reflected beam and the second quantity of the second part of the reflected beam detected by the first photodetector and the second photodetector, respectively, and
the controller is further configured to, in a case that at least one of the first quantity of the first part of the reflected beam and the second quantity of the second part of the reflected beam includes a contribution by a third quantity of a laser beam output in response to a beam output command from the controller and traveling in a forward direction opposite to a direction in which the reflected beam travels, subtract the contribution by the third quantity from the at least one of the first quantity and the second quantity.

US Pat. No. 10,614,149

COORDINATE INFORMATION CONVERSION DEVICE AND COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. A coordinate information conversion device comprising:calculation means for specifying a conversion equation to be used from among a plurality of conversion equations on the basis of a number of linear axes and a number of rotation axes of a machine tool, acquiring a plurality of pieces of image data obtained by capturing a set of positions including a position of a fixed object and a position of a movable part of the machine tool and calculating values of undefined numbers included in the specified conversion equation on the basis of the acquired plurality of pieces of image data; and
first conversion means for converting a coordinate value in a first coordinate system to a coordinate value in a second coordinate system on the basis of the specified conversion equation of which the values of the undefined numbers are calculated by the calculation means,
the first coordinate system being a coordinate system for controlling driving of the movable part of the machine tool,
the second coordinate system being a coordinate system for representing virtual information,
the second coordinate system being a coordinate system that is based on the position of the fixed object, and
wherein the fixed object is a marker that is fixedly placed at a predetermined position on the movable part of the machine tool to indicate where a superimposed virtual image of a virtual three-dimensional object is to be positioned for display as an overlay on the machine tool so that machine simulation can be performed, the machine tool being in a non-virtual form.

US Pat. No. 10,599,266

TOUCH PANEL INSPECTION DEVICE AND INSPECTION METHOD FOR TOUCH PANEL

FANUC CORPORATION, Yaman...

1. A touch panel inspection device configured to inspect a touch panel that is provided on a display unit, comprising:an operation position display control unit configured to display on the display unit an operation position that is touched by a user;
a detection unit configured to detect a touch position depending on a touch operation of the user based on an output signal of the touch panel; and a positional relationship display control unit configured to determine, based on the touch position detected by the detection unit, whether the operation position and a detection position are coincident or non-coincident with each other and to display, on the display unit, positional relationship information indicating a positional relationship between the operation position and the detection position when the operation position and the detection position are non-coincident with each other,
wherein, in a case that the detection position detected by the detection unit has changed, the positional relationship display control unit displays, as the positional relationship information, information indicating a positional relationship between the operation position and the detection position after the change,
wherein, the touch panel inspection device is further configured to:
compare the detected touch position with the operation position;
determine whether the touch panel is contaminated with a foreign material based on the comparison of the detected touch position and the operation position; and
display a location of a position of the foreign material within the touch panel.

US Pat. No. 10,592,824

MACHINE LEARNING DEVICE AND THERMAL DISPLACEMENT COMPENSATION DEVICE

FANUC CORPORATION, Yaman...

1. A machine learning device that optimizes, by machine learning, a calculation formula used for estimating the thermal displacement of a machine element to be thermally expanded in a machine tool based on a measured data group containing temperature data about the machine element and its surroundings and/or operating state data about the machine element, the machine learning device comprising:a measured data acquisition unit that acquires the measured data group;
a thermal displacement acquisition unit that acquires a thermal displacement actual measured value about the machine element;
a storage unit that uses the measured data group acquired by the measured data acquisition unit as input data, uses the thermal displacement actual measured value about the machine element acquired by the thermal displacement acquisition unit as a label, and stores the input data and the label in association with each other as teaching data; and
a calculation formula learning unit that performs machine learning based on the measured data group and the thermal displacement actual measured value about the machine element, thereby setting a thermal displacement estimation calculation formula used for calculating the thermal displacement of the machine element based on the measured data group, wherein
the thermal displacement estimation calculation formula uses a time lag element in measured data, and
the calculation formula learning unit comprises:
a first learning unit that, based on a difference between a thermal displacement estimated value about the machine element calculated by substituting the measured data group stored as the teaching data in the storage unit into the thermal displacement estimation calculation formula and the thermal displacement actual measured value about the machine element stored as the label in the storage unit, sets a coefficient relating to the time lag element in the thermal displacement estimation calculation formula by machine learning while making a coefficient relating to the measured data constant, without making the coefficient relating to the time lag element constant;
a second learning unit that sets the coefficient relating to the measured data, without changing the coefficient relating to the time lag element in the thermal displacement estimation calculation formula by machine learning based on the difference while treating the coefficient relating to the time lag element as constant; and
a repetition unit that repeats machine learning by the first learning unit and machine learning by the second learning unit in such a manner that the second learning unit performs the machine learning while treating the coefficient relating to the time lag element as constant in the thermal displacement estimation calculation formula set by the machine learning by the first learning unit, and that the first learning unit performs the machine learning while treating the coefficient relating to the measured data as constant, without changing the coefficient relating to the time lag element in the thermal displacement estimation calculation formula set by the machine learning by the second learning unit.

US Pat. No. 10,553,183

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding machine formed to have a plurality of injection apparatuses connected via a communication channel, the plurality of injection apparatuses each including an injection mechanism unit and a control apparatus, whereina first injection apparatus among the plurality of injection apparatuses includes a display apparatus,
a first control apparatus included in the first injection apparatus includes a processor, the processor being configured to
obtain, from a second injection apparatus among the plurality of injection apparatuses, operation screen data of the second injection apparatus, and
convert rendering attributes of rendering elements configuring an operation screen to be rendered based on the operation screen data into other rendering attributes, when an operation screen of the second injection apparatus is displayed on the display apparatus based on the operation screen data, in order to make all or part of the rendering attributes of the rendering elements configuring the operation screen different from rendering attributes when an operation screen of the first injection apparatus is displayed.

US Pat. No. 10,549,424

SETTING DEVICE AND SETTING SYSTEM FOR CONFIGURING SETTINGS FOR A PLURALITY OF MACHINES

FANUC CORPORATION, Yaman...

1. A setting device for configuring a setting regarding a function and motion of each of a plurality of machines, the setting device comprising:a processor configured to:
when at least one of the plurality of machines is moved from a first installation area to a second installation area, obtain configuration data regarding a configuration of the moved machine and area data regarding the second installation area, from the moved machine;
comparing the obtained combination of the obtained configuration data and the obtained area data to a plurality of stored combinations of stored configuration data and stored area data to determine a stored combination of stored configuration data and stored area data that matches the obtained combination of the obtained configuration data and the obtained area data;
select previously prepared setting information associated with the stored combination that matches the obtained combination, the previously prepared setting information regarding the function and motion of the moved machine; and
transmit the selected previously prepared setting information to the moved machine.

US Pat. No. 10,543,632

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding machine comprising, on a machine base:a mold having a stationary platen;
an injection unit disposed to be capable of approaching or separating from the mold, the injection unit having a nozzle for injecting a molten material into the mold in a state of the nozzle being pressed against the mold;
a nozzle touch mechanism for pressing the nozzle against the mold by applying a driving force to the injection unit to move the injection unit in a direction of approaching the mold; and
a connecting member for connecting the nozzle touch mechanism and the stationary platen, wherein
the connecting member has a support base to be attached to the machine base and an arm part rising upward from the support base in a side of the stationary platen, and also has a first connecting part to be connected to the nozzle touch mechanism on the support base, and a second connecting part to be connected to the stationary platen on an upper part of the arm part,
the injection molding machine is configured so that a nozzle touch force for pressing the nozzle against the mold is transmitted to the nozzle touch mechanism via the stationary platen and the connecting member, and
the second connecting part of the connecting member is disposed to be rotatable in a direction along a moving direction of the injection unit around a rotary pin shaft having an axial direction arranged in a width direction of the support base.

US Pat. No. 10,546,000

INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING SYSTEM

FANUC CORPORATION, Yaman...

1. An information processing apparatus comprising:a storage unit that stores a plurality of screens, screen names of the plurality of screens and that also stores display item names of at least one display item included in each of the plurality of screens;
an input unit that allows a user to perform an input, the input unit including a search input section to which a search key that is at least one character is input;
a display unit; and
a control unit,
wherein, when the search key is input to the search input section, the control unit performs search through the storage unit for the display item name or the screen name including the search key and causes the display unit to display, as a candidate, the display item name or the screen name including the search key,
wherein, when the display item name or screen name displayed via the search based on the search key input to the search input section, is selected via the input unit, the control unit searches through the storage unit for the screen including the selected display item name or the screen corresponding to the selected screen name and causes the display unit to display the screen and the storage unit to store a transition history up to the displayed screen,
wherein, when the screen recorded in the transition history stored in the storage unit is being displayed, the control unit causes the display unit to display, as a candidate, the display item name included in the screen displayed subsequently to the screen being displayed on the basis of the transition history or the screen name of the screen displayed subsequently to the screen being displayed on the basis of the transition history, in which only the display item name or the screen name that has been selected to display a screen that has been displayed via the search based on the search key input to the search input section is stored, and
wherein, when the displayed display item name or screen name is selected via the input unit, the control unit searches through the storage unit for the screen including the selected display item name or the screen corresponding to the selected screen name and causes the display unit to display the screen.

US Pat. No. 10,543,546

WIRE ELECTRIC DISCHARGE MACHINE INCLUDING AVERAGE DISCHARGE DELAY TIME CALCULATING UNIT

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine that applies, while moving a relative position of a table with respect to a wire electrode, a voltage to a machining gap between the wire electrode and a workpiece arranged on the table to generate electric discharge and machines the workpiece, the wire electric discharge machine comprising:a measuring unit configured to measure, as a discharge delay time, a no-load time from the application of the voltage to the machining gap until occurrence of the electric discharge, and integrate the measured discharge delay time over a predetermined measurement period to calculate a discharge delay integrated time;
a counting unit configured to count the number of times of the voltage application in the predetermined measurement period; and
an average discharge delay time calculating unit configured to calculate an average discharge delay time per voltage application in the predetermined measurement period from the discharge delay integrated time calculated by the measuring unit and the number of times of voltage application calculated by the counting unit,
wherein, when the average discharge delay time is smaller than a predetermined reference value, at least one of deceleration, a stop, and receding is applied to a relative speed between the workpiece and the wire electrode.

US Pat. No. 10,539,948

NUMERICAL CONTROLLER WITH PROGRAM PRESENTATION FUNCTION DEPENDING ON SITUATION

FANUC Corporation, Minam...

1. A numerical controller which performs manual data input (MDI) operation control based on an MDI program, the numerical controller comprising:an operation history information storage area configured to store operation history information including status data representative of a status of the numerical controller in association with the MDI program;
the numerical controller configured to perform a method comprising:
commanding execution of an operation according to the MDI program based on a user's operation;
performing the operation based on the MDI program in response to the commanding;
acquiring the status data representative of the status of the numerical controller;
generating the operation history information by associating the MDI program and acquired status data at a time of execution of the MDI program and recording the generated operation history information into the operation history information storage area;
scoring a similarity between the acquired status data and the status data of the operation history information recorded in the operation history information storage area and outputting the operation history information associated with a result of the scoring; and
displaying information on MDI programs of the operation history information sorted based on the result of the scoring and commanding execution of an MDI operation according to the MDI program selected or input by the user, based on the user's operation.

US Pat. No. 10,534,349

MACHINING PROGRAM EDITING APPARATUS, METHOD, AND STORAGE MEDIUM

FANUC CORPORATION, Yaman...

1. A machining program editing apparatus for editing a machining program that causes a machine tool to machine a workpiece along an actual machining path including two or more sections, comprising:a graphical user interface unit configured to display an original machining path in a display area, the original machining path defined by the machining program and the graphical user interface receiving an input operation performed by an operator using the graphical user interface to specify an indication route having an arbitrary point located in a first section and an arbitrary point located in a second section included in the original machining path respectively as a start point and an end point; and,
a program editing unit configured to receive the input operation performed by the operator and edit the original machining path defined by the machining program to create a new machining path by replacing an area from the start point to the end point on the original machining path, with the indication route specified by the operator using graphical user interface unit, wherein the graphic user interface displays both the original machining path and the new machining path; and
a command information generating unit configured to generate command information indicative of block numbers and command content in the machining program;wherein the command information generating unit generates the command information, based on coordinate values of the start point and coordinate values of the end point, specified by the code statement corresponding to each of the block numbers;a data acquisition unit configured to analyze the machining program and acquire search data in which feature points of the sections are associated with the block numbers; and
a block information searching unit configured to search the search data acquired by the data acquisition unit for one of the block numbers in which one of the feature points of the sections coincides with the start point or the end point,
wherein the program editing unit, in accordance with the command content of the command information generated by the command information generating unit, adds, changes or deletes a code statement at a position corresponding to each of the block numbers, and edits the machining program to change it from the original machining path to the new machining path.

US Pat. No. 10,507,581

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:at least one non-learned robot that has not learned a learning compensation amount of position control based on an operation command;
at least one learned robot that has learned the learning compensation amount of the position control based on the operation command; and
a storage device that stores the operation command and the learning compensation amount of the learned robot,
wherein the non-learned robot comprising a compensation amount estimation unit that compensates the learning compensation amount of the learned robot stored in the storage device based on a difference between the operation command of the learned robot stored in the storage device and an operation command of an own robot, and estimates the learning compensation amount that has been compensated, as a learning compensation amount of the own robot.

US Pat. No. 10,500,723

MACHINING SYSTEM AND MACHINE CONTROLLER IN WHICH A MOVING ROBOT LOADS AND UNLOADS AN ARTICLE WITH RESPECT TO MACHINING DEVICE

FANUC CORPORATION, Yaman...

1. A machining system, comprising:a machining device including a housing having a door, the machining device configured to machine an article inside the housing;
a moving robot configured to
move to a predetermined first position in front of the door of the housing of the machining device, and
perform at least one of loading of an unmachined article through the door into the housing or unloading of the machined article from the housing through the door;
a machine controller configured to control the machining device; and
a robot controller configured to control the moving robot, wherein the machine controller includes
a first storage section configured to
store a plurality of machining programs for obtaining a plurality of types of machined articles by the machining device, and
store, for each of the plurality of types of machined articles, a first setting data and a first robot operation program for causing the moving robot to load the unmachined article through the door into the housing and unload the machined article from the housing through the door;
a setting section configured to
select one from among the plurality of machining programs, and
set the type of the machined article to be obtained by the machining device;
a determination section configured to determine whether or not the moving robot is disposed at the first position in front of the door; and
a first communication section configured to, in response to the determination section determining that the moving robot is disposed at the first position in front of the door,
read, from the first storage section, the first setting data and the first robot operation program which correspond to the type of the machined article as set by the setting section, and
transmit the first setting data and the first robot operation program to the robot controller,
the robot controller includes a second communication section configured to receive the first setting data and the first robot operation program which are transmitted from the first communication section, and
the robot controller is configured to control the moving robot on a basis of the first setting data and the first robot operation program which are received by the second communication section to cause the moving robot to perform at least one of loading of the unmachined article or unloading of the machined article with respect to the machining device.