US Pat. No. 9,934,470

PRODUCTION EQUIPMENT INCLUDING MACHINE LEARNING SYSTEM AND ASSEMBLY AND TEST UNIT

FANUC CORPORATION, Yaman...

1. Production equipment, comprising:a machine learning system; and
an assembly and test unit, wherein
the assembly and test unit chooses a plurality of components from a plurality of component groups having different characteristic values, assembles the chosen plurality of components into a product, and tests the assembled product;
the machine learning system includes:
a state observer for observing a test result of the product and the inventory amounts of the plurality of components grouped based on the characteristic values of the components;
a reward calculator for calculating a reward based on the test result and the inventory amounts;
an artificial intelligence for determining an action value based on an observation result by the state observer and the reward calculated by the reward calculator; and
a decision maker for choosing a plurality of components to be used in the next product assembly from the plurality of component groups based on a determination result by the artificial intelligence,
wherein the assembly and test unit is configured to assemble a next product from the plurality of components chosen by the decision maker.

US Pat. No. 9,910,423

CONTROL APPARATUS FOR GIVING NOTIFICATION OF MAINTENANCE AND INSPECTION TIMES OF SIGNAL-CONTROLLED PERIPHERAL DEVICES

FANUC CORPORATION, Yaman...

1. A control apparatus for use in an automaton that operates in cooperation with a peripheral device on the basis of signal
input and output, the control apparatus comprising:
an operating time accumulator configured to regard the output time of a control signal to the peripheral device or the output
time of an operating signal from the peripheral device as operating time and determine cumulative operating time from the
sum of all the operating times;

a time-at-inspection recorder configured to record the cumulative operating time when inspection is performed, as the cumulative
operating time at inspection;

a cumulative operating time comparator configured to compare the difference between the current cumulative operating time
and the cumulative operating time at inspection, which is the cumulative operating time from a previous inspection or the
cumulative operating time after inspection, with a preset inspection interval; and

a maintenance request output unit configured to output a maintenance request to the outside of the control operator when the
cumulative operating time after inspection obtained as a result of the comparison exceeds the preset inspection interval.

US Pat. No. 9,909,943

DEVICE FOR INSPECTING BRAKING MECHANISM FOR ELECTRIC MOTOR, AND INSPECTION METHOD

FANUC CORPORATION, Yaman...

1. A device for inspecting a braking mechanism which holds a rotary shaft of an electric motor, comprising:
a heating part which heats the braking mechanism;
a heat controller which controls a heating operation of the heating part;
a brake controller which actuates the braking mechanism when the heat controller stops the heating operation and a temperature
of the braking mechanism decreases;

an actuation delay measuring part which measures an actuation delay of the braking mechanism when the brake controller actuates
the braking mechanism; and

a comparison part which compares the actuation delay measured by the actuation delay measuring part with a reference value
of the actuation delay of the braking mechanism.

US Pat. No. 9,898,815

FAULT DIAGNOSTIC DEVICE OF ROBOT SYSTEM FOR JUDGING FAULT BY CAMERA IMAGE

FANUC CORPORATION, Yaman...

1. A fault diagnostic device of a robot system including a plurality of robots, the fault diagnostic device comprising:
cameras fixed to at least two parts among
distal ends of the robots, and
work tools attached to the robots; and
an arithmetic processing device configured to judge a fault in at least one of the robots supporting the cameras and a peripheral
device around the robots, based on images of a diagnosis portion captured by the cameras, wherein

the arithmetic processing device includes a storage storing
information of the diagnosis portion,
positions and postures of the robots when the diagnosis portion is imaged, and
reference images when the diagnosis portion does not have the fault,
the arithmetic processing device is connected to control devices of the robots via a network, and is configured to acquire
the images of the diagnosis portion captured by the cameras via the network,

the arithmetic processing device is configured to transmit imaging commands to the control devices of the plurality of the
robots so as to cause the cameras to capture the images of the diagnosis portion from directions different from each other
after changing the positions and the postures of the robots based on the information of the diagnosis portion, and

the arithmetic processing device is configured to judge whether or not the diagnosis portion has the fault based on the images
of the diagnosis portion captured by the cameras, by

comparing the images of the diagnosis portion captured by the cameras with the reference images, and
judging that the diagnosis portion has the fault when there is a difference of shapes exceeding a predetermined judgement
amount.

US Pat. No. 9,844,847

MACHINE TOOL, PARTITION DEVICE AND ROBOT SYSTEM PROVIDED WITH PARTITION MEMBER COVERING A PART OF OPENING OF COVER

FANUC CORPORATION, Yaman...

1. A robot system comprising:
a machine tool comprising:
a door which opens and closes an opening formed at a cover defining a work space; and
a partition member which is a member different from the door and which is attached to the cover, the partition member covering
a part of the opening so as to define a small opening smaller than the opening, the partition member configured to move relative
to a wall surface defining the opening so as to change a size of the small opening;

a robot configured to enter and retract from the work space when the door is opened; and
a controller which controls the operation of the robot so as to move the partition member by the robot.

US Pat. No. 9,825,501

ROTOR WITH END RING AND ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A rotor of an electric motor, comprising:
a shaft extending along an axis of rotation of the rotor, the shaft including:
a first outer circumference;
a second outer circumference adjoining the first outer circumference in a first direction of the axis; and
a groove formed between the first outer circumference and the second outer circumference so as to divide the first outer circumference
and the second outer circumference in the axis-direction;

a rotor core fixed radially outside of the first outer circumference, and having a first end face in the first direction and
a second end face opposite the first end face;

a plurality of conductors arranged at the rotor core, each of the plurality of conductors extending from the first end face
to the second end face; and

an end ring arranged adjacent to the first end face, the end ring short-circuiting the plurality of conductors with each other;
and

a reinforcing member including:
an inner ring part fitted over the second outer circumference of the shaft; and
an outer ring part connected to the inner ring part and fitted over an outer circumference of the end ring,
wherein the inner ring part has a first inner circumference contacting the second outer circumference of the shaft the shaft,
the outer ring part has a second inner circumference contacting the outer circumference of the end ring, and
the second outer circumference of the shaft, the outer circumference of the end ring, the first inner circumference of the
inner ring part, and the second inner circumference of the outer ring part are concentric with each other about the axis.

US Pat. No. 9,821,467

OBJECT PICK-UP SYSTEM AND METHOD FOR PICKING UP STACKED OBJECTS

FANUC CORPORATION, Yaman...

6. A method of gripping and picking up stacked objects by a robot hand, the method comprising:
detecting a position and posture of an object;
determining a position and posture of the robot hand when the robot hand grips the object based on the detected position and
posture of the object;

arranging the robot hand at the determined position and posture of the robot hand;
gripping the object by the robot hand so that the object is immovable with respect to the robot hand;
arranging the robot hand at a position and posture in which a moment is generated at the object when the robot hand gripping
the object lifts up the object; and

decreasing a force, by which the robot hand grips the object, after the robot hand is arranged at the position and posture
in which the moment is generated at the object, to rotate the object relative to the robot hand by the action of gravity while
preventing the object from dropping from the robot hand,

wherein
the object is formed with a through hole at a position separated from a center of gravity of the object,
the robot hand includes:
a plurality of claws; and
a claw driver which moves the plurality of claws in directions approaching and separating away from each other,
said determining the position and posture of the robot hand is performed when the plurality of claws is positioned inside
the through hole,

said gripping the object by the robot hand comprises controlling the claw driver so as to move the plurality of claws in directions
separating away from each other to press the plurality of claws against a wall surface which defines the through hole, to
grip the object by the plurality of claws, and

said decreasing the force, by which the robot hand grips the object, comprises controlling the claw driver so as to move the
plurality of claws in directions approaching each other to allow the object to rotate relative to the robot hand, when the
robot hand is arranged at the position and posture in which the moment is generated at the object.

US Pat. No. 9,815,137

MEASURING METHOD AND MEASURING DEVICE FOR MEASURING ROTATIONAL ANGLE OF SERVO MOTOR

FANUC CORPORATION, Yaman...

1. A measuring method for measuring a rotational angle of a servo motor in a spot welding gun to which a movable electrode
driven by the servo motor and an opposite electrode disposed in opposing relationship to the movable electrode are mounted,
the measuring method comprising steps of:
a first rotational angle acquisition step that, in a state in which a reference movable electrode and a reference opposite
electrode are mounted to the spot welding gun, acquires, as a first rotational angle, a rotational angle of the servo motor
when the reference movable electrode is brought into contact with the reference opposite electrode by driving the servo motor;

a second rotational angle acquisition step that acquires, as a second rotational angle, a rotational angle of the servo motor
when the reference movable electrode is pushed in with respect to the reference opposite electrode with a predetermined pressing
force;

a rotational angle correction amount acquisition step that acquires, as a rotational angle correction amount, a deviation
between the first rotational angle and the second rotational angle;

a third rotational angle acquisition step that, in a state in which a movable electrode to be measured and an opposite electrode
to be measured are mounted to the spot welding gun, acquires, as a third rotational angle, a rotational angle of the servo
motor when the movable electrode to be measured is pushed in with respect to the opposite electrode to be measured with a
pressing force substantially the same as the pressing force when the second rotational angle is acquired; and

a fourth rotational angle acquisition step that acquires a fourth rotational angle by correcting the third rotational angle
with the rotational angle correction amount.

US Pat. No. 9,787,245

MOTOR CONTROL APPARATUS HAVING PROTECTION OPERATION UNIT, AND MACHINE LEARNING APPARATUS AND METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A machine learning apparatus for learning (i) a power failure detection level, which is a value of a power supply voltage
defined as a criterion for determination as to whether power failure has occurred on an AC power supply side of a motor control
apparatus, and (ii) a power failure detection time, which is a time for which the power supply voltage on the AC power supply
side of the motor control apparatus has been lower than the power failure detection level, in the motor control apparatus
which converts AC power supplied from the AC power supply side into DC power, outputs the DC power to a DC link, further converts
the DC power into AC power for driving a motor, and supplies the AC power to the motor,
the machine learning apparatus comprising:
a DC voltage measuring unit which measures a DC link voltage across two terminals of a DC link capacitor in the DC link;
an AC voltage measuring unit which measures a value of the power supply voltage on the AC power supply side;
an energy amount computation unit which computes an amount of energy stored in the DC link capacitor;
a state observation unit which observes a state variable including
data associated with the measured value of the power supply voltage on the AC power supply side,
data associated with the computed amount of energy stored in the DC link capacitor,
data indicating whether a protective operation for the motor control apparatus is successful, and
data associated with motor output; and
a learning unit which learns the power failure detection level and the power failure detection time, by repeating update of
a function for changing the power failure detection level and the power failure detection time, based on the state variable.

US Pat. No. 9,784,556

ROTATION DETECTOR DETECTING ROTATION OF ROTATING MACHINE AND SYSTEM PROVIDED WITH ROTATION DETECTOR

FANUC CORPORATION, Yaman...

1. A rotation detector for detecting rotation of a rotating machine, comprising:
a moving part including:
a connecting part fastened in contact with a rotating part of the rotating machine;
an output shaft separate from the rotating part, the output shaft being formed integrally with the connecting part so as to
extend from the connecting part to one side in the axial direction;
a first detected part formed at a first outer circumferential surface which has a maximum outside diameter in the connecting
part and the output shaft; and

a fixed part separated from the first outer circumferential surface at the outside in the radial direction, the fixed part
having magnetoresistance elements and detecting a change in a magnetic field which occurs with rotation of the first detected
part.

US Pat. No. 9,737,989

HUMAN COOPERATION ROBOT SYSTEM IN WHICH ROBOT IS CAUSED TO PERFORM RETREAT OPERATION

FANUC CORPORATION, Yaman...

1. A human cooperation robot system in which a robot and a human perform a cooperative operation while sharing a workspace
with each other, 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 larger than
a first threshold value, when the human pushes the robot while the robot is in a stopped situation:

a position acquiring unit that acquires a current position of the robot; and
a retreat operation stopping unit that stops the retreat operation when the current position of the robot acquired by the
position acquiring unit departs from a retreat area, in which the retreat operation is permitted.

US Pat. No. 9,765,846

POSITIONING APPARATUS MOUNTED WITH VIBRATION ISOLATORS AND ROBOT

FANUC CORPORATION, Yaman...

1. A positioning apparatus mounted with at least one linear axis or axis of rotation and a robot on a base, the positioning
apparatus comprising:
vibration isolators configured to seat and suspend the base; and
a level adjustment device provided between the base and the vibration isolators, wherein
during a series of operations of the robot that are delimited by at least one program, each operation in the series of operations
sets an instruction speed of the operation of the robot,

the level adjustment device is configured to control suspension and seating of the vibration isolators with respect to the
base in accordance with a result of comparison between the highest instruction speed in the series of operations of the robot
and a predetermined speed,

the vibration isolators are configured to effect a state of the suspension or the seating before the program is executed,
and maintain the state during the execution of the program,

the level adjustment device is further configured to control the vibration isolators to be seated when the robot is operated
at the highest instruction speed to replace a work or a tool on a machine tool or a measurement apparatus, and

the level adjustment device is further configured to control the vibration isolators to be suspended when machining or measurement
operated by the robot at a speed less than the highest instruction speed is started.

US Pat. No. 9,724,774

PROGRAM CREATING DEVICE FOR WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A machining program creating device for a wire electric discharge machine,
wherein the wire electric discharge machine comprises:
at least two linear axes for relative movement of a table and a wire electrode, and
a loading device mounted on the table, the loading device being configured to be fitted with a workpiece to be machined, and
the loading device including at least two pivots,

the machining program creating device comprising a processor configured to:
receive input of graphic data defining a product shape,
set machining data including at least the thickness of the product shape and an amount of tilt of the wire electrode, and
create a machining program according to which, (a) a new amount of movement of the wire electrode relative to the workpiece
and (b) amounts of rotation of the pivots, to machine the workpiece with the wire electrode held vertically, are generated
based on

(1) the amount of tilt of the wire electrode,
(2) amounts of movement of the linear axes for moving the wire electrode relative to the workpiece, and
(3) previously stored rotation center lines of the pivots,
wherein the new amount of movement of the wire electrode relative to the workpiece and the amounts of rotation of the pivots
are commanded to change a tilt of the workpiece relative to the wire electrode for machining by synchronously moving the linear
axes and the pivots based on the created machining shape.

US Pat. No. 9,756,322

REMOTE DIAGNOSTIC DEVICE FOR COMPUTER-CONTROLLED APPARATUS

FANUC CORPORATION, Yaman...

1. A remote diagnostic device for a computer-controlled apparatus, which diagnoses a fault through a network communication
line from a remote place, the remote diagnostic device comprising:
a camera constructed separately from the computer-controlled apparatus and configured to pick up an image on a display screen
of the computer-controlled apparatus;

a signal conversion adapter; and
a diagnostic computer installed in a remote place,
wherein the signal conversion adapter comprises:
an image output unit configured to convert the image picked up by the camera into a digital signal and output the converted
image signal to the network communication line;

a network signal conversion unit configured to extract, from a network signal, a remote control signal input from the diagnostic
computer through the network communication line;

a control signal conversion unit configured to convert the remote control signal extracted by the network signal conversion
unit into an input/output signal for an actuator of the computer-controlled apparatus; and

a control signal switching unit configured to output the input/output signal converted by the control signal conversion unit
to the computer-controlled apparatus, and

wherein the diagnostic computer comprises:
an image display unit configured to display the image signal received through the network communication line; and
a remote control signal output unit configured to output, through the network communication line, the remote control signal
used to operate the computer-controlled apparatus from the remote place.

US Pat. No. 9,656,416

MANUFACTURING METHOD AND INJECTION MOLDING SYSTEM FOR MULTI-COLOR MOLDED ARTICLE

FANUC CORPORATION, Yaman...

1. A manufacturing method for a multi-color molded article, the method comprising:
multi-color molding performed by a plurality of injection molding machines configured to perform injection molding in a predetermined
order and insert molds removably mounted in molds incorporated in the injection molding machines, respectively, said multi-color
molding comprising:

a first step of injection-molding the molded article by a first one of the injection molding machines;
a second step of taking out the molded article molded in the first step, along with the insert mold fitted with the molded
article, from the mold of the first injection molding machine;

a third step of transporting the insert mold removed in the second step to a second injection molding machine configured to
perform injection molding next to the first injection molding machine;

a fourth step of attaching the insert mold transported in the third step to the mold of the second injection molding machine;
and

a fifth step of performing injection molding by the second injection molding machine, wherein the second to fifth steps are
repeated in the predetermined order for each of the injection molding machines,

wherein, in the third step of transporting, the insert mold being transported is released from hold or attraction at an intermediate
station, on which the insert mold is placed, and is held or attracted again,

wherein the intermediate station is outside the molds, and
wherein injection molding is performed by simultaneously using a plurality of insert molds with different cavity shapes in
molding conditions varied for each of the different cavity shapes.

US Pat. No. 9,693,493

COMPOSITE CABLE MOUNTED IN INDUSTRIAL ROBOT

Fanuc Corporation, Yaman...

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

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

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

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

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

US Pat. No. 9,647,581

MOTOR DRIVE HAVING FUNCTION OF DETECTING FAILURE IN DYNAMIC BRAKING CIRCUIT

Fanuc Corporation, Yaman...

1. A motor drive having a dynamic braking circuit for generating a deceleration torque by dynamic braking of a synchronous
motor, when the excitation of the synchronous motor is interrupted, the motor drive comprising:
a motor drive control circuit configured to apply a voltage to a winding of the synchronous motor and the dynamic braking
circuit for a predetermined time by switching a power transistor connected to a direct current power supply;

a current detection circuit configured to detect a current value outputted from the power transistor; and
a failure determination circuit configured to determine the presence or absence of a failure in the dynamic braking circuit
from the current value detected by the current detection circuit and a predetermined threshold value,

wherein when the presence or absence of a failure in the dynamic braking circuit is detected, the resistance of the dynamic
braking circuit is changed to a resistance which is less than a resistance during normal operation.

US Pat. No. 9,673,687

FIXTURE FOR SECURING TEMPERATURE DETECTION ELEMENT, MOTOR, AND METHOD OF SECURING TEMPERATURE DETECTION ELEMENT

FANUC CORPORATION, Yaman...

1. A fixture that secures a temperature detection element to a winding provided around a stator core of a motor, said fixture
comprising:
a main body to be inserted into a gap between the stator core and the winding; and
an engagement portion that is formed on one end side of the main body and on one side surface of the main body and wherein
said engagement portion engages with a rim of an opening of the winding; wherein a recess to house a temperature sensitive
part of the temperature detection element is formed on the one side surface of the main body; and wherein a depth of the recess
is less than a maximum thickness of the temperature sensitive part of the temperature detection element.

US Pat. No. 9,673,745

SERVOMOTOR CONTROL SYSTEM INCLUDING A BUFFER SERVOMOTOR WITH A PLURALITY OF WINDINGS

FANUC CORPORATION, Yaman...

1. A control system for servomotors for driving axes in an industrial machine or machine tool, comprising:
a plurality of first servomotors configured to drive axes;
a plurality of converters configured to convert alternate current (AC) voltage into direct current (DC) voltage;
a plurality of first inverters configured to receive DC voltage from the converters and convert the DC voltage into AC voltage
to drive the plural first servomotors and also convert the regenerated AC power from the first servomotors into DC power;

second servomotors configured to rotate inertial bodies;
a plurality of second inverters configured to receive DC voltage from the converter and convert the DC voltage into AC voltage
to drive the second servomotors and also convert the regenerated AC power from the second servomotors into DC power; and

a servomotor control unit configured to control the plural first servomotors and the second servomotors,
wherein the number of the second servomotors is less than that of the plural second inverters, and
wherein at least one of the second servomotors includes a plurality of independent windings, and at least part of the plural
second inverters are connected to the plural independent windings provided for one of the second servomotors.

US Pat. No. 9,634,537

MOTOR PROVIDED WITH TERMINAL BLOCK

Fanuc Corporation, Yaman...

1. A motor, comprising:
a coil that is wound around a stator and a varnish impregnated in the coil; and
a terminal block to which a lead wire of the coil is connected, wherein
the terminal block includes:
a bottom wall;
a first side wall and second side wall extending from the bottom wall so as to face each other;
a terminal part that is provided between the first side wall and the second side wall and a front end of the lead wire is
connected to the terminal part; and

a dam wall that is arranged at a position closer to the coil than the terminal part and the dam wall is formed integrally
with the bottom wall, the first side wall, and the second side wall without clearance, the dam wall being spaced apart from
a rear end part of the terminal block so as to define a reservoir bound by the rear end part, the first side wall, the second
side wall and the dam wall, the reservoir is configured to collect varnish flowing toward the terminal block, wherein

the dam wall includes a lead wire holding part for holding the lead wire.

US Pat. No. 9,620,926

LASER MACHINING APPARATUS CHANGING OPERATION BASED ON LENGTH OF POWER-DOWN TIME

Fanuc Corporation, Yaman...

1. A laser machining apparatus comprising:
a laser oscillator;
a control device configured to control the laser oscillator;
a power-down detection unit configured to detect a decrease in supply power supplied to the control device and the laser oscillator
from an external power source;

a time measurement unit configured to measure a period of power-down time from when the supply power is decreased under the
predetermined value until the supply power is returned to a predetermined value;

an electricity storage unit configured to supply electric power to the control device when the supply power decreases; and
an inverter provided within the laser oscillator, configure to operate abnormally when the supply power is decreased under
the predetermined value, and to recover from an abnormal operation upon continuation of a state of the supply power being
smaller than the predetermined value in excess of a first predetermined period of time,

wherein the control device stops the laser machining apparatus or the inverter when the power-down time is smaller than the
first predetermined period of time on such an occasion that the supply power returns to a value equal to or larger than the
predetermined value and does not stop the laser machining apparatus or the inverter when the power-down time is equal to or
larger than the first predetermined period of time on such an occasion that the supply power returns to the value equal to
or larger than the predetermined value.

US Pat. No. 9,605,982

ROTARY ENCODER HAVING PERIODIC AND NON-PERIODIC TRACKS

Fanuc Corporation, Yaman...

1. A rotary encoder comprising
a rotary disk which has a rotation axis, and
a light emitting part which emits light toward said rotary disk, wherein
said rotary disk has a plurality of tracks which extend concentrically about said rotation axis,
each of said plurality of tracks has light transmitting parts which transmit incident light to said rotary disk and non-transmitting
parts which do not transmit incident light to said rotary disk, said light transmitting parts and said non-transmitting parts
being arranged alternately in a circumferential direction about said rotation axis,

said non-transmitting parts have pluralities of projecting parts which are arranged along said circumferential direction of
said rotary disk, each of said plurality of projecting parts having a pair of reflecting surfaces which retro reflect incident
light to said rotary disk toward said light emitting part,

said plurality of tracks include a periodic track where said light transmitting parts and said non-transmitting parts are
arranged in said circumferential direction with a periodic pattern and a non-periodic track where said light transmitting
parts and said non-transmitting parts are arranged in said circumferential direction with a non-periodic pattern,

said periodic track and said non-periodic track are arranged in a radial direction of said rotary disk at positions where
further reflected light at said light emitting part after retro reflection at said reflecting surfaces of said non-periodic
track will not enter said periodic track,

said plurality of tracks further include a second non-periodic track where said light transmitting parts and said non-transmitting
parts are arranged in said circumferential direction with a non-periodic pattern,

said periodic track is arranged in said radial direction between said non-periodic track and said second non-periodic track,
and

said periodic track and said second non-periodic track are arranged in said radial direction at positions where further reflected
light at said light emitting part after retro reflection at said reflecting surfaces of said second non-periodic track will
not enter said periodic track.

US Pat. No. 9,528,882

ROTOR TEMPERATURE DETECTING DEVICE IN AN ELECTRIC MOTOR AND OVERHEAT PROTECTION DEVICE OF AN ELECTRIC MOTOR

Fanuc Corporation, Yaman...

1. An overheat protection device of an electric motor, comprising:
a current detector configured to detect current value of current supplied to the electric motor;
a rotational speed detector configured to detect rotational speed of the electric motor;
a storage configured to store coefficients depending on the rotational speed;
a rotor temperature estimator configured to estimate temperature of a rotor of the electric motor, based on the current value,
the rotational speed, and the coefficient; and,

an overheat determination unit configured to determine whether the electric motor is in an overheated state, from the rotor
temperature estimated by the rotor temperature estimator,

wherein, when the rotational speed is equal to or lower than a predetermined threshold, the overheat determination unit determines
whether the electric motor is in an overheated state, based on the temperature of the rotor estimated by assuming that the
motor is driven at rotational speed equal to the threshold.

US Pat. No. 9,519,279

WAVEFORM DISPLAY DEVICE PROVIDED WITH SEARCH FUNCTION ACCORDING TO SET CONDITION

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:
a numerical control device;
a servo motor controlled by the numerical control device; and
a waveform display device displaying, by a waveform, a time series of physical quantity data changing with time in the machine
tool,

the waveform display device comprising:
a time series data acquisition part coupled to the numerical control device of the machine tool, and acquiring the time series
of physical quantity data from the numerical control device;

a search condition setting part setting a search condition of the physical quantity data;
a data search part searching for physical quantity data satisfying the search condition set by the search condition setting
part, from among the physical quantity data acquired by the time series data acquisition part; and

a search result display part extracting a time series of physical quantity data in a predetermined range including the physical
quantity data searched by the data search part or other physical quantity data corresponding to the physical quantity data
searched by the data search part, from among the physical quantity data acquired by the time series data acquisition part,
and displaying the extracted time series of physical quantity data by a waveform,

wherein, when a plurality of the physical quantity data satisfying the search condition are searched by the data search part,
the search result display part successively displays by waveforms a plurality of time series of physical quantity data in
a predetermined range including the respective searched physical quantity data or other physical quantity data corresponding
to the respective searched physical quantity data, to enable monitoring of an operation state of the machine tool.

US Pat. No. 9,477,216

NUMERICAL CONTROL DEVICE INCLUDING DISPLAY PART FOR DISPLAYING INFORMATION FOR EVALUATION OF MACHINING PROCESS

FANUC Corporation, Minam...

1. A numerical control device for controlling movement of a machining point by driving a plurality of drive shafts of a machine
tool in accordance with a machining program, the device comprising:
a program position obtaining part for obtaining a program position from the machining program, the program position representing
positional information for each drive shaft;

a command position obtaining part for obtaining a command position of each drive shaft, the command position being generated
by interpolating the program position obtained from the machining program and being based on a machining condition which is
specified by the machining program and parameters;

a program coordinate calculating part for calculating a program coordinate based on the program position and on machinery
information of the machine tool, the program coordinate representing a coordinate of the machining point corresponding to
the program position;

a program coordinate storing part for storing the program coordinate;
a command coordinate calculating part for calculating a command coordinate based on the command position and the machinery
information of the machine tool, the command coordinate representing a coordinate of the machining point corresponding to
the command position;

a command coordinate storing part for storing the command coordinate;
an actual position obtaining part for obtaining an actual position of each drive shaft by detecting a position of each drive
shaft;

an actual coordinate calculating part for calculating an actual coordinate based on the actual position and the machinery
information of the machine tool, the actual coordinate representing a coordinate of the machining point corresponding to the
actual position;

an actual coordinate storing part for storing the actual coordinate; and
a display part for displaying the program coordinate and the command coordinate such that the program coordinate and the command
coordinate can be compared with each other, wherein the display part is adapted to further display the actual coordinate such
that the actual coordinate can be compared with the program coordinate and the command coordinate.

US Pat. No. 9,470,842

LASER PROCESSING APPARATUS CAPABLE OF SWITCHING FIBER CORE

Fanuc Corporation, Yaman...

1. A laser processing apparatus comprising:
a laser light source which generates laser light;
a light transmission part including a plurality of fiber cores which transmits the laser light generated by said laser light
source;

a processing head which condenses the laser light transmitted by said light transmission part to irradiate a workpiece, wherein
each of said plurality of fiber cores has an emission end which faces said processing head and is fixedly arranged with respect
to said processing head so as to emit the laser light to the processing head;

a switching part which switches between the fiber cores to transmit the laser light to said processing head through the emission
end; and

a controller configured to:
select one of the plurality of fiber cores through which to transmit the laser light to said processing head, and
control the switching part to switch to the selected one of the plurality of fiber cores and transmit the laser light through
the selected one of the plurality of fiber cores to the processing head.

US Pat. No. 9,465,381

SERVO CONTROL DEVICE HAVING AUTOMATIC FILTER ADJUSTMENT FUNCTION BASED ON EXPERIMENTAL MODAL ANALYSIS

FANUC CORPORATION, Yaman...

1. A servo control device comprising:
a speed command generating unit configured to generate a speed command value for a servomotor;
a torque command generating unit configured to generate a torque command value for the servo motor based on the speed command
value;

a speed detecting unit configured to detect speed of the servomotor driven based on the torque command value;
a speed control loop configured to include the speed command generating unit, the torque command generating unit, and the
speed detecting unit;

a sine wave disturbance input unit configured to input sine wave disturbance to the speed control loop;
a frequency response calculating unit configured to estimate a frequency response including a gain and a phase of speed control
loop input/output signals based on an output from the speed control loop at time when the sine wave disturbance is input to
the speed control loop;

a resonance frequency detecting unit configured to detect a resonance frequency, at which the gain of the frequency response
is local maximum;

a resonance mode characteristic estimating unit configured to estimate a resonance characteristic from the frequency response
at the resonance frequency and frequencies around the resonance frequency;

a rigid-body mode characteristic estimating unit configured to estimate a rigid-body characteristic from the frequency response
in a low-frequency band;

a filter configured to attenuate a component in a particular frequency band included in a torque command; and
a filter adjusting unit configured to make setting of the filter so that the filter has a specified characteristic,
wherein the filter adjusting unit further includes a filter adjusting part configured to attenuate a component in a frequency
band corresponding to a resonance mode estimated by the resonance mode characteristic estimating unit.

US Pat. No. 9,377,770

NUMERICAL CONTROL SYSTEM USING I/O UNIT FOR TIME MEASUREMENT

FANUC Corporation, Minam...

1. A numerical control system, which comprises a numerical controller and one or more I/O units connected to the numerical
controller and transfers input and output signals between the numerical controller and the I/O units through serial communication,
wherein the I/O unit starts sending back to the numerical controller in the serial communication on receiving data from the
numerical controller, and

each of the I/O units comprising:
a time measurement section configured to start time measurement with an input signal as a trigger; and
a serial communication section configured to transmit a flag indicative of input of the input signal and a measured value
of the time measurement section at the start of sending back by the I/O unit to the numerical controller,

the numerical controller comprising:
an acquisition section configured to acquire the flag and the measured value input through the serial communication;
a timer configured to measure time; and
an input time calculation section configured to calculate the time of input of the input signal based on the time measured
by the timer and the measured value acquired by the acquisition section.

US Pat. No. 9,346,166

APPARATUS AND METHOD OF TAKING OUT BULK STORED ARTICLES BY ROBOT

FANUC CORPORATION, Yaman...

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

a connected set processing unit determining connected sets made by connecting 3D points which are close to each other, from
the plurality of 3D points acquired by the 3D measuring device;

an article identifying unit identifying positions and postures of the articles, based on position information of 3D points
belonging to the connected sets, wherein the article identifying unit determines positions and postures representing the connected
sets, based on positions of 3D points belonging to the connected sets;

a hand position and posture processing unit determining positions and postures of the hand capable of taking out the articles,
the positions and postures of the articles being identified by the article identifying unit, wherein the hand position and
posture processing unit determines the positions and postures of the hand corresponding to the positions and postures determined
by the article identifying unit; and

a robot control unit controlling the robot to move the hand to the positions and postures determined by the hand position
and posture processing unit and take out the articles,

wherein the article identifying unit is configured to identify the positions and postures of the articles, based on the position
information of the 3D points belonging to the connected sets, and without using a model or pattern matching.

US Pat. No. 9,339,908

MACHINE TOOL WITH COVER STRUCTURE ADAPTED FOR DISCHARGE OF CHIPS

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:
a table on which a workpiece is to be placed;
a column comprising a spindle to which a tool for machining the workpiece is attached;
a bed on which the table and the spindle are disposed; and
covers which include
a front cover provided on a side opposite the column with the table therebetween,
side covers provided on left and right sides, respectively, of the front cover,
a front bottom part connecting a lower end of the front cover to the bed, and
side bottom parts connecting respective lower ends of the side covers to the bed,
wherein each of the side bottom parts connecting the bed to the respective lower ends of the side covers comprises a slope
that is gradually inclined outward from the bed and downward to the respective lower end of the respective side cover.

US Pat. No. 9,063,536

NUMERICAL CONTROLLER HAVING WORKPIECE MOUNTING ERROR COMPENSATION UNIT FOR THREE-AXIS MACHINE TOOL

FANUC Corporation, Minam...

1. A numerical controller controlling a three-axis machine tool that machines a workpiece mounted on a table with at least
three linear X, Y, and Z axes, the numerical controller comprising:
a workpiece mounting error compensation unit configured to compensate a mounting error caused when a workpiece is mounted,
wherein the workpiece mounting error compensation unit has an error compensation unit that performs an error compensation
with respect to an instructed linear-axis position with a tool-length compensation vector and the mounting error which is
measured and set in beforehand as translation errors in directions along the X, Y, and Z axes, and rotation errors around
the X, Y, and Z axes, the mounting error being a difference between a reference workpiece position and an actual workpiece
position of the workpiece, when the workpiece is mounted in order to keep a position with respect to the workpiece at a tool
center point position, based on the instructed linear-axis position of the three linear axes to obtain a compensated linear-axis
position,

wherein the instructed linear-axis position is a tool reference point position of the three linear axes obtained by interpolating
an instructed tool reference point position, the instructed tool reference point position obtained by adding the tool-length
compensation vector to the tool center point position of the three linear axes instructed in a program instruction,

the workpiece mounting error compensation unit is configured to perform the error compensation by subtracting the tool-length
compensation vector from the instructed linear-axis position, performing the error compensation based on the rotation error,
performing the error compensation based on the translation error, and adding the tool-length compensation vector, and

the three linear axes are driven based on the compensated linear-axis position obtained by the error compensation unit in
the workpiece mounting error compensation unit.

US Pat. No. 10,656,621

INFORMATION PROCESSING DEVICE

Fanuc Corporation, Yaman...

1. A numerical controller for simulating and controlling an operation of a tool based on a machining program, the device comprising:a processor configured to:
store, in a memory device, at least information relating to a workpiece;
carry out a simulation process of reproducing a positional relationship between the tool and the workpiece in a virtual space based on the information relating to the workpiece and the machining program;
calculate, based on a result of the simulation process, an amount of removal of the workpiece by each block included in the machining program, the amount of removal being calculated on a per-block basis; and
display, on a display device, each of the blocks included in the machining program in a machining program display field in a respective display mode, the respective display mode for each of the blocks is determined by comparing the amount of removal for each of the blocks to at least one threshold indicating a predetermined amount of removal,
wherein the processor is further configured to identify, for each block included in the machining program, a block that acts as a factor causing the amount of removal of the workpiece within the block from the blocks of the machining program on the basis of the machining program and the result of the simulation process, and
wherein when the machining program is displayed, the processor is further configured to display on the display device the block acting as the factor causing the amount of removal of the workpiece by the block included in the machining program in a display mode in which the block acting as the factor causing the amount of removal of the workpiece is allowed to be distinguished from other blocks.

US Pat. No. 10,654,169

SUPPLY DEVICE CONFIGURED TO CIRCULATE WORKPIECES AND TRANSPORT DEVICE EQUIPPED WITH SUPPLY DEVICE

FANUC CORPORATION, Yaman...

1. A transport device comprising:a supply device including a placement member on which a workpiece is placed and supplying the workpiece to a take-out device taking out the workpiece;
a take-out device taking out the workpiece placed on the placement member;
an imaging device imaging the workpiece placed on the placement member; and
a control device controlling the take-out device and the imaging device; wherein the supply device includes:
a drive motor rotating the placement member;
a movement member moving the workpiece placed on the placement member; and
a discharge member discharging the workpiece to the outside of the placement member; wherein
a plurality of rotation regions are predetermined on a surface of the placement member in a concentric shape around a rotation axis of the placement member,
the rotation regions are regions in which the workpiece is moved in the circumferential direction by rotation of the placement member,
a replenishment region in which the workpiece is replenished is set in one rotation region of an innermost rotation region and an outermost rotation region, and a discharge region in which the discharge member is disposed is set in the other rotation region,
the movement member is configured to move the workpiece to an adjacent rotation region in a direction from the rotation region in which the replenishment region is set to the rotation region in which the discharge region is set,
a detection region in which the workpiece is imaged by the imaging device, a gripping region in which the workpiece is gripped by the take-out device, and a movement region in which the movement member is disposed are predetermined in a region where the placement member is disposed,
at least a portion of the detection region is disposed downstream from the replenishment region in a direction in which the placement member rotates, and the detection region is disposed upstream from the gripping region,
the gripping region, the discharge region, the movement region, and the replenishment region are disposed in the order of the gripping region, the discharge region, the movement region, and the replenishment region along the direction of rotation of the placement member when the placement member is viewed in a plan view, and
the control device detects a position and orientation of the workpiece based on an image of the workpiece captured by the imaging device, calculates a position and orientation of the workpiece in the gripping region based on a position and orientation of the workpiece in the detection region and a rotation angle of the placement member, and controls the take-out device based on a position and orientation of the workpiece in the gripping region so as to grip the workpiece when the workpiece passes through the gripping area a plurality of times while moving through the rotation regions.

US Pat. No. 10,636,559

REACTOR HAVING TERMINAL AND BASE

FANUC CORPORATION, Yaman...

1. A reactor, comprising:a core body, wherein
the core body comprises an outer peripheral iron core composed of a plurality of outer peripheral iron core portions, at least three iron cores which are arranged inside the outer peripheral iron core and which are coupled to the plurality of outer peripheral iron core portions, and coils wound around the at least three iron cores,
gaps are formed at the center of the core body between one of the at least three iron cores and another iron core adjacent thereto, through which gaps the iron cores are magnetically connectable,
the reactor further comprises:
a terminal and a pedestal which are fastened to the core body so as to interpose the core body therebetween,
a first abutment member which is attached to the pedestal and which abuts one end of the at least three iron cores between the pedestal and the core body, and
a second abutment member which is attached to the terminal and which abuts the other ends of the at least three iron cores between the core body and the terminal,
wherein the first abutment member abuts the center of an end surface of the core body,
wherein the second abutment member abuts the center of the other end surface of the core body, and
wherein the end surfaces of the first abutment member and the second abutment member have shapes and areas which at least partially include the gaps.

US Pat. No. 10,635,084

NUMERICAL CONTROL SYSTEM COORDINATING WITH TOOL CATALOG DATABASE

Fanuc Corporation, Yaman...

1. A numerical control system comprising:a numerical controller having a tool database in which data of a tool to be used for machining is stored; and
a tool catalog database which is accessible among a plurality of machines and which is accessible by the numerical controller,wherein the numerical controller is configured to:retrieve from the tool catalog database, at least one piece of tool catalog data including first cutting condition data;
receive a modified first cutting condition data input from an operator into the tool database and receive first modified cutting condition data from a machining program;
prioritizing extraction of the modified first condition data from the machining program, and extracting the modified first condition data from the machining program;control a machine to execute a machining based on the machining program and the modified first cutting condition data of the machining program, the modified first cutting condition data used for the machining;after execution of the machining, receive an instruction from the operator approving or denying an update to the tool catalogue database based on the modified first cutting condition data of the machine program, and
in response to the instruction from the operator approving an update, update the first cutting condition data stored in the tool catalog database with the modified first cutting condition data of the machining program used for the machining, or update the first cutting condition data stored in the tool catalog database with the modified first cutting condition data of the machining program used for the machining and with modified cutting condition data in the tool database that is not included in the modified first cutting condition data of the machining program,
wherein the updated first cutting condition data in the tool catalogue database is accessible by the plurality of machines.

US Pat. No. 10,635,091

MACHINING CONDITION ADJUSTMENT DEVICE AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A machining condition adjustment device for adjusting a machining condition of each of a plurality of manufacturing machines constituting a line, the machining condition adjustment device comprising:a machine learning device that learns an adjustment of the machining condition of the manufacturing machine,
the machine learning device including
a state observation unit that observes each of machining condition data indicative of the machining condition of each used tool used in machining by the manufacturing machine and cycle time data related to a cycle time of one machining by the manufacturing machine, as a state variable representing a current state of an environment,
a determination data acquisition unit that acquires determination data indicative of a result of an appropriateness determination of one machining by the manufacturing machine in a case where the adjustment of the machining condition is performed, and
a learning unit that performs learning by associating the machining condition data and the cycle time data with the adjustment of the machining condition using the state variable and the determination data.

US Pat. No. 10,629,360

REACTOR HAVING IRON CORES AND COILS

FANUC CORPORATION, Yaman...

1. A reactor, comprising an outer peripheral iron core, and at least three iron core coils arranged inside the outer peripheral iron core, whereinthe at least three iron core coils are composed of iron cores and coils wound onto the iron cores, respectively,
gaps, which can be magnetically coupled, are formed between one of the at least three iron cores and another iron core adjacent thereto,
the coils are arranged in coil spaces formed between the iron cores and the outer peripheral iron core,
one portion of the coil space is parallel with an inner circumferential surface of the coil and another portion of the coil space is parallel with an outer circumferential surface of the coil, and
two corner parts located at the outer peripheral iron core side in the cross-section of the coil spaces in the axial direction is rounded, or the two corner parts is one part of a polygon having an internal obtuse angle of not less than 100°.

US Pat. No. 10,607,768

AC REACTOR HAVING TERMINAL BASE

FANUC CORPORATION, Yaman...

1. An AC reactor comprising:a peripheral iron core;
at least three iron core coils extending radially outwardly from a center of the peripheral iron core and contacting or connected to an inner surface of the peripheral iron core, each of the iron core coils including:
an iron core and a coil wound around the iron core,
an input terminal, and
an output terminal,
wherein a distal end of the input terminal of each of the iron cores is arranged along a first line, and
wherein a distal end of the output terminal of each of the iron cores is arranged along a second line; and
a terminal base unit for covering the iron core coils, the terminal base unit including:
an input terminal connection portion including a respective input electrical connector for each input terminal, each respective input electrical connector is arranged along the first line, and
an output terminal connection portion including a respective output electrical connector for each output terminal, each respective output electrical connector is arranged along the second line,
wherein each input terminal is connected to the respective input electrical connector through a respective input opening in the terminal base unit, and each output terminal is connected to the respective output electrical connector through a respective output opening in the terminal base unit.

US Pat. No. 10,606,232

CONTROLLER SYSTEM AND CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A controller system, comprising:a plurality of controllers;
a plurality of I/O devices each configured to connect a control target of each of the plurality of controllers and each of the plurality of controllers, and transmit information between the control target and each of the controllers; and
a control device configured to control and manage the plurality of controllers, wherein:
the control device includes:
a storage unit configured to store each of a plurality of programs executed by each of the plurality of controllers, and
a processor configured to allocate each of the plurality of programs stored in the storage unit as a self-assigned program to each of the plurality of controllers to cause each of the plurality of controllers to control the control target connected to each controller via the I/O device, and further allocate all or part of the plurality of programs as another program to the control device and the plurality of controllers to cause the control device and the plurality of controllers to doubly execute the all or part of the plurality of programs stored in the storage unit in parallel in one execution cycle,
each controller of the plurality of controllers includes a communication unit including:
a first input buffer memory configured to store input data transmitted from the control target connected to said each controller via the I/O device,
a first output buffer memory configured to store first output data obtained by executing the self-assigned program allocated to said each controller to control the control target connected to said each controller via the I/O device, and
a second output buffer memory configured to store second output data obtained when the control device or another of the controllers executes the other program allocated to the control device or the other of the controllers to control the control target connected to said each controller via the I/O device,
wherein said each controller is configured to output one of the first output data and the second output data to the control target connected to said each controller via the I/O device, based on selection information transmitted from the control device, the first output data being stored in the first output buffer memory, the second output data being stored in the second output buffer memory,
the second output buffer memory of at least one controller of the plurality of controllers stores the second output data obtained when another controller of the plurality of controllers executes the other program allocated to said another controller to control the control target connected to the at least one controller via the I/O device,
the processor of the control device is configured to
obtain load information via the communication unit of the plurality of controllers, and
allocate the other program based on an acceptable load that can be further processed in one execution cycle and that is calculated from the obtained load information, the load information indicating a load applied when each of the plurality of controllers executes the self-assigned program,
each of the plurality of controllers has a same processing performance as other controllers among the plurality of controllers, and
the control device has a processing performance higher than the processing performance of each of the plurality of controllers.

US Pat. No. 10,596,669

MACHINING SYSTEM

FANUC CORPORATION, Yaman...

1. A machining system comprising a machine tool, a machine tool controller that controls the machine tool, an auxiliary device that assists the machine tool, and an auxiliary device controller that controls the auxiliary device, the machine tool and the auxiliary device working cooperatively for machining, the machining system comprising:a signal management unit that receives a first signal and a second signal, the first signal indicating information about the machine tool as a criterion used for determining whether the machine tool and the auxiliary device are operable or inoperable, the second signal indicating information about the auxiliary device as a criterion used for determining whether the machine tool and the auxiliary device are operable or inoperable, wherein
the signal management unit outputs a third signal to the machine tool controller and the auxiliary device controller, the third signal independently indicating an operable state or an inoperable state of the machine tool based on the first signal and an operable state or an inoperable state of the auxiliary device based on the second signal.

US Pat. No. 10,596,677

MACHINE TOOL CONTROL SYSTEM CAPABLE OF OBTAINING WORKPIECE ORIGIN AND WORKPIECE ORIGIN SETTING METHOD

FANUC CORPORATION, Yaman...

1. A machine tool control system, comprising:a machine tool configured to machine an ingot according to a machining program;
an imaging apparatus placed at a predetermined position in the machine tool and configured to take an image of the ingot by a stereo system;
a three-dimensional coordinate computing unit configured to
calculate three-dimensional coordinates of the ingot based on the image of the ingot taken by the imaging apparatus, and
calculate, from the three-dimensional coordinates of the ingot, three-dimensional coordinates of a specified machining start point on the ingot;
a coordinate converting unit configured to
convert the three-dimensional coordinates of the machining start point on the ingot, that are calculated by the three-dimensional coordinate computing unit, into coordinates in a machine coordinate system for the machine tool, and
set the converted three-dimensional coordinates of the machining start point on the ingot, as a workpiece origin, into the machining program for the machine tool;
a touch probe configured to contact each of end faces and a top face of the ingot; and
a workpiece origin updating unit configured to
obtain, in response to the touch probe contacting the ingot, positional coordinates of each of the end faces and the top face of the ingot in the machine coordinate system,
calculate further three-dimensional coordinates of the machining start point on the ingot from the obtained positional coordinates, and
set the further three-dimensional coordinates of the machining start point, as the workpiece origin, into the machining program for the machine tool.

US Pat. No. 10,589,429

MACHINE SYSTEM

Fanuc Corporation, Yaman...

1. A method of acquiring acceleration information of a movable part of a machine system, the method comprising:detecting, during a predetermined operation using a sensor attached to the moveable part, the acceleration information relative to the movable part of a machine;
wirelessly transmitting, during the predetermined operation, the detected acceleration information;
receiving the wirelessly transmitted acceleration information;
storing the received acceleration information;
determining whether the received acceleration information is partially lost;
responsive to a determination that the received acceleration information is partially lost, repeating the predetermined operation at least once;
determining, utilizing the acceleration information contained by the sensor attached to the movable part, whether every lost part of the previously received acceleration information is contained in the subsequent acceleration information detected during the at least one repeated operation;
responsive to a determination that every lost part of the previously received acceleration information is contained in the subsequent acceleration information is contained during the at least one repeated operation, terminating the repeated operation; and
complementing the received acceleration information with the partially lost acceleration information that was contained in the subsequent acceleration information detected during the at least one repeated operation thereby preventing repeating the predetermined operation until complete acceleration information with no loss is transmitted.

US Pat. No. 10,595,429

ELECTRONIC DEVICE

FANUC CORPORATION, Yaman...

1. An electronic device comprising:a casing having a slot;
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 second connector provided in the casing and configured to be fitted with the first connector when the circuit board is inserted in the slot;
pairs of guide rails provided in the slot correspondingly to respective both ends of the circuit board in a direction intersecting the insertion direction, the guide rails of each of the pairs extending along the insertion direction respectively on sides of both surfaces of the circuit board inserted in the slot, the pairs of guide rails being configured to guide insertion of the circuit board into the slot;
elastic members configured to, when the circuit board is inserted in the slot, press the circuit board against one or another of the guide rails of each of the pairs;
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;
locking portions provided on the faceplate and extending in the insertion direction from the faceplate respectively on sides of the both ends of the circuit board, the locking portions being configured to fix the faceplate to the casing when the circuit board is inserted in the slot; and
engaging portions that are provided on the casing in the slot, wherein the locking portions engage respectively with the engaging portions when the circuit board is inserted in the slot, wherein the elastic members are placed respectively between the circuit board and the locking portions.

US Pat. No. 10,562,131

LASER MACHINE

FANUC CORPORATION, Yaman...

1. A laser machine comprising:a laser oscillator that emits a laser beam;
a light guide path that guides the laser beam emitted from the laser oscillator to the workpiece;
a processing head that focuses the laser beam by a lens and irradiates the workpiece with the laser beam; and
a nozzle mounted to a tip end of the processing head,
the nozzle including a nozzle tip body that irradiates the workpiece with the laser beam, a charge port formed in the nozzle tip body, and an exhaust port formed opposing to the charge port in the nozzle tip body,
the nozzle being configured to supply gas to the inside of the nozzle tip body along a gas flow path extending from the charge port to the exhaust port in a form of crossing across the laser beam in the nozzle tip body, to cause a melted material generated by irradiating the workpiece with a laser beam to apply a suction force equal to or greater than the weight of the melted material, and to generate a negative pressure in the vicinity of an opening part of a tip end of the nozzle tip body.

US Pat. No. 10,556,306

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a plurality of robots that are arranged at intervals and that each perform machining on a work; and
one tool storage that stores a plurality of types of specific tools for each type of work used for fixing the work according to the types of the work when each of the robots performs machining on the work, the one tool storage being disposed closest to one of the robots among the plurality of robots,
wherein the respective robots are provided with hands with which the tool stored in the tool storage can be handled; and
when one of the robots needs to exchange the tool, all of the other robots that are disposed between the robot that needs to exchange the tool and the tool storage pass the tool between the adjacent robots with the hands and convey the tool to the robot that needs to exchange the tool.

US Pat. No. 10,551,816

NUMERICAL CONTROLLER OSCILLATING MOTION ADJUSTMENT

Fanuc Corporation, Yaman...

1. A numerical controller which controls an oscillating motion of an oscillation axis of a machine, the numerical controller comprising:an oscillating motion data holding unit configured to hold oscillating motion data used for the control of the oscillating motion;
an oscillating pulse calculation unit configured to calculate oscillating pulses used for the control of the oscillation axis, based on the oscillating motion data held in the oscillating motion data holding unit, and output the calculated oscillating pulses;
a motor control unit configured to control a motor for driving the oscillation axis, based on the oscillating pulses output from the oscillating pulse calculation unit; and
an oscillating motion data calculation unit configured to:
determine an oscillating motion adjustment based on a data item related to the oscillating motion, the data item selected based on a state of a switch means on a control panel of the machine,
wherein in a first state the data item is selected to be an upper boundary-point position of the machine, in a second state the data item is selected to be a lower boundary-point position of the machine, in a third state the data item is selected to be an oscillation width of the machine, and in a fourth state the data item is selected to be an oscillation center position of the machine, and
change a value of the selected data item to adjust the oscillating motion, based on manual pulses input from a manual pulse generator on the control panel of the machine,
wherein in the first state the upper-boundary point position of the machine is adjusted based on manual pulses, in the second state the lower boundary-point position of the machine is adjusted based on manual pulses, in a third state the oscillation width of the machine is adjusted based on manual pulses, and in a fourth state the oscillation center position of the machine is adjusted based on manual pulses.

US Pat. No. 10,549,425

CARRIER DEVICE FOR TAKING OUT OBJECTS ONE BY ONE BY OPTIMAL ROUTE

FANUC CORPORATION, Yaman...

1. A carrier device comprising:a conveyor configured to carry objects supplied continuously;
a robot; and
a robot controller configured to
detect positions and orientations of the objects disposed in a predetermined area on the conveyor,
when the robot grasps a plurality of objects, out of the objects, with a hand and places the grasped objects in a container, calculate combinations of sequences to grasp the objects by the hand,
calculate an index for each of the combinations using distances and rotation amounts between the objects to be grasped by the hand based on the positions and orientations of the objects,
determine the sequences to grasp the objects by the hand based on the indexes, and
cause the robot to grasp the plurality of objects with the hand and placing the objects in the containers in accordance with the determined sequences.

US Pat. No. 10,543,568

LASER PROCESSING HEAD INCLUDING CIRCULATION PATH FOR CIRCULATING COOLANT

FANUC CORPORATION, Yaman...

1. A laser processing head configured to condense and radiate a laser beam onto a workpiece, the laser processing head comprising:a head body including: a beam receiving part configured to receive the laser beam; and a beam emitting part configured to emit the laser beam received by the beam receiving part to an outside;
an optical member held in the head body, and configured to condense the laser beam received by the beam receiving part and guide the laser beam to the beam emitting part;
a looped and closed circulation path provided at the head body so as to extend in a looped manner at a position separate from an optical path of the laser beam and from a coolant supply device installed outside of the laser processing head, the looped and closed circulation path being configured to circulate a coolant for removing heat generated in the laser processing head due to the laser beam propagating in the laser processing head when the laser beam is radiated onto the workpiece; and
a coolant circulation device including a rotor disposed in the looped and closed circulation path, and configured to cause the coolant to flow in the looped and closed circulation path so as to circulate in the looped and closed circulation path by rotating the rotor when the laser beam is radiated onto the workpiece.

US Pat. No. 10,535,130

LIFE DETERMINATION DEVICE, LIFE DETERMINATION METHOD, AND RECORDING MEDIUM FOR CUTTING TOOL

FANUC CORPORATION, Yaman...

1. A cutting tool life determination device for determining a remaining life of a cutting tool, said device comprising:an imaging unit that acquires image data of multiple images of a part captured from multiple directions, respectively, the part being a part of a target of machining by cutting and having been subject to the machining by cutting by the cutting tool;
a memory that stores the acquired image data in association with a machining time-series; and
a processor that:
acquires a feature quantity of the machining in the multiple images stored in the memory that indicates a quality of the machining shown in the multiple images, wherein the characteristic of the feature quantity is a contrast within the images; and
determines the remaining life of the cutting tool based on a variation range in the contrast.

US Pat. No. 10,507,579

CONTROL SYSTEM TO WHICH CONTROL CPU IS ADDABLE

FANUC CORPORATION, Yaman...

1. A robot control system comprising:a robot control device for controlling a robot; and
a control CPU for generating an operation command to operate the robot, wherein
the robot control device includes:
a network controller;
a network connector for connecting the network controller to a network controller of a host computer when the control CPU is integral to the host computer, the control CPU integral to the host computer is configured to control the robot control device and at least one other robot control device via the network connector when the control CPU is integral to the host computer;
a servo controller for controlling the robot;
a bus connecting the network controller to the servo controller; and
a bus connector for connecting the control CPU to the network controller through the bus when the control CPU is remote from the host computer, the control CPU remote from the host computer is detachably mounted to the robot control device and configured to control the robot control device via the bus connector when the control CPU is remote from the host computer.

US Pat. No. 10,507,583

ROBOT CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A robot control device, comprising:a feature-point detecting unit that detects, from an image of an object acquired by a visual sensor, the positions of a plurality of feature points on the object, in multiple times in a predetermined cycle;
a position/orientation calculating unit that updates, in the predetermined cycle, respective equations of motion of the plurality of feature points based on the positions of the plurality of feature points detected in multiple times and that calculates the position or orientation of the object based on the detected positions of the plurality of feature points calculated from the updated equations of motion; and
a robot-arm-movement control unit that controls the movement of a robot arm so as to follow the object, based on the calculated position or orientation of the object.

US Pat. No. 10,507,585

ROBOT SYSTEM THAT DISPLAYS SPEED

FANUC CORPORATION, Yaman...

1. A robot system comprising:a model storage unit for storing a model of a robot;
a model display unit for displaying the model of the robot stored in the model storage unit;
an input unit for inputting an allowable speed of each of a plurality of portions of the robot;
a trajectory planning unit for reading an operation command to be applied to the robot and performing trajectory planning;
a calculation unit for calculating a predicted maximum speed of each of the plurality of portions of the robot, based on a result of the trajectory planning;
a speed modification unit for modifying a command speed of the robot such that the predicted maximum speed becomes the allowable speed or lower, when the predicted maximum speed of each of the plurality of portions of the robot calculated by the calculation unit is higher than the allowable speed; and
a speed display unit for displaying at least one of the allowable speed, the predicted maximum speed, and a ratio between an actual speed of the robot after the command speed is modified by the speed modification unit and the allowable speed, as well as the actual speed of the robot, in relation to each of the plurality of portions of the robot, in the model of the robot displayed by the model display unit.

US Pat. No. 10,500,660

WIRE ELECTRIC DISCHARGE MACHINE PROVIDED WITH DISCONNECTION REPAIRING UNIT

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine, comprising:an upper wire electrode guide and a lower wire electrode guide;
a wire electrode fusing mechanism; and
a controller which
controls electric discharge machining of a workpiece by electric discharge generated between the workpiece and a wire electrode while the wire electrode is being guided by the upper and lower wire electrode guides to move relative to the workpiece along a machining route according to a machining program,
performs a core fixing in a depositing and accumulating operation by the electric-discharge machining of the workpiece, and depositing and accumulating machining wastes caused by the electric discharge machining in a machined groove to thereby fix (i) a core cut by the electric discharge machining from the workpiece to (ii) a remaining portion of the workpiece,
stores a core fixing end position where the depositing and accumulating operation performed most lately, among a plurality of positions at which the depositing and accumulating operation is performed, ends, and
when the wire electrode is disconnected during the electric discharge machining at a disconnection position on the machining route,
controls the wire electrode fusing mechanism to perform automatic connection of the wire electrode at a position on the machining route between the disconnection position and the stored core fixing end position, and thereafter
returns the wire electrode to the disconnection position and resumes the electric discharge machining from the disconnection position,
wherein the controller further
determines whether an automatic connection position is present between the disconnection position and the stored core fixing end position, and
controls the wire electrode fusing mechanism to perform the automatic connection at the automatic connection position, in response to determining that the automatic connection position is present between the disconnection position and the stored core fixing end position.

US Pat. No. 10,493,580

TELESCOPIC COVER AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising a telescopic cover formed to be freely expandable and contractible in a predetermined direction by overlapping a plurality of tube-shaped cover pieces having different sizes in a nesting structure with each other, whereinthe plurality of cover pieces respectively function as one or both of receiving side cover pieces and nesting side cover pieces that are inserted into the receiving side cover pieces,
the cover pieces functioning as the receiving side cover pieces have a pair of receiving side stoppers that project outward in both end sides of a surface along the predetermined direction, and slits formed along the predetermined direction in between the pair of receiving side stoppers,
the cover pieces functioning as the nesting side cover pieces have nesting side stoppers that are inserted into the slits by projecting outward in the surface along the predetermined direction, and move between the pair of receiving side stoppers, and
one receiving side stopper of the pair of receiving side stoppers which the cover pieces functioning as both the receiving side cover pieces and the nesting side cover pieces have is disposed between the other receiving side stopper and the nesting side stoppers which the cover pieces have.

US Pat. No. 10,447,116

ELECTRIC MOTOR AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. An electric motor comprising:a stator having a tubular shape;
a rotor rotatable around a rotary axis, the rotor having a rotary spindle disposed along the rotary axis;
a first housing part disposed at an end of the stator in a rotary axis direction so as to rotatably support a front side spindle part that is part of partially house the rotary spindle, the rotary axis direction corresponding to a direction in which the rotary axis extends;
a second housing part disposed at the other end of the stator in the rotary axis direction so as to rotatably support a rear side spindle part that is another part of the rotary spindle;
a third housing part at a side opposite to the first housing part in the rotary axis direction with respect to the second housing part, the third housing part including an end face part disposed at a side opposite to the second housing part in the rotary axis direction;
a plurality of ventilation parts formed so as to communicate with at least the stator, the second housing part, and the third housing part; and
a plurality of fans for ventilating the plurality of ventilation parts, the plurality of fans being disposed in the third housing part on a plane perpendicular to the rotary axis so as not to overlap the rotary axis, wherein the end face part includes:
a plurality of exhaust parts which are end parts for the plurality of ventilation parts, the plurality of exhaust parts being disposed so as to respectively correspond to the plurality of fans; and
an opened part or an openable part disposed radially inside of the plurality of exhaust parts in a plane direction perpendicular to the rotary axis on a plane perpendicular to the rotary axis so as to overlap the rotary axis and be separated from the ventilation parts.

US Pat. No. 10,434,591

WIRE ELECTRIC DISCHARGE MACHINE INCLUDING UNIT FOR ADJUSTING ATTACHMENT POSITION OF WORKPIECE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine configured to perform machining of a workpiece in a work tank, the wire electric discharge machine comprising:a workpiece fixing unit disposed in the work tank and including a movable axis to which the workpiece is detachably attached;
a machining-reference-part detecting unit configured to detect a position of a machining reference part of the workpiece detachably fixed to the workpiece fixing unit;
a controller configured to automatically control the movable axis, on the basis of position information of the machining reference part detected by the machining-reference-part detecting unit, to position the machining reference part in a predetermined position;
a machining-reference-part measuring unit configured to measure an error of the machining reference part of the workpiece detachably fixed to the workpiece fixing unit; and
a measurement-positioning executing unit for positioning the machining-reference-part measuring unit in a predetermined measurement position,
wherein the predetermined position of the machining reference part is a position where the machining reference part does not collide with the machining-reference-part measuring unit positioned in the predetermined measurement position,
wherein the machining-reference-part measuring unit is configured to perform measurement of the machining reference part of the workpiece when the machining reference part is in the predetermined position and the machining-reference-part measuring unit is in the predetermined measurement position, and
wherein the controller is configured to automatically control the wire electric discharge machine to perform machining of the workpiece based on the measurement of the machining reference part of the workpiece.

US Pat. No. 10,434,613

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 rotating the workpiece and the tool relative to each other 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 a relative feed speed of the tool and the workpiece; and
a feed shaft control part for controlling the at least one feed shaft according to the position command, wherein
the feed shaft control part is configured to control the at least one feed shaft by generating a torque command 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;
the feed shaft control part further comprises an elastic deformation amount calculation part for calculating, based on the torque command, an elastic deformation amount of a structure between an output terminal of the at least one feed shaft and a machine oscillation end which generates oscillation for the oscillation cutting;
the output terminal is the portion of a rotary motor rotating shaft which drives a feed mechanism of the feed shaft that is connected to the feed mechanism;
the machine oscillation end is a tip of the tool;
the elastic deformation amount is an expansion/contraction elastic deformation amount of the rotary motor in the axial direction, or the sum of an expansion/contraction elastic deformation amount of the rotary motor in the axial direction and a torsional elastic deformation amount about the axis of the rotary motor; and
the feed shaft control part comprises an oscillation command generation part that generates the oscillation command for the at least one feed shaft so that the tool performs oscillation cutting on the workpiece, and so as to generate, based on the rotation speed, the position command, and the elastic deformation amount, an oscillation frequency which is a positive non-integral multiple of the rotation speed.

US Pat. No. 10,434,649

WORKPIECE PICK UP SYSTEM

Fanuc Corporation, Yaman...

1. A workpiece pick up system for sequentially picking up a plurality of workpieces piled up in a container by a robot, the workpiece pick up system comprising:a three-dimensional sensor which is placed at an upper side of the container and which obtains a group of three-dimensional points, each of which has height position information; and
a controller, the controller being configured to conduct:
a group creating process which determines in the group of three-dimensional points, a plurality of workpiece-candidate three-dimensional point groups each of which is composed with adjacent three or more of the three-dimensional points;
an exclusion group determining process which determines that one or more workpiece-candidate three-dimensional point groups satisfy at least one of the following references:
a reference of excluding workpiece-candidate three-dimensional point groups not within a predetermined size;
a reference of excluding workpiece-candidate three-dimensional point groups not within a predetermined square measure; and
a reference of excluding workpiece-candidate three-dimensional point groups not within a predetermined length; and
a workpiece detection process which obtains a group of detection-purpose three-dimensional points for detecting workpieces by excluding points which are included in the one or more excluded groups from the group of three-dimensional points or the workpiece-candidate three-dimensional point groups, and which detects workpieces to be picked up by the robot by using the group of detection-purpose three-dimensional points.

US Pat. No. 10,437,230

NUMERICAL CONTROLLER HAVING FUNCTION OF AUTOMATICALLY SELECTING STORAGE DESTINATION OF MACHINING PROGRAM

FANUC CORPORATION, Yaman...

1. A numerical controller for controlling a machine tool based on a plurality of machining programs, the numerical controller comprising:first and second storage units that store the plurality of machining programs;
a management information storing portion that stores management information including information on a storage destination of each of the plurality of machining programs;
a program inputting portion that reads the plurality of machining programs;
a program analyzing portion that performs analysis of contents of each machining program among the plurality of machining programs input from the program inputting portion, to determine whether or not the each machining program is required to be read at high speed at a time of execution of the each machining program; and
a program managing portion that stores the each machining program in any one of the first storage unit and the second storage unit in accordance with a result of the analysis performed by the program analyzing portion, and updates the information on the storage destination of the each machining program, the information stored in the management information storing portion, wherein
the first storage unit has a higher reading speed than the second storage unit,
the management information includes, for each machining program among the plurality of machining programs,
a high-speed flag indicating whether said each machining program includes a high-speed operation instruction,
a subprogram counter indicating a number of other machining programs, among the plurality of machining programs, which call said each machining program as a subprogram during a high-speed operation in the other machining programs, and
a repeated call counter indicating a number of further machining programs, among the plurality of machining programs, which repeatedly call said each machining program as a subprogram.

US Pat. No. 10,424,978

ROTATING ELECTRICAL MACHINE COMPRISING STATOR CORE, AND MACHINE TOOL COMPRISING THE SAME

FANUC CORPORATION, Yaman...

1. A rotating electrical machine, comprising:a stator including a stator core; and
a rotor supported on a rotating shaft supported by way of a non-contact passive bearing that does not have any positional restoration function based on feedback of displacement in the axial direction,
wherein a section, in which a torque generation member exists in an axial direction of the rotating electrical machine, is defined as a torque generation section,
wherein a first end and a second end of the stator core in the axial direction extend outwards in the axial direction from a first end and a second end of the torque generation section in the axial direction,
wherein the rotating electrical machine is configured as a synchronous motor,
wherein the torque generation member comprises an annular permanent magnet held to an outer periphery of the rotating shaft by a cylindrical rotary sleeve, and
wherein amounts of extension of the first end and the second end of the stator core in the axial direction, from the first end and the second end of the torque generation section in the axial direction at the rotor side, are such that a first attractive force which is a component force in the axial direction of an attractive force created between the first end of the stator core and the first end of the torque generation section, while the stator is exited thereby creating the lines of magnetic flux, and a second attractive force which is a component force in the axial direction of an attractive force created between the second end of the stator core and the second end of the torque generation section, while the stator is excited thereby creating the lines of magnetic flux, are the same magnitude in the opposite directions.

US Pat. No. 10,409,262

NUMERICAL CONTROLLER FOR DATA REQUEST WITH VARIABLE DATA SIZE

Fanuc Corporation, Yaman...

1. A numerical controller comprising:a communication unit for sending an NC data acquisition request containing a data size specification to a host computer; and
a numerical control unit for performing operation using NC data sent from the host computer in response to the NC data acquisition request,
wherein every fixed period, the communication unit sends the NC data acquisition request containing the data size specification, the data size specification varies in response to a quantity of the NC data consumed by the numerical control unit within each fixed period.

US Pat. No. 10,404,327

ROBOT CONTROL SYSTEM PROVIDED WITH FUNCTIONS OF EMITTING WARNINGS AND STOPPING MACHINE BASED ON DISTANCE OF MACHINE FROM PORTABLE WIRELESS OPERATION PANEL

FANUC CORPORATION, Yaman...

1. A robot control system, comprising:a control device configured to control a machine;
a portable wireless operation panel configured to perform wireless communication with the control device to control the machine;
a distance measuring unit configured to measure a distance between the machine and the portable wireless operation panel;
a warning generator-configured to emit a warning to an operator or stop the machine in response to the distance between the machine and the portable wireless operation panel exceeding a predetermined threshold value; and
a three-dimensional camera configured to take an image of the portable wireless operation panel or the machine or both,
wherein the distance measuring unit is configured to use the distance measured by the three-dimensional camera between the three-dimensional camera and, the portable wireless operation panel, and/or the machine to measure the distance between the machine and the portable wireless operation panel, and
wherein the three-dimensional camera is provided for the portable wireless operation panel to take an image of the machine and thereby measure the distance between the machine and the portable wireless operation panel.

US Pat. No. 10,391,639

TRANSFER TOOL AND ROBOT

Fanuc Corporation, Yaman...

1. A transfer tool comprising:a substantially strip-shaped frame;
a wrist-side slider to be attached to a wrist of a robot, provided on one side of the frame in a thickness direction in a manner capable of moving along a longitudinal direction of the frame;
a workpiece-side slider provided on another side of the frame in the thickness direction in a manner capable of moving along the longitudinal direction of the frame;
a distal-end swing shaft attached to the workpiece-side slider;
wherein the distal-end swing shaft includes:
a workpiece support section supported by the workpiece-side slider in a manner capable of swinging around an axis line extending in a width direction of the frame, the workpiece support section supporting a workpiece; and
an actuator attached to the workpiece-side slider, the actuator causing the workpiece support section to swing; and
wherein the actuator includes:
a motor fixed to the workpiece-side slider; and
a pair of gears that transmits driving force of the motor to the workpiece support section; and
at least one of the gears is formed into a fan shape where teeth are provided correspondingly with a swing angle range of the workpiece support section around the axis line.

US Pat. No. 10,393,494

STRAIGHTNESS CHECKING METHOD

FANUC CORPORATION, Yaman...

1. A straightness checking method for checking straightness between linear members, by disposing a plurality of components respectively having the linear members so that the linear members are disposed mutually linearly, the straightness checking method comprising the steps of:standing a pin at each of both edge portions of the linear members of the plurality of linearly-disposed components to be checked as to straightness, and also standing a cut-out pin at an intermediate portion between the both edge portions, the cut-out pin being formed to have a cut-out on a part of a side face;
fixing one end portion and the other end portion of a line member respectively to the pins stood at the both edge portions;
bringing into contact with the intermediate portion of the line member an uncut side face part corresponding to a side face with no cut-out formed of the cut-out pin; and
rotating the cut-out pin and checking whether or not the line member vibrates due to rotation of the cut-out pin.

US Pat. No. 10,377,006

AIR BALANCE MECHANISM AND METHOD OF ADJUSTING POSTURE OF THE AIR BALANCE MECHANISM

FANUC CORPORATION, Yaman...

1. An air balance mechanism, comprising:a mount part;
a shaft provided with a flange at one end thereof, the flange being fixed to the mount part; and
a cylinder configured to cover the shaft, and configured to be movable relative to the shaft;
wherein the mount part and the flange are in contact at a contact portion, and additionally, a clearance gap is provided between the mount part and the flange, and a longitudinal axis of the shaft passes through the clearance gap; and
wherein the air balance mechanism further comprises:
at least one fixing bolt configured to fix the flange and the mount part at the contact portion at a position different from the clearance gap; and
at least one adjusting bolt configured to be screwed into the mount part and through the flange and clearance gap so as to allow for posture of the shaft to be adjusted.

US Pat. No. 10,377,010

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool that performs burring on unworked workpiece in which a burr has appeared, the machine tool comprising:at least one visual sensor that takes an image of the unworked workpiece;
a memory configured to store
unworked workpiece shape information obtained by using the at least one visual sensor, and
worked workpiece shape information; and
a controller programmed to
recognize a burr by comparing the unworked workpiece shape information stored in the memory with the worked workpiece shape information stored in the memory,
determine the burr based on conditions including at least one of a location and a direction of the burr in the workpiece,
decide whether or not to perform burring with a tool of the machine tool based on a determination result concerning the burr, and
generate a working path for removing the burr judged to be a burr on which burring is to be performed with the tool, wherein
the memory is further configured to store tool information including a shape and cutting conditions of the tool, and
the controller is further programmed to
select the tool which is used in burring based on the dimensions of the burr and the tool information,
determine the burr based on the conditions further including the tool information of the selected tool, and
generate the working path by calculating a number of cutting operations indicating how many times cutting operations are performed for working from the dimensions of the burr and a maximum cut amount of the selected tool.

US Pat. No. 10,363,611

ROTATION TOOL HAVING FUNCTION OF FIXING WORKPIECE

FANUC CORPORATION, Yaman...

1. A machine tool for machining a workpiece having a cross-sectional shape in which an outer shape becomes gradually smaller along an axial direction, the machine tool comprising: a rotation tool mounted to a spindle through a tool holder; and a workpiece support member fixed to a table; wherein the rotation tool includes a cutter holding portion which is fixed to the tool holder and to which blade portion is fixed; a fixing device which fixes the workpiece to the workpiece support member by pressing the workpiece, the workpiece support member includes a hole that is formed so as to match the outer shape of the workpiece and in which the workpiece is disposed, the blade portion is disposed at a tip end of the cutter holding portion on a side toward the workpiece, the fixing device includes a movement portion formed to be movable translationally along an axis parallel with the spindle in the interior of the cutter holding portion, a pressing device which presses the movement portion to a side toward the workpiece, a shaft portion rotatably supported relative to the movement portion and disposed coaxially with the spindle, and a pressing portion which is disposed at a tip end of the shaft portion and presses an inner surface of the workpiece, the pressing portion is formed in a plate shape so as to correspond to a shape of a portion of the workpiece with which the pressing portion comes into contact, and the workpiece is fixed to the workpiece support member solely by the pressing portion of the fixing device and when the pressing portion presses the workpiece toward the workpiece supporting member so that the fixing device fixes the workpiece to the workpiece supporting member.

US Pat. No. 10,355,474

INRUSH CURRENT PREVENTION CIRCUIT, INRUSH CURRENT PREVENTION METHOD, AND COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. An inrush current prevention circuit comprising:a voltage detection unit configured to detect a value of an input voltage applied by a power supply;
a current detection unit configured to detect a value of an input current input from the power supply;
a current limiting element configured to limit the input current;
a voltage drop detection unit configured to detect a voltage drop in the power supply resulting from inrush currents using a detection voltage value detected by the voltage detection unit and a detection current value detected by the current detection unit; and
a control unit configured to decrease a current limiting level of the current limiting element when the voltage drop detection unit detects the voltage drop,
wherein the voltage drop detection unit detects the voltage drop based on a value obtained by dividing the detection voltage value by the detection current value.

US Pat. No. 10,307,847

WIRE ELECTRIC DISCHARGE MACHINE HAVING CORNER SHAPE CORRECTING FUNCTION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine, comprising:a machining tank;
a table configured to support a workpiece and disposed in the machining tank;
an upper wire guide including an upper nozzle;
a lower wire guide including a lower nozzle;
a wire electrode stretched between the upper and lower wire guides;
a first group of motors configured to move the upper and lower wire guides;
a second group of motors configured to move the table;
a pump configured to jet machining liquid via the upper and lower nozzles to the workpiece on the table in the machining tank; and
a controller connected to the first and second groups of motors and the pump by power and signal lines to obtain positions of the upper and lower wire guides and a position of the table,
wherein the controller includes
a processor configured to,
control the first group of motors to move the upper and lower wire guides to cause the wire electrode to be moved with respect to the workpiece, or control the second group of motors to move the table to cause the workpiece to be moved with respect to the wire electrode, on the basis of a machining program in order to perform electric discharge machining of the workpiece by the wire electrode in the machining tank, wherein a shift is caused by wire bending of the wire electrode in a direction opposite to a movement direction of the wire electrode with respect to the workpiece due to machining liquid pressure and a discharge repulsive force generated during the electric discharge machining; and
a memory configured to
store, as a reference position, (i) positions of the upper and lower wire guides in a workpiece thickness direction with respect to workpiece upper and lower surfaces of the workpiece and (ii) a thickness of the workpiece, in a state in which the upper and lower wire guides respectively approach the workpiece upper and lower surfaces, and
store correction amounts for correcting shift amounts between (a) wire guide coordinate positions on a machining program route in the reference position and (b) actual machining positions on the workpiece upper and lower surfaces,
wherein
the processor is configured to
set values corresponding to positions of the upper and lower wire guides in the workpiece thickness direction with respect to the workpiece upper and lower surfaces, and a value corresponding to the thickness of the workpiece,
calculate correction amounts, on the basis of the stored reference position and the stored correction amounts, for correcting the respective shift amounts in the set values corresponding to the positions in the workpiece thickness direction with respect to the workpiece upper and lower surfaces and the set value corresponding to the thickness of the workpiece,
correct positions of the upper and lower wire guides independently of each other, on the basis of the calculated correction amounts, and
cause the wire electrode to move with respect to the workpiece according to the corrected positions of the upper and lower wire guides in a movement command of the upper and lower wire guides with respect to the table commanded by the machining program.

US Pat. No. 10,310,486

MANUFACTURING DATA PROCESSING SYSTEM HAVING A PLURALITY OF MANUFACTURING APPARATUSES

FANUC CORPORATION, Yaman...

1. A manufacturing data processing system comprising:a plurality of manufacturing apparatuses;
a plurality of data processing devices configured to process manufacturing data associated with the plurality of manufacturing apparatuses;
a plurality of communication channels configured to communicate the manufacturing data between the plurality of manufacturing apparatuses and the plurality of data processing devices; and
a management device,
wherein
at least a part of the plurality of data processing devices has a learning unit and a database, and
the management device configured to determine a combination of (i) the data processing device that processes the manufacturing data associated with each of the plurality of manufacturing apparatuses and (ii) the communication channel that communicates the associated manufacturing data between each of the plurality of manufacturing apparatuses and the data processing device, based on
generation speed of learning data generated by the plurality of manufacturing apparatuses,
communication speed of the communication channel,
free space in the database, and
the data processing capability of the learning unit of each of said at least part of the plurality of data processing devices, and
the management device is configured to control each of the plurality of manufacturing apparatuses to connect to the determined combination of (i) the data processing device and (ii) the communication channel.

US Pat. No. 10,300,598

ROBOT WITH DAISY-CHAINABLE ROBOT ARM

FANUC CORPORATION, Yaman...

1. A robot comprising:a motor drive power source for converting a voltage supplied from a power source to a motor drive unit-grade voltage, the motor drive power source outputting the motor drive unit-grade voltage;
a robot arm having a plurality of robot arm segments, each robot arm segment including:
a motor drive unit for converting the motor drive unit-grade voltage output from the motor drive power source to a motor drive voltage,
a motor drive unit control unit for controlling the motor drive unit to output the motor drive voltage,
a motor driven to be rotated by the motor drive voltage output by the motor drive unit, and
a connection unit creating a direct and continuous connection between the unit-grade voltage output from the motor drive power source to the motor drive unit and another connection unit of another robot arm segment of the robot arm, the direct and continuous connection electrically connecting each of the robot arm segments in parallel with the unit-grade voltage output from the motor drive power source.

US Pat. No. 10,252,418

LOAD PARAMETER SETTING METHOD AND LOAD PARAMETER SETTING DEVICE

FANUC CORPORATION, Yaman...

1. A load parameter setting device for setting a load parameter of a workpiece gripped by a robot including a plurality of motors that drive a plurality of motion axes respectively, the load parameter setting device comprising:a storage unit that stores a plurality of load parameters corresponding to a plurality of types of workpieces to be gripped by the robot respectively;
an index calculation unit that:
produces a plurality of theoretical torques by calculating, for each of the plurality of load parameters stored in the storage unit, a theoretical torque output by at least one of the robot motors based on a current position and a current orientation of the robot detected by motor position sensors;
calculates an actual torque output by the at least one of the robot motors based on feedback information including electrical currents supplied to the robot motors by motor power circuitry; and
a selection unit that:
compares the theoretical torque for each load parameter to the actual torque, and
selects one of the load parameters of the workpiece from among the plurality of load parameters stored in the storage unit, the one of the load parameters is selected based on the theoretical torque among the plurality of theoretical torques indicated by the comparison to be closest to the actual torque.

US Pat. No. 10,239,209

ROBOT SIMULATION DEVICE FOR HUMAN INTERVENTION-TYPE ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot simulation device for a human intervention-type robot system in which a robot and a human located in a virtual space carry out a cooperative operation for sharing a working space and conveying one or more article, the robot simulation device comprising:an operation distributing part which distributes a plurality of operations included in the cooperative operation to the robot and the human, based on a weight of the article to be worked in each operation, a conveying distance of the article, and a required time in each operation;
a program generating part which generates a motion program for the robot and the human based on a result of distribution of operations obtained by the operation distributing part; and
a cycle time calculating part which executes a simulation of the motion program and calculates a cycle time of the motion program, wherein
a simulation result of the executed simulation is applied to carry out an actual cooperative operation between the human and the robot.

US Pat. No. 10,232,536

MOLDING MONITORING APPARATUS

FANUC CORPORATION, Yaman...

1. A molding monitoring apparatus, comprising:a molding image acquisition unit for acquiring an image of a molding molded by an injection molding machine; and
an abnormality occurrence position specifying unit for determining whether abnormality is present in the molding based on the image, and specifying an abnormality occurrence position when the abnormality is present,
wherein the molding image acquisition unit acquires images of at least two moldings,
wherein the abnormality occurrence position specifying unit calculates, for each abnormality occurrence position, the number of abnormality occurrences and/or an abnormality occurrence frequency from the images of the at least two moldings acquired by the molding image acquisition unit,
wherein the molding monitoring apparatus further comprises
a comparison unit for comparing, among the calculated number of abnormality occurrences and/or abnormality occurrence frequency for each abnormality occurrence position, the numbers of abnormality occurrences and/or abnormality occurrence frequencies for each abnormality occurrence position in a plurality of different terms, and
wherein the abnormality occurrence position specifying unit is configured to control a display unit to display a result of the comparing by the comparison unit to indicate a tendency for generation of a molding defect.

US Pat. No. 10,228,686

ROBOT PROGRAMMING DEVICE FOR TEACHING ROBOT PROGRAM

FANUC CORPORATION, Yaman...

1. A robot programming device for offline teaching a motion program in which a workpiece is processed by a tool mounted on a robot, the robot programming device comprising:a three-dimensional model locating part configured to locate three-dimensional models of the robot having the tool mounted thereon and the workpiece in a virtual space;
a shape feature extracting part configured to extract shape features from the three-dimensional model of the workpiece, the shape features including at least one of (i) an outline or (ii) a surface of a basic shape including a circle and a polygon, or a combined shape constituted by combining a plurality of the basic shapes;
a first reference position setting part configured to automatically set shape feature reference positions of the shape features;
a second reference position setting part configured to automatically set a robot reference position of the robot;
a movement order determining part configured to determine a movement order of the robot in which the robot is moved between the shape features, based on the shape feature reference positions and the robot reference position; and
a motion program generating part configured to generate the motion program of the robot so that the robot moves the tool along the shape features and so that the robot is moved between the shape features according to the movement order.

US Pat. No. 10,212,801

MOTOR DRIVING DEVICE

FANUC CORPORATION, Yaman...

1. A motor driving device comprising:a narrow pitch component group made up from a plurality of narrow pitch components having a plurality of terminals, and in which an interval between the plurality of terminals is less than or equal to a predetermined distance;
a heat generating component group made up from a plurality of heat generating components, which are components other than the narrow pitch components, and which are configured to generate heat greater than or equal to a predetermined amount;
a fan configured to blow wind onto the heat generating component group in order to cool the heat generating component group; and
a printed board on which the narrow pitch component group is mounted in a manner so that wind is not blown onto the narrow pitch component group by the fan.

US Pat. No. 10,195,649

WASHING SYSTEM OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A washing system of a machine tool, comprising:a nozzle capable of injecting fluid;
a manipulator which moves the nozzle;
an imaging part which images a region on which a workpiece to be processed is placed;
a chip detecting part which detects a chip present in the region based on an image imaged by the imaging part;
an arrangement determining part which determines a position and posture of the nozzle when the fluid is injected to the chip detected by the chip detecting part;
a manipulator controller which controls the manipulator so as to arrange the nozzle at the position and posture determined by the arrangement determining part; and
a fluid supplying part which supplies the fluid to the nozzle so as to inject the fluid through the nozzle when the nozzle is arranged at the position and posture,
wherein the imaging part images the region before the workpiece is placed on the region for machining the workpiece, and images the region after the workpiece is machined by the machine tool and removed from the region, and
wherein the chip detecting part detects the chip present in the region by comparing the image imaged before the workpiece is placed on the region with the image imaged after the workpiece is removed from the region.

US Pat. No. 10,191,481

NUMERICAL CONTROLLER AND NUMERICAL CONTROL SYSTEM IN WHICH THE CONTROLLER IS CONNECTED BY NETWORK

FANUC CORPORATION, Yaman...

1. A numerical controller having a data acquisition function that acquires trace data of a bus cycle of an internal bus, the numerical controller comprising:a bus trace circuit configured to fetch the bus cycle satisfying preset conditions;
an alarm history;
an alarm data acquisition table in which whether to acquire the trace data is recorded for each alarm; and
a trace circuit setting table in which fetching conditions of the bus cycle of the bus trace circuit are recorded for each alarm,
wherein the numerical controller identifies an alarm for which the trace data is to be fetched from the alarm history and the alarm data acquisition table, reads the fetching conditions of the bus cycle corresponding to the alarm from the trace circuit setting table, and sets the fetching conditions to the bus trace circuit and the bus trace circuit acquires the trace data of the bus cycle based on the fetching conditions that are set.

US Pat. No. 10,189,135

MOTOR DRIVE DEVICE CAPABLE OF NOTIFYING ADHESION OF CUTTING FLUID

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:an electronic component; and
a casing which houses the electronic component,
wherein at least a part of an outer surface of the casing includes a base material mixed with a color changing substance that discolors when contacting a cutting fluid.

US Pat. No. 10,171,013

SERVOMOTOR CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A servomotor control device comprising:a position control loop for feedback controlling a position of a servomotor;
a speed control loop for feedback controlling speed of the servomotor;
a position command creation part that creates a position command value for the servomotor;
a stop determination part that determines whether or not the servomotor is stopped;
a static-friction correction amount calculation part that calculates a static-friction correction amount of the servomotor; and
a static-friction correction amount modification part that performs a predetermined modification on the static-friction correction amount calculated by the static-friction correction amount calculation part, in a case of the servomotor stopping, and then starting to operate in the same direction as prior to stopping,
wherein the static-friction correction amount modification part performs the predetermined modification based on the command acceleration of the servomotor and a second-order derivative of the position command value created by the position command creation part.

US Pat. No. 10,160,052

KEYWAY MACHINING PATH CREATING DEVICE FOR WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A machining path creating device for a wire electric discharge machine, the machining path creating device configured to create a machining path for machining a keyway in a side surface of a round hole, the machining path creating device comprising:a keyway shape input unit configured to receive input of a shape of the keyway to be machined, the shape of the keyway including a keyway depth which is either
(a) a first distance from (i) a keyway width center of the keyway on the side surface of the round hole to (ii) a bottom of the keyway, or
(b) a second distance from (i) the side surface of the round hole on a side opposite the keyway width center to (ii) the bottom of the keyway;
a hole shape input unit configured to receive input of a diameter and a center position of the round hole; and
a processor configured to
create a machining path, and
compare the keyway depth input by the keyway shape input unit with the diameter of the round hole input by the hole shape input unit,
wherein
when the input keyway depth is smaller than the diameter of the round hole, the processor is configured to determine the input keyway depth as a cut depth of the keyway, the cut depth being a distance from the side surface of the round hole to the bottom of the keyway, and
when the input keyway depth is larger than the diameter of the round hole, the processor is configured to determine a difference between the input keyway depth and the diameter of the round hole as the cut depth of the keyway, and
wherein the wire electric discharge machine is configured to machine the keyway in accordance with the created machining path with the cut depth determined by the processor.

US Pat. No. 10,146,207

NUMERICAL CONTROL APPARATUS

Fanuc Corporation, Yaman...

1. A numerical control apparatus comprising:an application programing interface (API) for acquiring data used in a process relating to a human machine interface (HMI);
a load definition table in which an upper-limit central processing unit (CPU) load of the numerical control apparatus is defined for each API function provided by the API, the upper-limit CPU load ensuring that a process of the API function is completed in a predetermined period set in advance;
a CPU configured as:
an API interface section that accepts invocation of an API function provided by the API;
an API control section that executes a process of the API function based on the invocation of the API function;
load monitoring means for monitoring a load on the CPU in the numerical control apparatus; and
processing period estimation means for estimating if the execution of the API function is completed in the predetermined period by referring to the load definition table based on information on the invocation of the API function and a current CPU load value monitored by the load monitoring means,
wherein the API control section does not execute but terminates the process of the API function when the processing period estimation means estimates that the execution of the API function will not be completed in the predetermined period.

US Pat. No. 10,144,076

WIRE ELECTRIC DISCHARGE MACHINE CAPABLE OF STARTING MACHINING FROM SHORT-CIRCUIT STATE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine, comprising:a discharge inducing circuit including a first DC power supply connected to a machining gap between a wire electrode and workpiece via a first switching element and a current limiting resistance;
a current supply circuit including a second DC power supply connected to the machining gap via a second switching element;
a voltage detection circuit that detects a voltage of the machining gap;
a short-circuit detection circuit that detects a short-circuit state between the wire electrode and the workpiece based on the voltage detected by the voltage detection circuit; and
a control circuit that controls on and off of the first switching element and the second switching element, wherein
the control circuit is configured to supply a first current to process the workpiece, and a second current until a predetermined state is reached after starting machining,
the second current being (i) smaller than the first current, (ii) insufficient to fuse the wire electrode even in a short-circuit state with the workpiece, but (iii) sufficient to form a discharge arc between the wire electrode and the workpiece, and
the first current and the second current are discrete and separated from each other.

US Pat. No. 10,144,079

SOLDERING SYSTEM

FANUC CORPORATION, Yaman...

1. A soldering system comprising a soldering device and a robot related to the soldering device, whereinthe soldering device includes a container having an openable lid, and accommodating a soldering target, and the soldering device is configured to perform soldering work on the soldering target, and
the robot performs conveying of the soldering target to the soldering device and performs opening and/or closing of the lid.

US Pat. No. 10,105,840

ROBOT SYSTEM INCLUDING PLURALITY OF CONTROLLERS CONNECTED VIA NETWORK

FANUC CORPORATION, Yaman...

1. A robot system comprising:at least two robot controllers respectively controlling at least two robots,
a network connecting the at least two robot controllers together,
a teaching console that is able to be connected to the network and configured to teach operations of the at least two robots, and
a communicating part selectively determining a destination of communication of the network so that communication is possible between any robot controller selected from the at least two robot controllers and the teaching console, in which robot system,
wherein each of the at least two robot controllers comprises
a phase judging part automatically judging on power-up if the corresponding robot is in an automatic operating phase where it is automatically operated or in a teaching phase where it is taught by the teaching console or in a maintenance phase where a maintenance process is performed,
a notifying part notifying the teaching console of a connect request when it is judged by the phase judging part that the state of the corresponding robot has been switched to the teaching phase or the maintenance phase, and
a connection judging part judging that a connection to the network has been established on power-up and notifying the phase judging part,
wherein the phase judging part judges that the robot corresponding to the robot controller is in a maintenance phase when the connection judging part notified that the connection to the network has been established on power-up, and
wherein the communicating part is configured to respond to the connect request, when a communication has been established with the robot controller that is not the robot controller that sent the connect request, cut the communication with the robot controller being connected, and switch the destination of communication so that the robot controller sending the connect request and the teaching console can communicate with each other.

US Pat. No. 10,090,789

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

FANUC CORPORATION, Yaman...

1. A motor control device for controlling a motor of a machine tool, comprising:a voltage command output unit that outputs voltage command data instructing a voltage to be applied to the motor, based on an external instruction;
a voltage command data interchanging unit that outputs the voltage command data by interchanging or without interchanging, based on a setting for interchanging of a phase rotation of the voltage command data;
an amplifier that drives the motor based on voltage command data outputted by the voltage command data interchanging unit;
a current detection unit that detects electric current flowing through the motor, and outputs current feedback data;
a current feedback data interchanging unit that outputs the current feedback data by interchanging or without interchanging, based on a setting for interchanging of phase rotation of the voltage command data,
wherein the voltage command data interchanging unit:
interchanges the voltage command data, in a case of the setting for interchanging of the phase rotation of the voltage command data and the connection phase rotation of the motor being consistent, based on a set phase rotation for interchanging of the phase rotation of the voltage command data, and
outputs the voltage command data as is without interchanging, in a case of the setting for interchanging of the phase rotation of the voltage command data and the connection phase rotation of the motor not being consistent, and
wherein the current feedback data interchanging unit:
interchanges the current feedback data, in a case of the setting for interchanging of the phase rotation of the voltage command data and the connection phase rotation of the motor being consistent, based on a set phase rotation for interchanging of the phase rotation of the voltage command data, and
outputs the current feedback data as is without interchanging, in a case of the setting for interchanging of the phase rotation of the voltage command data and the connection phase rotation of the motor not being consistent.

US Pat. No. 10,090,791

MACHINE LEARNING APPARATUS AND METHOD FOR LEARNING CORRECTION VALUE IN MOTOR CURRENT CONTROL, CORRECTION VALUE COMPUTATION APPARATUS INCLUDING MACHINE LEARNING APPARATUS AND MOTOR DRIVING APPARATUS

FANUC CORPORATION, Yaman...

1. A motor driving apparatus with current control based on a current command and a current feedback value in a three-phase AC motor, the motor driving apparatus comprising:a state observation unit that observes a state variable including at least one of data regarding an error between a rotor position command to the three-phase AC motor and a rotor actual position of the three-phase AC motor, data regarding temperature in the motor driving apparatus, data regarding temperature of the three-phase AC motor, and data regarding a voltage of the motor driving apparatus;
a learning unit that learns a current feedback offset correction value used for correcting an offset amount included in the current feedback value, an inter-current-feedback-phase unbalance correction value used for correcting an unbalance between phases in the current feedback value, and a current command correction value for a dead zone used for correcting a current command in order to compensate a decreased amount of current due to a switching dead zone by which switching elements of upper and lower arms in the same phase of an inverter for motor power supply provided in the motor driving apparatus are not simultaneously turned on, in accordance with a training data set defined by the state variable;
a decision-making unit which decides the current command correction value for a dead zone, on the basis of a result of learning by the learning unit in accordance with the training data set in response to an input of the state variable;
a current command correction unit for a dead zone which corrects the current command for the three-phase AC motor by using the current command correction value for a dead zone, and generates a corrected current command; and
a current control unit which controls driving of the three-phase AC motor based on the corrected current command.

US Pat. No. 10,090,794

MOTOR DRIVER

FANUC CORPORATION, Yaman...

1. A motor driver comprising:a converter that converts an AC voltage into a DC voltage and outputs the DC voltage;
an inverter that inverts the input DC voltage into a multi-phase AC voltage for motor driving;
a short bar fixed to an output terminal of the converter and an input terminal of the inverter by screw fastening;
a first voltage detector that detects a voltage across the output terminals of the converter;
a second voltage detector that detects a voltage across the input terminals of the inverter; and
a reporting unit that provides, when a difference between the voltage detected by the first voltage detector and the voltage detected by the second voltage detector exceeds a predetermined threshold, a report relating thereto.

US Pat. No. 10,088,815

WIRE ELECTRIC DISCHARGE MACHINE PERFORMING MACHINING WHILE ADJUSTING MACHINING CONDITION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine which controls a machining power source and a machining fluid in accordance with a machining condition set by a machining condition setting unit, applies a voltage between a wire electrode stretched between upper and lower nozzles and a workpiece so as to generate electric discharge, and relatively moves the wire electrode and the workpiece so as to machine the workpiece, the wire electric discharge machine comprising:an environment information storage unit which stores environment information representing an environment related to the machining; and
a machining condition adjustment device which performs machine learning of an adjustment object parameter of the machining condition and an adjustment amount of the adjustment object parameter, wherein
the machining condition adjustment device includes
a state observation unit which acquires state data, the state data being information representing a machining state in the machining,
a reward condition storage unit which stores a reward condition,
a reward calculation unit which calculates a reward based on the state data and the reward condition,
a machining condition adjustment learning unit which performs machine learning the machining condition adjustment, and
a machining condition adjustment unit which determines an object parameter of the machining condition adjustment and an adjustment amount thereof as an adjustment action based on a machine learning result of the machining condition adjustment obtained by the machining condition adjustment learning unit, the state data, and the environment information and adjusts a machining condition set by the machining condition setting unit based on the adjustment action so as to output an adjusted machining condition,
the wire electric discharge machine controls the machining power source in accordance with the outputted adjusted machining condition to perform a machining action, and
the machining condition adjustment learning unit performs machine learning for the machining condition adjustment based on
the adjustment action,
the state data acquired by the state observation unit after the machining action in accordance with the outputted adjusted machining condition, and
the reward calculated by the reward calculation unit.

US Pat. No. 10,075,120

MOTOR DRIVE DEVICE

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:at least one reverse converter that converts DC power from a forward converter, which converts AC power into the DC power, into AC power;
a DC link capacitor provided to each of the reverse converters in a DC link between the forward converter and the reverse converter;
a first current detection part that detects current flowing between the forward converter and the DC link capacitor in the DC link;
a second current detection part that detects current flowing between the DC link capacitor and the reverse converter in the DC link;
a voltage detection part that detects a voltage of the DC link capacitor; and
a capacitance decline detection part that obtains, from an integrated value by integrating a difference between a current value detected by the first current detection part and a current value detected by the second current detection part over a predetermined time, a change amount in electric charge of the DC link capacitor for the predetermined time; obtains a change amount in voltage of the DC link capacitor for the predetermined time based on a voltage value detected by the voltage detection part; obtains a capacitance value of the DC link capacitor based on the change amount in electric charge and the change amount in voltage obtained; and performs detection of a capacitance decline in the DC link capacitor based on the capacitance value obtained.

US Pat. No. 10,065,217

SCRAPING DEVICE AND SCRAPING METHOD USING ROBOT

FANUC CORPORATION, Yaman...

1. A scraping device for carrying out a scraping process of a metallic surface, the scraping device comprising:a scraping tool having a cutting edge vibrated by a vibrator;
a robot configured to grip the scraping tool;
a camera attached to the robot, configured to capture an image of the metallic surface;
a force sensor, provided to the robot, configured to detect a reactive force applied to the scraping tool during the scraping process;
a screen configured to display a virtual model of an object to be processed having the metallic surface; and
a processor configured to:
generate a measuring motion program for measuring the metallic surface of the object;
process the image of the metallic surface obtained by the camera to detect a position and orientation of the metallic surface and a position of a concavo-convex portion on the metallic surface; and
execute the scraping process by controlling the robot to position the scraping tool to come into contact with the detected concavo-convex portion on the metallic surface, and controlling the robot to vibrate the scraping tool until the reactive force detected by the force sensor is below a threshold.

US Pat. No. 10,046,407

WIRE ELECTRIC DISCHARGE MACHINE FOR TAPER-MACHINING TILTED WORKPIECE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine which is provided with a table having a flat surface and a coordinate system based on two orthogonal axes and adapted to carry a workpiece thereon and which performs electric discharge machining while relatively moving a wire electrode and the workpiece according to a machining program for taper machining, the wire electric discharge machine comprising:a mounting unit configured to mount the workpiece at an angle to the flat surface;
a tilt angle setting unit configured to set a tilt angle of the workpiece, mounted at an angle to the flat surface, with respect to the flat surface;
a coordinate system transformation unit configured to transform the coordinate system by tilting the coordinate system based on the tilt angle; and
a machining command value correction unit configured to correct a machining command value commanded by the machining program, based on the transformed coordinate system.

US Pat. No. 10,032,686

MOTOR DRIVE DEVICE AND METHOD CAPABLE OF NOTIFYING MALFUNCTION IN FLUID FLOW IN HEAT SINK

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:a heat sink including a flow path for a fluid;
a fan which causes the fluid to flow in the flow path;
a fan controller which controls a rotation number of the fan, the controller being configured to;
control the rotation number of the fan from a regular rotation number predetermined as a required value when driving a motor to a first rotation number lower than the regular rotation number; or
control the rotation number of the fan from a second rotation number lower than the first rotation number to the first rotation number;
a temperature detection part which detects a temperature of the motor drive device;
a temperature change calculating part which calculates a degree of change in the temperature with respect to time when the fan controller controls the rotation number of the fan to the first rotation;
a malfunction determination part which determines whether the degree of change calculated by the temperature change calculating part is different from a predetermined standard; and
a malfunction signal generation part which generates a signal indicating that a malfunction occurs in the fluid flow in the flow path when the malfunction determination part determines that the degree of change is different from the standard.

US Pat. No. 10,016,890

ROBOT TRAVELING SYSTEM PROVIDED WITH CABLE TRACK, ROBOT SYSTEM, AND MACHINING SYSTEM

FANUC CORPORATION, Yaman...

1. A robot traveling system comprising:a rail;
a carriage movable along the rail and supporting a robot;
a drive mechanism driving the carriage; and
a cable track connected to the carriage and housing a cable having a connecting end connected to the robot, the cable track being laid along the rail at a lower side of the rail,
wherein the drive mechanism includes a belt for moving the carriage, and wherein the cable track is connected to the carriage at a location beneath the belt.

US Pat. No. 10,005,148

CHUCK DEVICE AND ROBOT FOR CHANGING WELDING TIP AND NOZZLE

FANUC CORPORATION, Yaman...

1. A chuck device configured for changing a welding tip and a nozzle surrounding the welding tip, the welding tip being screwed into a welding torch main body, the chuck device comprising:a chuck base rotatably provided for rotation about a rotation axis;
an engagement part fixed to the chuck base so as to rotate integrally with the chuck base about the rotation axis, and configured to engage an engagement surface formed at an outer circumferential surface of the welding tip, the engagement part rotating the welding tip together with the chuck base when the engagement part engages the engagement surface and the chuck base is rotated about the rotation axis; and
a plurality of fingers provided at the chuck base and configured to open and close, the plurality of fingers being configured to move in directions approaching and separating away from the engagement part and grip each of the welding tip and the nozzle, the plurality of fingers moving in the direction approaching the engagement part so as to be brought into a closed state and moving in the direction separating away from the engagement part so as to be brought into an open state,
wherein the chuck base includes:
a main body at which the plurality of fingers and the engagement part are provided;
a support which supports the main body so as to be movable along the rotation axis of the chuck base; and
an elastic member interposed between the main body and the support, and configured to expand and contract in a direction of the rotation axis, and
wherein the chuck device further comprises a position detection part configured to detect that the main body is arranged at a stroke end position separated away from the support in the direction of the rotation axis by a predetermined distance.

US Pat. No. 10,005,162

MACHINE TOOL INCLUDING CHIP CONVEYOR

FANUC CORPORATION, Yaman...

1. A machine tool including a chip conveyor, comprising:a splash guard which prevents chips produced by the machine tool from being scattered,
wherein the chip conveyor is provided inside the splash guard and discharges the chips from the inside of the splash guard,
wherein the chip conveyor includes
a support block which is fixed to the inside of the splash guard and includes a through hole formed in the longitudinal direction,
a guide shaft which is inserted into the through hole of the support block,
a fixed block which is fixed to one end of the guide shaft, and
a chip carrying unit which is fixed to the fixed block and carries the chips,
wherein the guide shaft is movably attached to the support block, and
wherein a gap is formed between a lower surface of the support block and an upper surface of the fixed block so that the chip carrying unit is movable in the longitudinal direction with respect to the splash guard.

US Pat. No. 10,005,191

HOLDING APPARATUS FOR ROBOT

Fanuc Corporation, Yaman...

1. A holding apparatus for a robot comprising:two or more finger sections disposed opposite to each other so as to face toward a holding center;
a work pressing section on which a work abuts when the work is inserted between the finger sections; and
a driving unit that moves distal ends of the two or more finger sections toward the holding center;
wherein each finger section of the two or more finger sections includes a finger section main body and a reinforcing member, each finger section main body comprising at least two elastic bodies, each reinforcing member being disposed along an outer surface of a respective finger section main body and joined to a distal end of the respective finger section main body, each reinforcing member having a higher rigidity than each respective finger section main body; and
wherein each reinforcing member is swingably provided around an axis perpendicular to a longitudinal direction of each finger section main body and parallel to a surface of each finger section main body.

US Pat. No. 9,998,037

CONTROL APPARATUS OF SYNCHRONOUS MOTOR

FANUC CORPORATION, Yaman...

1. A control apparatus of a synchronous motor, comprising:a current command generation unit for generating a d-phase current command and a q-phase current command;
a current detection unit for detecting a d-phase current and a q-phase current;
a short-circuit device for short-circuiting the synchronous motor to apply dynamic braking to the synchronous motor; and
a short-circuit control unit for controlling the short-circuiting device,
wherein the current command generation unit controls the q-phase current command so as to decrease the q-phase current after receipt of a dynamic braking signal,
wherein the short-circuit control unit controls the short-circuiting device so as to short-circuit the synchronous motor after the receipt of the dynamic braking signal and after a lapse of a predetermined time from the control of the q-phase current command by the current command generation unit, and
wherein after the receipt of the dynamic braking signal, the current command generation unit controls the q-phase current command so as to decrease the q-phase current and controls the d-phase current command so as to increase the d-phase current.

US Pat. No. 9,969,085

ROBOT CONTROL DEVICE AND METHOD OF CONTROLLING SAME

FANUC CORPORATION, Yaman...

1. A robot control device comprising:a speed calculator that calculates a speed of at least one target point of a robot operating according to an operation program, on the basis of a speed command value written in the operation program;
a limitation direction specifier that specifies a direction in which the speed of the at least one target point is limited;
a speed limit component calculator that calculates, out of the speed of the at least one target point calculated by the speed calculator, a speed component in the direction specified by the limitation direction specifier; and
a speed limiter that limits, only upon motion exceeding a prespecified speed limit, a motion speed of the robot such that the speed component calculated by the speed limit component calculator is less than or equal to the prespecified speed limit.

US Pat. No. 9,964,582

MOTOR CONTROL DEVICE THAT DETECTS BREAKAGE OF MOTOR POWER LINE OR POWER ELEMENT ABNORMALITY OF MOTOR POWER CONVERSION DEVICE

FANUC CORPORATION, Yaman...

1. A motor control device that drives a three-phase motor based on a current command, comprising:a current command calculation unit configured to calculate a current command value for driving a motor;
a current detection unit configured to detect a value of current that flows through a power line of the motor;
a current deviation calculation unit configured to calculate a current deviation, which is a difference between the current command value and the detected current value;
a voltage command calculation unit configured to calculate a voltage command value that is applied to the motor based on the current deviation;
a voltage command saturation determination unit configured to determine whether or not the voltage command value has saturated and to output the results as voltage command saturation determination results;
a filter processing unit configured to calculate data obtained by filtering the current deviation, the absolute value of the current deviation, or the power of the current deviation in order to compensate for a delay that occurs in the current control loop or to remove noise that has piled up on the current value and configured to output the data as index data for detecting a breakage of the power line; and
a power line breakage detection unit configured to detect the breakage of the power line based on the index data only in a case of determining that the voltage command value has not saturated in accordance with the voltage command saturation determination results.

US Pat. No. 9,962,870

INJECTION MOLDING MACHINE INCLUDING A PLURALITY OF INJECTION UNITS

FANUC CORPORATION, Yaman...

1. An injection molding machine comprising:a plurality of injection units; and
a plurality of controllers corresponding to the plurality of injection units,
wherein each of the plurality of controllers includes
a malfunction detection section that detects malfunction of the injection unit corresponding to the controller,
a malfunction information output section that outputs malfunction information corresponding to the type of the malfunction detected by the malfunction detection section, and
an other-injection-unit malfunction information acquisition section that acquires, as other-injection-unit malfunction information, malfunction information outputted by the malfunction information output section of another controller contained in the plurality of controllers but different from the controller, and
wherein the other-injection-unit malfunction information acquisition section is configured to carry out a malfunction process for the injection unit based on a preset malfunction process setting corresponding to the other-injection-unit malfunction information when receiving the other-injection-unit malfunction information.

US Pat. No. 9,960,886

NOISE DETECTION DEVICE

FANUC Corporation, Minam...

1. A noise detection device connected between an end of a multicore cable and a communication device to detect a noise generated when a communication is performed between the communication devices, comprising:a connector used for connecting the multicore cable;
a connector used for connecting the communication device;
a noise-detecting data generation unit generating noise-detecting data to detect the noise;
a data transmitting/receiving unit continuously transmitting or receiving the noise-detecting data using at least one core line not used in the communication among core lines of the multicore cable;
a detection unit checking the received noise-detecting data to detect an error; and
an optical connector connecting an optical cable to perform data communication,
wherein the data transmitting/receiving unit includes a plurality of switchable transmission clocks, and
wherein the data transmitting/receiving unit includes a plurality of switchable drivers/receivers.

US Pat. No. 9,939,798

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 cutting in and out motion operation conditions analysis unit configured to analyze operation conditions for cutting in and out motion instructed in the machining program; and
a cutting in and out motion inserting unit configured to insert the cutting in and out motion that is generated based on the operation conditions analyzed by the cutting in and out motion operation conditions analysis unit into the lathe-turning machining,
a cutting in and out motion execution flag exec_f represents whether the cutting in and out motion is being executed, and
the cutting in and out motion is inserted to 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 the service life of the cutting tool.

US Pat. No. 9,925,630

DEVICE FOR HOLDING WORKPIECE AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A device for holding a workpiece, comprising:a seat on which the workpiece is seated;
a clamper movable relative to the seat;
a clamp part movably supported by the clamper, the clamp part having a planar, flat surface that is pressed against the workpiece by an operation of the clamper so as to be arranged at a clamp position with respect to the clamper and holding the workpiece between the clamp part and the seat; and
a biasing part coupled to the clamper and located adjacent to the clamp part which biases the clamp part by applying force in a direction parallel to the plane of the planar, flat surface of the clamp part when the clamp part is arranged in the clamped position so as to move the clamp part from its clamp position to a non-clamp position.

US Pat. No. 9,910,421

CONTROL DEVICE FOR MACHINE TOOL HAVING A PLURALITY OF AXES

FANUC CORPORATION, Yaman...

1. A control device for a machine tool for cutting an outer peripheral surface or an inner peripheral surface of a rotationally-symmetric
workpiece by a tool, comprising:
a main motor for relatively rotating the workpiece and the tool around the axis of rotation of the workpiece;
at least one auxiliary motor for relatively feeding the tool and the workpiece along a bus line of the outer peripheral surface
or the inner peripheral surface of the workpiece;

a machining command making unit for making a machining command for the at least one auxiliary motor based on rotation speeds
of the workpiece and the tool and feed rates of the tool and the workpiece;

an oscillation command making unit for making an oscillation command for the at least one auxiliary motor, based on the rotation
speeds and the feed rates, so that the oscillation command is asynchronous with the rotation speed of the workpiece around
the axis of rotation, and so that the tool intermittently cuts the workpiece;

an addition unit for adding the oscillation command to the machining command; and
a control unit for controlling the at least one auxiliary motor based on the machining command to which the oscillation command
has been added, wherein

the control unit performs learning control based on the rotation speeds and an oscillation frequency of the oscillation command.

US Pat. No. 9,906,242

CONTROL DEVICE PERFORMING LIFETIME PREDICTION BY ERROR CORRECTION FUNCTION

FANUC Corporation, Minam...

1. A control device which performs encoding from information data to a code word and decoding from the code word to the information
data by an error correction code and has an error correction function by which a correctable error is automatically corrected
in the decoding, the control device including a processor configured to perform a method comprising:
monitoring a plurality of states of a monitoring object;
outputting the plurality of states of the monitoring object as state information;
calculating a correction rate of each state of the plurality of states based on the outputted state information and error
correction information;

switching a plurality of error correction codes based on the correction rate of each state of the plurality of states so as
to perform encoding from information data to a code word and decoding from the code word to the information data, the plurality
of error correction codes included in an error correction code group and the plurality of error correction codes are ordered
based on a correction capability defined by a predetermined reference;

outputting correction information related to error correction based on the switched plurality of error correction codes; and
calculating a device lifetime of a device, the device lifetime being a current remaining lifetime of the device based on a
correction capability value of a current error correction code, a current correction rate, and a failure factor coefficient
of a current operation state of the device.

US Pat. No. 9,903,698

OBJECT POSTURE CALCULATION SYSTEM

FANUC CORPORATION, Yaman...

1. An object posture calculation system which calculates a relative posture between a first object and a second object or
calculates a relative position and posture between the first object and the second object, the system comprising:
the first object and the second object comprising a combination of an object comprising a projecting portion and an object
comprising a recessed portion, wherein the projecting portion and the recessed portion are configured to come into contact
with each other at three contact points, the three contact points in the recessed portion are located on an edge defining
a hole of the recessed portion, and upon defining, as a projecting portion central axis, an axis which is set for the projecting
portion and is not perpendicular to a plane comprising the three contact points, a minimum distance between each of the contact
points and the projecting portion central axis takes a constant value or a minimum distance between each of the contact points
and the projecting portion central axis is determined on the basis of a distance between a point of intersection of a perpendicular
dropped from each of the contact points to the projecting portion central axis with the projecting portion central axis, and
a point other than the point of intersection on the projecting portion central axis;

at least one driving unit which moves the first object and the second object relative to each other and holds and drives at
least one of the first object and the second object;

a force measuring unit which measures a force acting between the first object and the second object; and
an object posture calculation unit which uses the driving unit to move the first object and the second object relative to
each other to bring the first object and the second object into contact with each other, and calculates a relative posture
between the first object and the second object or calculates a relative position and posture between the first object and
the second object on the basis of the minimum distance and the force measured by the force measuring unit when the first object
and the second object come into contact with each other at the three contact points.

US Pat. No. 9,887,865

NUMERICAL CONTROL DEVICE HAVING FUNCTION OF CALCULATING FREQUENCY CHARACTERISTIC OF CONTROL LOOP

FANUC CORPORATION, Yaman...

1. A numerical control device which controls at least one control object, the numerical control device comprising:
a sine wave generation part which generates a sinusoidal signal;
a control loop excitation part which inputs the sinusoidal signal which is output from said sine wave generation part to a
control loop of said control object;

a data acquisition part which samples an input signal which is input to said control loop and an output signal which said
control object outputs at a certain period;

a frequency characteristic calculation part which uses the sampling data of the input signal and output signal to calculate
the frequency characteristic of said control loop; and

a phase shift part which shifts the phase of said sinusoidal signal,
wherein the numerical control device is configured to
perform an analysis of the frequency characteristic of the control loop calculated by the frequency characteristic calculation
part, and

adjust parameters of the control loop based on a result of the analysis to control the control object, and
wherein the numerical control device is configured to obtain the sampling data of different phases on the sinusoidal signal
by inputting

a base sinusoidal signal having, at a frequency, an initial phase and
at least one phase-shifted sinusoidal signal having, at said frequency, a phase shifted from the initial phase by a certain
amount respectively, into said control loop a plurality of times to enable said frequency characteristic calculation part
to calculate the frequency characteristic of said control loop.

US Pat. No. 9,859,821

MOTOR CONTROL APPARATUS HAVING A FUNCTION OF DETERMINING START OF MACHINE PROTECTING OPERATION

FANUC CORPORATION, Yaman...

1. A motor control apparatus comprising:
a rectifier configured to convert AC power supplied from a three-phase AC power supply into DC power;
a smoothing capacitor provided for a DC link on the DC output side of the rectifier;
an inverter that is connected to the DC link and mutually converts power between DC power at the DC link, and the drive power
of a motor for driving a axis or AC power as the regenerative power from the motor;

an AC voltage detector configured to detect the AC voltage value of the three-phase AC power supply;
a voltage amplitude calculator configured to convert the AC voltage value into a power supply voltage amplitude value;
a power failure detector configured to detect a state of power failure of the three-phase AC power supply when the power supply
voltage amplitude value has continued to be equal to or lower than a first threshold for a predetermined period of time;

a DC voltage detector configured to detect the DC voltage value of the smoothing capacitor; and,
a protecting operation start determining unit configured to notify the inverter of the actuation of axis stoppage or axis
retraction when the power failure detector has detected a power failure of the three-phase AC power supply and when the DC
voltage value is equal to or lower than a second threshold,

wherein when the three-phase AC power supply is restored after a time at which the power failure occurs and before a time
at which a motor protecting operation is started, the motor protecting operation is avoided, and

wherein the second threshold is set at a value greater than the sum of the DC voltage value of the DC link under which the
motor cannot continue to run normally and the energy required from detection of a power failure to the start of a machine
protecting operation, as a margin.

US Pat. No. 9,829,874

NUMERICAL CONTROL DEVICE

FANUC CORPORATION, Minam...

1. A numerical control device including: a Central Processing Unit (CPU) for numerical control configured to perform numerical
control; a CPU for Human Machine Interface (HMI) configured to execute an operating system and an application software for
conducting HMI function, and output command for displaying graphic data;
a display circuit configured to perform display on a display unit based on display command from the CPU for HMI; and
a restarting circuit configured to restart the CPU for HMI using the CPU for numerical control;
the CPU for numerical control configured to monitor operation condition of display task by the CPU for HMI;
the CPU for numerical control configured to determine an abnormality of the operation condition of the display task by the
CPU for HMI,

the numerical control device further comprising: a restarter configured to restart the CPU for HMI according to a command
issued to the restarting circuit based on a determination result of the abnormality has occurred by the CPU for numerical
control; and

a motion flag implemented in interface region, the interface region being accessible from both the CPU for numerical control
and the CPU for HMI, wherein

the CPU for HMI is configured to set the motion flag at each motion of the display task, and
the CPU for numerical control is configured to periodically monitor state of the motion flag, clear the motion flag when the
motion flag is set, and determine that the display task by the CPU for HMI has stopped when the motion flag is not set for
predetermined time.

US Pat. No. 9,829,876

NUMERICAL CONTROLLER HAVING CORNER PATH GENERATION FUNCTION IN CONSIDERATION OF POST-INTERPOLATION ACCELERATION/DECELERATION

FANUC CORPORATION, Minam...

1. A numerical controller which controls a machine tool comprising a plurality of control axes so as to compensate an inward
turning error by inserting a curved movement path into a corner section between two consecutive blocks in a machining program
comprising a plurality of blocks, the numerical controller comprising:
non-transitory computer readable memory;
one or more hardware processors coupled to the non-transitory memory and configured to read instructions from the non-transitory
memory to cause the numerical controller to perform operations comprising:

determining that an actual inward turning amount, Sa, is greater than the allowable inward turning amount, ls, at the corner section, wherein Sa is the sum of the maximum allowable inward turning of a curve, l, and an inward turning amount, S, for circular arc interpolation,
wherein Sa being greater than ls indicates that the machine tool exceeds its tolerance;

inserting the curved movement path into the corner section with a new allowable inward turning amount, ls?, wherein ls? is computed as the difference between ls and S, and ls? is greater than or equal to an inward turning amount of the curve, l?, wherein a new actual inward turning amount, Sa?, is equal to the sum of l? and an inward turning amount due to post-interpolation acceleration/deceleration, S?, and Sa? is less than the ls at the corner section; and

controlling the machine tool according to the inserted curved movement path.

US Pat. No. 9,819,139

GAS LASER OSCILLATOR HAVING AUXILIARY ELECTRODES

FANUC CORPORATION, Yaman...

2. A gas laser oscillator comprising:
a plurality of laser gas circulation paths including a first path and a second path;
a first discharge tube provided in the first path;
a second discharge tube provided in the second path;
a laser power supply for supplying a first high frequency power to the first discharge tube and supplying a second high frequency
power having a different phase from the first high frequency power to the second discharge tube; and

a matching unit including a first coil and a first capacitor to be used for impedance matching with a discharge load in the
first path, and a second coil and a second capacitor to be used for impedance matching with a discharge load in the second
path,

wherein each value of the first coil, the first capacitor, the second coil, and the second capacitor is determined such that
the difference between the peak value of a voltage applied to the first discharge tube and the peak value of a voltage applied
to the second discharge tube falls within a predetermined range, and

wherein an auxiliary electrode is provided in the vicinity of only one of the first discharge tube and the second discharge
tube to which the voltage having the higher peak value is applied.

US Pat. No. 9,815,125

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising:
a linear movement axis for moving a main spindle;
at least two linear movement axes for moving a table;
a rotation table including at least one rotation movement axis, the rotation table being placed on the table; and
a numerical controller for controlling the main spindle, the linear movement axes, and the rotation movement axis according
to a machining program in which tool orientation is fixed, and for machining a workpiece fixed to the rotation table,

wherein the numerical controller includes
a tool shape information storage section for storing tool shape information to be used,
a reference machining orientation tool diameter storage section for storing a reference machining orientation tool diameter
of a tool to be used in execution of the machining program in which tool orientation is fixed,

a tool orientation change waveform storage section for storing a tool orientation change waveform pattern and the number of
repetitions for periodically changing a tool orientation of the tool to be used in execution of the machining program,

a machining direction vector storage section for storing a machining direction vector instructed by the machining program,
a movement axis instruction storage section for reading the machining program and storing movement axis instructions for the
linear movement axes and the rotation movement axis,

a total machining height calculation section for calculating a total machining height for changing the tool orientation from
the machining direction vector and the movement axis instruction,

a movement axis instruction value calculation section for calculating, by a tool center point control function, a movement
axis instruction value for each of the linear movement axes and the rotation movement axis, which are movement axes, based
on the movement axis instruction,

a movement axis instruction value addition amount calculation section for calculating an addition amount to each movement
axis instruction value for changing the tool orientation, based on the tool shape information, the reference machining orientation
tool diameter, the tool orientation change waveform, and the total machining height,

a movement axis instruction value adding section for adding the addition amount calculated by the movement axis instruction
value addition amount calculation section to each movement axis instruction value calculated by the movement axis instruction
value calculation section, and

a control section for performing operation according to each movement axis instruction value to which the addition amount
is added by the movement axis instruction value adding section.

US Pat. No. 9,798,316

MOTION CONTROLLER CAPABLE OF SPECIFYING PROGRAM EXECUTION PACE

FANUC CORPORATION, Yaman...

1. A motion controller that sequentially executes a preregistered program formed of a plurality of blocks,
the motion controller comprising:
a block execution time measuring section that actually measures an execution time of each of the blocks constituting the program;
a program execution time specifying section that specifies an execution time of the entire program;
a positioning time setting section that sets a time immediately after a pulse output for the block is completed until an in-position
state is established;

a calculation section that calculates a speed or an acceleration and deceleration time constant for each block which allows
the program to be executed in the program execution time specified by the program execution time specifying section, on the
basis of the execution time of each block actually measured by the block execution time measuring section, the program execution
time specified by the program execution time specifying section, and the time needed to establish the in-position state and
set by the positioning time setting section; and

an execution section that executes the program in use of the speed or the acceleration and deceleration time constant calculated
by the calculation section.

US Pat. No. 9,796,098

MECHANICAL STOPPER DEVICE HAVING ELASTICALLY DEFORMABLE BODY WITH SLIT, AND MULTI-JOINT ROBOT HAVING THE STOPPER DEVICE

FANUC CORPORATION, Yaman...

1. A mechanical stopper device for a multi-joint robot, the robot having a first arm and a second arm rotatably connected
to the first arm about a rotation axis, the mechanical stopper device being configured to limit a range of a rotation angle
of the second arm relative to the first arm by contacting a portion of the first arm with a portion of the second arm, the
mechanical stopper device comprising an elastic deformable body,
wherein
at least one of the portion of the first arm which contacts the second arm and the portion of the second arm which contacts
the first arm is the elastically deformable body,

the elastically deformable body is a hollow cylindrical member having a slit on an outer circumferential surface of the hollow
cylindrical member and along a longitudinal direction of the hollow cylindrical member,

the slit extends in a direction which intersects a contact direction in which the portion of the first arm contacts the portion
of the second arm,

the elastically deformable body has opposing portions separated by the slit, and the opposing portions are configured to directly
contact each other and slip relative to each other in the longitudinal direction of the hollow cylindrical member when the
elastic deformable body is deformed by an impact force of the at least one of the portion of the first arm which contacts
the second arm and the portion of the second arm which contacts the first arm, and

an angular position of the slit in a radial cross-section of the elastically deformable body is 70 to 110 degrees with respect
to the contact direction in which the portion of the first arm contacts the portion of the second arm upon application of
the impact force to the elastically deformable body.

US Pat. No. 9,791,003

ELECTROMAGNETIC BRAKE WHICH HAS SHAFT DROP PREVENTION FUNCTION, ELECTRIC MOTOR, AND MACHINE

FANUC CORPORATION, Yaman...

1. An electromagnetic brake comprising a hub which is arranged fastened around a shaft the hub having a hub center of axis,
a brake pad having a brake pad center of axis coinciding with the hub center of axis, the brake pad engages the hub and rotates
together with the hub, a fixed end plate which is arranged at one side of the brake pad, an armature which is arranged at
the other side of said brake pad, a biasing member which biases the armature to the end plate, and a field core which has
an electromagnetic coil which magnetically attracts the armature against the biasing force of the biasing member, the hub
is formed with a plurality of projecting parts and an inner circumferential surface of the brake pad is formed with a plurality
of recessed parts, which engage the plurality of projecting parts
the electromagnetic brake further comprising a plurality of elastic members which are arranged symmetrically with respect
to the brake pad center of axis, the number of the plurality of elastic members is smaller than the number of the plurality
of projecting parts and the number of the plurality of recessed parts and wherein each elastic member is located between an
engagement surface of the brake pad and an engagement surface of the hub; and

wherein said plurality of elastic members exert a balanced biasing force, because of their symmetrical arrangement, in a same
rotational direction as the shaft when the shaft is rotating, so that any clearance between an engagement surface of the brake
pad and an engagement surface of the hub is eliminated in advance and the hub and the brake pad never become offset from the
shaft, wherein each of said plurality of elastic members is a leaf spring, wherein two end parts of the leaf spring are attached
to opposite end faces of one projecting part of the hub, and wherein the leaf spring is bent along one slanted face of two
slanted faces of the one projecting part.

US Pat. No. 9,787,224

MOTOR CONTROL APPARATUS EQUIPPED WITH PROTECTION OPERATION COMMAND UNIT

FANUC CORPORATION, Yaman...

1. A motor control apparatus comprising:
a rectifier configured to rectify AC power supplied from a three-phase AC input side to output DC power;
an inverter connected to a DC link on a DC output side of the rectifier and configured to convert power between DC power of
the DC link and AC power as drive power or regenerative power of a motor;

an AC voltage detection unit configured to detect an AC voltage value on the three-phase AC input side of the rectifier;
a voltage amplitude calculation unit configured to calculate a power source voltage amplitude value from the AC voltage value;
a power failure recovery detection unit configured to determine that the three-phase AC input side of the rectifier has transitioned
from the power recovery state to a power failure state when the power source voltage amplitude value becomes a value less
than or equal to a power failure detection reference voltage value from a value greater than the power failure detection reference
voltage value in a power recovery state, and to determine that the three-phase AC input side of the rectifier has transitioned
from the power failure state to the power recovery state when the power source voltage amplitude value becomes a value greater
than or equal to a power recovery detection reference voltage from a value less than the power recovery detection reference
voltage value in the power failure state;

a protection operation command unit configured to output a protection operation command to the inverter to output power for
the motor to perform a predetermined protection operation when a protection operation reference time has elapsed from a time
point at which the power failure recovery detection unit determined that the three-phase AC input side of the rectifier had
transitioned from the power recovery state to the power failure state;

a time measurement unit configured to measure an elapsed time from a time point at which the power failure recovery detection
unit determines that the three-phase AC input side of the rectifier has transitioned from the power failure state to the power
recovery state; and

a condition change unit configured to change at least one of the power failure detection reference voltage value and the protection
operation reference time in response to the elapsed time.

US Pat. No. 9,782,897

ROBOT SYSTEM USING A VISION SENSOR

FANUC CORPORATION, Yaman...

1. A robot system including a robot which is provided in a robot operating section and a robot controller which controls the
operation of the robot in the robot operating section, comprising:
an imaging unit for imaging a predetermined section which includes at least a portion of the robot operating section;
an image processing unit which processes images taken by the imaging unit;
an entry request unit which is to be operated when a person requests to enter the predetermined section; and
a signal output unit which outputs, depending on a processing result of the image processing unit, an entry preparation signal
indicating an entry preparation state for receiving the operation of the entry request unit, and an entry permission signal
indicating that, in a case where the entry request unit has requested the person to enter the predetermined section, the person
is permitted to enter the predetermined section;

wherein if the image processing unit detects that the operation of the robot has been stopped, the signal output unit outputs
the entry preparation signal, and thereafter, if the person requests to enter the predetermined section using the entry request
unit, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an
instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted,
and the signal output unit outputs the entry permission signal.

US Pat. No. 9,787,084

MOTOR DRIVING DEVICE

FANUC CORPORATION, Yaman...

1. A motor driving device, comprising:
a converter that converts alternating current power supplied from an alternating current power source side to output direct
current power;

a DC link capacitor provided for a DC link which is in a direct current output side of the converter;
an inverter that converts direct current power in the DC link to output alternating current power for driving a motor;
an initial charging circuit that is provided for the DC link and charges the DC link capacitor with direct current power output
by the converter;

a potential difference occurrence determination unit that determines whether or not a potential difference occurs between
both ends of the initial charging circuit;

a direct current detecting unit that detects direct current supplied from the converter to the initial charging circuit;
an alternating current detecting unit that detects alternating current supplied from the inverter to a motor; and
an abnormality determination unit that determines that abnormal heat generation occurs in the initial charging circuit when
the direct current detecting unit detects generation of direct current and the alternating current detecting unit detects
generation of alternating current, in a case in which the potential difference occurrence determination unit determines that
a potential difference occurs between both of the ends of the initial charging circuit.

US Pat. No. 9,778,641

SERVOMOTOR CONTROL APPARATUS

FANUC CORPORATION, Yaman...

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

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

US Pat. No. 9,737,985

PARALLEL LINK ROBOT CONNECTED BY BALL JOINTS

FANUC CORPORATION, Yaman...

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

three actuators configured to drive the respective link parts,
wherein each of said link parts comprises
a drive link which is linked with said base part, and
two driven links which link said drive link and said movable part and are parallel with each other,
wherein the parallel link robot further comprises ball joints which are arranged
between said driven links and said drive link, and
between said driven links and said movable part,
wherein each of said ball joints includes a ball and a one-piece housing which covers a maximum diameter part of said ball,
a first part of a surface of the ball at one side of the maximum diameter part and a second part of the surface of the ball
at another side of the maximum diameter part,

wherein the parallel link robot further comprises
a covering part which seals and covers the area around said ball of said ball joint;
two elongated plates which link said two driven links of said link part;
rotary shafts by which the two elongated plates are linked with said two driven links of said link part; and
two spacers which are arranged between the two elongated plates, and are spaced from each other and from the rotary shafts
along a longitudinal direction of the two elongated plates, and

wherein
the two elongated plates are arranged in parallel with each other by the two spacers between the two elongated plates,
the two elongated plates are pivotable, with respect to the driven links, around the rotary shafts,
the two elongated plates are positioned closer to a linking part between the drive link and the two driven links than the
moveable part,

each of the two elongated plates further comprises an opening elongated in the longitudinal direction of the elongated plate,
the elongated plates are configured to maintain a distance between the driven links constant,
the housing of each of said ball joints has an extended part extending away from the ball of said ball joint, the extended
part has a threaded part engaged with a corresponding threaded part at an end of the corresponding driven link, and the threaded
parts are configured to adjust a center distance between the two ball joints coupled to said driven link, and

the driven links are not connected to each other between the elongated plates and the moveable part.

US Pat. No. 9,737,994

ROBOT HAND FOR HOLDING OBJECT, ROBOT, ROBOT SYSTEM, AND METHOD OF HOLDING OBJECT

FANUC CORPORATION, Yaman...

1. A robot hand for holding an object, comprising:
a hand base;
a first hand arm attached to the hand base, the first arm including a first butting part having a first butting surface extending
in a first direction and a first adsorption part having a first adsorption surface extending in a second direction perpendicular
to the first direction, the first adsorption surface disposed adjacently to the first butting surface, wherein the first butting
surface and the first adsorption surface come into contact with the object and the first adsorption surface is able to adsorb
the object, the first adsorption part including the first absorption surface facing in the first direction;

a second hand arm attached to the hand base, the second hand arm including a second butting part having a second butting surface
extending in the first direction and a second adsorption part having a second adsorption surface extending in the second direction
perpendicular to the first direction, the second adsorption surface disposed adjacently to the second butting surface, wherein
the second butting surface and the second adsorption surface come into contact with the object and the second adsorption surface
is able to adsorb the object; and

a driving mechanism for moving the first hand arm and the second hand arm relative to each other so as to approach each other
or separate from each other.

US Pat. No. 9,724,801

DEBURRING DEVICE INCLUDING VISUAL SENSOR AND FORCE SENSOR

Fanuc Corporation, Yaman...

1. A deburring device comprising:
a deburring tool for removing burrs from an object;
a robot for moving at least one of the object and the deburring tool relative to each other;
a force sensor for detecting force acting on the deburring tool;
a burr portion shape data storing part for storing expected burr portion shape data which are composed of an expected position
and posture of a burr portion of the object subject to the deburring, based on expected three-dimensional data representative
of a shape of the object;

a deburring posture specifying part for specifying an expected posture and position of the deburring tool relative to the
object, based on the expected burr portion shape data stored by the burr portion shape data storing part;

a robot deburring program creating part for creating a robot deburring program for the deburring tool which includes at least
a plurality of robot operating commands for controlling the robot and the deburring tool, based on the expected posture and
position of the deburring tool specified by the deburring posture specifying part and the expected burr portion shape data;

a visual sensor for detecting an actual position of the burr portion of the object from an image of the object;
a robot deburring program replacing part for replacing the plurality of robot operating commands for the deburring tool in
the robot deburring program individually by moving the robot to the expected posture and position, sensing by the visual sensor
the actual position of the burr portion of the object and correcting the expected posture and position of the robot based
on the actual position of the burr portion of the object, so as to move the deburring tool relative to the object along the
actual position of the burr portion; and

a force control part for controlling the robot based on force acting on the deburring tool detected by the force sensor and
on a predetermined target value of the force, when the robot is operated in accordance with the robot deburring program replaced
by the robot deburring program replacing part,

wherein the visual sensor includes a search area limiting part for limiting the search area in the image of the object based
on the shape data of the burr portion, and is configured to detect the actual position of the burr portion from the limited
search area.

US Pat. No. 9,752,725

MACHINE TOOL PROVIDED WITH A PROTECTION COVER

FANUC CORPORATION, Yaman...

1. A machining tool, comprising:
a telescopic cover having a plurality of covers sequentially overlapped and telescopic in a moving direction of a movable
portion of the machine tool; and

lubricant supply units configured to supply a lubricant to a surface of the telescopic cover,
wherein
the telescopic cover has
a fixed part, and
a moving part movable in the moving direction relative to the fixed part, and
the lubricant supply units are installed at both the moving part and the fixed part of the telescopic cover.

US Pat. No. 9,718,189

ROBOT TEACHING DEVICE FOR TEACHING ROBOT OFFLINE

FANUC CORPORATION, Yaman...

1. A robot teaching device for locating a workpiece and a robot having a tool in a virtual space, and for setting a target
angle, an advance angle and a rotation angle about a longitudinal axis of the tool, the angles being used to determine a posture
of the tool when the robot processes the workpiece, the robot teaching device comprising a robot controller, wherein
the robot controller is configured to
locate three-dimensional models of the robot and the workpiece in the virtual space,
designate a processing portion of the three-dimensional model of the workpiece,
store a combination of shapes of a plurality of predetermined processing portions and the target angle and the advance angle
of the tool associated with each of the processing portions,

select the shape of the processing portion corresponding to the designated processing portion, among the plurality of shapes
of the processing portions stored in the robot controller,

set the target angle and the advance angle of the tool associated with the selected shape of the processing portion, as a
target angle and an advance angle of the tool with respect to the designated processing portion,

rotate the tool about the longitudinal axis of the tool while the target angle and the advance angle of the tool relative
to the processing portion are maintained, and

calculate and set the rotation angle of the tool about the longitudinal axis of the tool, wherein a height of a face plate
of the robot from a horizon plane of the virtual space is maximum at the rotation angle.

US Pat. No. 9,701,014

ROBOT CONTROL DEVICE FOR PREVENTING MISJUDGMENT BY COLLISION JUDGING PART

FANUC CORPORATION, Yaman...

1. A robot system, comprising:
a robot which is provided with a hand configured to grip a workpiece; and
a robot control device for controlling the robot, the robot control device comprising:
a disturbance estimating part which evaluates an estimated value of a disturbance which is applied to the robot,
a transition recognizing part which recognizes the occurrence of a state transition between a state where a load of the workpiece
is not transmitted to the robot and a state where the entire load of the workpiece is transmitted through the hand to the
robot,

a region defining part which defines a region which encompasses the robot and hand at the start time of said state transition
which is recognized by said transition recognizing part, in a state space which expresses the state of the robot and hand,

a position judging part which judges if the robot and hand are located inside said region which is defined by said region
defining part,

a collision judging part which compares said estimated value and a predetermined threshold value to judge if the robot has
collided with an obstacle, wherein said collision judging part compares said estimated value and a first threshold value when
the robot and hand are positioned inside said region, and compares said estimated value and a second threshold value which
is different from said first threshold value when the robot and hand are positioned outside said region, and

an operating instruction generating part which controls movement of the robot corresponding to a result of judgment of the
collision judging part.

US Pat. No. 9,703,069

MOUNTING FIXTURE OF ELASTIC SEAL MEMBER

Fanuc Corporation, Yaman...

1. A mounting fixture used for mounting an O-ring between a ring-shaped side surface of an optical component and a holder
which holds said optical component, comprising
a first abutting surface configured to abut against a top surface of said optical component which intersects said side surface,
a projecting part which is arranged so as to surround said first abutting surface and project out from said first abutting
surface in a direction vertical to said first abutting surface, and

a second abutting surface which is provided at a front end of said projecting part and configured to abut against a top portion
of said O-ring to press said O-ring in the direction vertical to said first abutting surface in a position between the ring-shaped
side surface of the optical component and the holder which is separate from the mounting fixture and holds said optical component,

wherein said projecting part has a projecting height smaller than a height of said side surface of said optical component
such that the second abutting surface, when abutted against the O-ring, is positioned below the top surface of the optical
component and above a bottom surface of the optical component.

US Pat. No. 9,659,363

WORKPIECE POSITIONING APPARATUS USING IMAGING UNIT

FANUC CORPORATION, Yaman...

1. A positioning apparatus comprising:
an imaging unit that images from above a workpiece fixed to a table of a machine tool;
a moving unit that causes the imaging unit to be positioned at a desired relative position with respect to the table in a
plane parallel with the table;

an image processing unit that processes the image of the workpiece imaged by the imaging unit and detects a position of a
feature point of the workpiece in the image;

a storage unit that stores, as a reference relative position, a relative position of the imaging unit with respect to the
table when a reference workpiece is imaged by the imaging unit, and stores, as a reference point image position, a position
of a feature point of the reference workpiece in the image of the reference workpiece imaged by the imaging unit;

a calculation unit that calculates an amount of deviation between the position of the feature point of the reference workpiece
and the feature point of the workpiece by comparing the relative position of the imaging unit with respect to the table when
the workpiece is imaged by imaging unit with the reference relative position, and comparing the position of the feature point
of the workpiece in the image of the workpiece imaged by the imaging unit with the reference point image position; and

a program changing unit that generates an amount of correction such that the amount of deviation calculated by the calculation
unit becomes zero, and thereby changes a program of the machine tool;

wherein the workpiece and the reference workpiece include at least two feature points, and
wherein the amount of deviation calculated by the calculation unit includes an amount of rotation deviation in a plane parallel
with the table by comparing a direction of a line segment combining the two feature points in the image of the reference workpiece
and a direction of a line segment combining the corresponding two feature points in the image of the workpiece.

US Pat. No. 9,685,758

LASER SYSTEM HAVING FAULT DIAGNOSIS FUNCTION

Fanuc Corporation, Yaman...

1. A laser system comprising a plurality of laser oscillation units and configured to combine laser light emitted from the
plurality of laser oscillation units for emission to the outside, wherein
each of the laser oscillation units includes
a plurality of laser diode module groups each including at least one laser diode module acting as a light source or excitation
light source,

a first optical coupling part combining the laser light emitted from the plurality of laser diode module groups, and
at least one first photodetection part detecting the output power of laser light combined by the first optical coupling part,
the laser system comprises
a second optical coupling part combining the laser light emitted from the plurality of laser oscillation units,
at least one second photodetection part detecting the output of the laser light combined by the second optical coupling part,
power supply parts that are able to supply driving current to the plurality of laser diode module groups independently from
each other,

a recording part recording optical output characteristics showing the relationship between driving current and output power
of laser light at each of the laser diode module groups,

a control part commanding driving conditions showing the driving current to be supplied to each of the laser diode module
groups to the power supply parts,

a judging part judging any fault or deterioration of the components of the laser system, and
an operating part used for setting the driving conditions, and
the judging part is configured to judge, simultaneously for at least two laser oscillation units among the plurality of laser
oscillation units, any fault or deterioration of the components of the laser system based on the results of detection of the
first photodetection part and the second photodetection part when successively driving the plurality of laser diode module
groups included in each of the laser oscillation units so that their drive times do not overlap.

US Pat. No. 9,682,453

TOOL CHANGER FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A tool changer for a machine tool, comprising:
a spindle head supporting a spindle for rotation;
a tool magazine provided with a plurality of grips configured to hold a tool on a periphery of the tool magazine;
a magazine drive motor configured to turn the tool magazine about an indexing axis to index the tool; and
a pivot pin about which the tool magazine pivots toward and away from the spindle head to set the tool magazine in a separated
position and in a proximity position, respectively; wherein

the tool magazine comprises a tool-magazine power transmission unit,
the magazine drive motor comprises a magazine-drive-motor power transmission unit,
the tool-magazine power transmission unit and the magazine-drive-motor power transmission unit are configured to engage with
each other at all times between the proximity position and the separated position relative to the spindle head;

the magazine drive motor is configured to be secured to an immovable portion of the machine tool,
the magazine-drive-motor power transmission unit comprises a magazine-drive-motor-side gear secured to a shaft of the magazine
drive motor,

the tool-magazine power transmission unit comprises a tool-magazine-side gear secured to the tool magazine, said tool-magazine-side
gear comprising a gear tooth surface meshing with the magazine-drive-motor-side gear, and

a cross-section of the gear tooth surface of the tool-magazine-side gear taken along a plane containing the indexing axis
of the tool magazine comprises a circular arc that constitutes a segment of an imaginary circle, wherein the pivot pin is
located inside the imaginary circle.

US Pat. No. 9,662,790

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

FANUC CORPORATION, Yaman...

1. A robot controller for moving a position and an orientation of a front end of a robot on an orthogonal coordinate system
based on an external force applied to the robot, wherein
the robot has a structure constituted by sequentially combining at least six rotation axes comprising three front end-side
rotation axes and three pedestal-side rotation axes,

without depending on positions of the six rotation axes, rotation centerlines of the three front end-side rotation axes intersect
at an origin of a centerline-intersecting axis, the centerline-intersecting axis corresponding to one of the three front end-side
rotation axes,

the robot includes a pedestal,
the three pedestal-side three rotation axes are positioned between the pedestal and one of the three front end-side rotation
axes closest to the pedestal, and

the robot is a vertical multi joint robot in which a spatial position of the origin of the centerline-intersecting axis is
determined based on positions of the three pedestal-side rotation axes,

the robot controller comprising:
a force measuring part configured to measure the external force applied to the front end of the robot;
a control point specifying part configured to specify the origin of the centerline-intersecting axis as a control point in
relation to the robot;

a force calculating part configured to calculate an operation force by converting the external force measured by the force
measuring part to an output force on a control coordinate system having a control coordinate system origin corresponding to
the control point, the operation force being determined so that the orientation of the front end of the robot on the orthogonal
coordinate system is changed by rotational movement about the control point, or so that the position and orientation of the
front end of the robot on the orthogonal coordinate system are changed by rotational movement about the control point and
translational movement of the control point; and

an operation commanding part configured to output a command to the robot based on the operation force on the control coordinate
system calculated by the force calculating part so that the front end of the robot on the orthogonal coordinate system is
rotationally moved about the control point due to movements of the three front end-side rotation axes intersecting at the
origin of the centerline-intersecting axis, and so that the front end of the robot on the orthogonal coordinate system is
translationally moved by translational movement of the control point due to movements of the three pedestal-side rotation
axes.

US Pat. No. 9,604,363

OBJECT PICKUP DEVICE AND METHOD FOR PICKING UP OBJECT

Fanuc Corporation, Yaman...

1. A pickup device configured to pick up by using a robot a target object from a plurality of objects randomly piled up in
a container and configured to place the target object in a predetermined posture at a target location, wherein the robot comprises
a holding unit configured to hold the target object to take the target object out of the container,
the pickup device comprising:
a first visual sensor configured to compute a height distribution of a visible subset of the plurality of objects in the container
visible to the first visual sensor, the height distribution including the calculated heights for each of the objects in the
visible subset;

an approximate position obtaining part configured to obtain information on an approximate position of the target object which
is at a higher position than surrounding objects in the visible subset, based on the information on a height distribution
obtained by the first visual sensor and exclusive of a posture of the target object;

a pickup operation controlling part configured to control the robot so as to allow the holding unit to hold the target object,
based on the information on an approximate position of the target object obtained by the approximate position obtaining part
and exclusive of the posture of the target object;

a second visual sensor configured to obtain information on a position, and the posture of the target object relative to the
holding unit by measuring the target object when the target object is held by the holding unit; and

a placement operation controlling part configured to control the robot so as to bring the target object held by the holding
unit into a predetermined position and the predetermined posture relative to the target location, based on the position and
the posture of the target object relative to the holding unit obtained by the second visual sensor.

US Pat. No. 9,519,280

NUMERICAL CONTROL DEVICE FOR MACHINE TOOL

FANUC Corporation, Minam...

1. A numerical control device for a machine tool, comprising:
a program analysis unit configured to read in and analyze a processing program for processing an object by controlling axes
of the machine tool, the processing program including a command by which the direction of movement of one or more axes is
reversed;

a timing calculation unit configured to calculate a start timing of a post-reverse movement command by which a position, where
a sum of the velocities generated in response to a pre-reverse movement command and the post-reverse movement command becomes
zero, is equal to a position distanced by an in-position width from an end position of the pre-reverse movement command;

a movement command start unit configured to start the post-reverse movement command in accordance with the start timing calculated
by the timing calculation unit,

wherein the numerical control device is configured to drive the one or more axes of the machine tool to process the object
according to the post-reverse movement command.

US Pat. No. 9,405,505

CONTROL DEVICE FOR EXECUTING CONTROL PROGRAM INCLUDING FLOATING POINT OPERATION COMMAND FOR CONTROLLING MACHINE AND METHOD OF CONVERTING FLOATING POINT PARAMETER IN CONTROL PROGRAM

FANUC Corporation, Minam...

1. A control device configured to execute a control program including a floating point operation command for controlling a
machine, the device comprising:
a control program storage memory configured to store the control program;
a floating point data holding memory configured to hold floating point data to be used in the floating point operation command
and floating point data generated by an operation of the floating point operation command;

a first conversion unit configured to convert the floating point data into a numeric string in first format which can be readily
recognized by an operator;

a second conversion unit configured to convert the floating point data into a numeric string in second format which is different
from the first format, the numeric string in second format not including rounding error to the floating point data;

a character string data generation unit configured to generate character string data including the numeric string in the first
format and the numeric string in the second format; and

an output unit configured to output the generated character string data to at least one of an external device and an external
storage medium.

US Pat. No. 9,401,669

MOTOR CONTROLLER FOR SYNCHRONOUSLY CONTROLLING MULTIPLE MOTORS

FANUC CORPORATION, Yaman...

1. A motor controller for synchronously controlling at least two motors, the motor controller comprising:
a converter configured to convert an alternating-current power, supplied from a side with an alternating-current power supply,
to a direct-current power and output the direct-current power;

a first inverter connected to a direct-current link provided on a direct-current side of the converter, the first inverter
configured to convert the direct-current power in the direct-current link to an alternating-current power for driving a first
motor and output the alternating-current power, on the basis of a received command;

a second inverter connected to the direct-current link, the second inverter configured to convert the direct-current power
in the direct-current link to an alternating-current power for driving a second motor and output the alternating-current power,
on the basis of a received command;

a power-failure detection unit configured to detect whether or not a power failure has occurred on the side, with the alternating-current
power supply, of the converter; and

a command creation unit configured to
create, for each of the first inverter and the second inverter, a numerical-control-command-synchronization drive command
for synchronously controlling the first motor and the second motor, when the power-failure detection unit does not detect
any power failure, and

create a master drive command for the first inverter and also create, for the second inverter, a slave drive command for synchronously
controlling the first motor and the second motor by using position feedback information of the first motor driven according
to the master drive command, when the power-failure detection unit detects a power failure,

wherein
the command creation unit includes a direct-current-voltage-maintaining-command creation unit for creating, as the master
drive command, a direct-current-voltage maintaining command for controlling the first inverter so that a voltage in the direct-current
link stays within a predetermined range, and

the direct-current-voltage-maintaining-command creation unit is provided in the first inverter.

US Pat. No. 9,400,496

NUMERICAL CONTROLLER WITH INTER-PATH WAITING FUNCTION

FANUC Corporation, Minam...

1. A numerical controller with an inter-path waiting function, having at least two control paths each sequentially pre-reading
and analyzing each block of a machining program recorded in a memory or external storage device, wherein a processor of the
numerical controller executes
pre-read/analysis processes of a code analysis section that analyzes a loaded block to create code analysis data, a function
code determination section that determines a function of the created code analysis data, and an execution data creation section
that creates execution data for carrying out the function determined by the function code determination section are carried
out in a pre-read/analysis process task;

a pre-read/analysis suspend section suspending the pre-read/analysis process when the function code determination section
determines that the block contains an inter-path waiting code;

a specified condition judgment section checking an execution state of a block immediately before the block containing the
inter-path waiting code with the pre-read/analysis process suspended by the pre-read/analysis suspend section, to judge whether
or not a specified condition is met which specifies a condition for carrying out inter-path waiting commanded in the block
containing the inter-path waiting code, the specified condition including at least one of a remaining amount of movement in
the preceding block, a torque around any axis, a specific custom macro variable, an elapsed time from a beginning of the preceding
block, a mechanical coordinate value of any axis, a feed speed resulting from axis movement in the preceding block, and a
specific signal;

an inter-path waiting section allowing suspension of the machining program for a control path targeted for the inter-path
waiting commanded in the block containing the inter-path waiting code when the specified condition judgment section judges
that the specified condition is met, and

an inter-path waiting discard and resumption section determining the inter-path waiting to have been established when the
inter-path waiting is carried out by the control path targeted for the inter-path waiting, using the same inter-path waiting
code, discarding code analysis data created before the pre-read/analysis process is suspended, and immediately pre-reading
the machining program from a block succeeding the block containing the inter-path waiting code to start a pre-read/analysis
process,

wherein processes of the a pre-read/analysis suspend section, the specified condition judgment section, the inter-path waiting
section, and the inter-path waiting discard and resumption section are carried out in the pre-read/analysis process task.

US Pat. No. 9,339,963

CONTROLLER FOR AN INJECTION MOLDING MACHINE HAVING AN ABNORMALITY DETECTION UNIT

FANUC CORPORATION, Yaman...

1. A controller of an injection molding machine, comprising:
a servomotor for driving an axis;
a drive device for driving the servomotor;
a power supply;
a power supply converter for boosting voltage from the power supply and for supplying electric power to the drive device;
and an electric storage unit coupled between the power supply converter and the drive device, wherein the controller further
includes:

a voltage detection unit for detecting a voltage of the electric storage unit,
an electric energy detection unit for detecting a supply of electric energy from the power supply to the electric storage
unit, and

an abnormality detection unit for detecting abnormality of the voltage detection unit based on
(a) the voltage of the electric storage unit detected by the voltage detection unit,
(b) the supply of electric energy to the electric storage unit detected by the electric energy detection unit, and
(c) an electrostatic capacity of the electric storage unit.

US Pat. No. 9,342,061

WIRE ELECTRIC DISCHARGE MACHINE CONTROLLER FOR CORRECTING MACHINING ROUTE USING PROGRAM COMMANDS

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine controller for correcting a machining route using program commands by creating a machining
route on the basis of a machining program including a plurality of machining blocks and moving a wire electrode with respect
of a workpiece, following the created machining route while machining, the controller comprising:
a machining program storage unit that has stored therein a machining program in which a machining route correction command
for correcting a machining route at a corner formed by two consecutive machining blocks, including a machining block to be
machined first and a machining block to be machined next, is described, wherein an extension distance of the machining block
to be machined first and a removal distance of the machining block to be machined next are specified in the machining route
correction command, whereby the machining route is corrected in a manner such that the end point of the machining block to
be machined first, an extension point obtained by extending the machining block from the end point thereof in a machining
advancing direction by the extension distance, and a new start point obtained by partially removing the machining block to
be machined next by said removal distance from the start point of said next machining block are connected;

a machining program analyzing unit for analyzing the machining program, and reading out said extension distance by which a
machining block for which the machining route correction command is issued is extended from the end point of the machining
block in the machining advancing direction and said removal distance by which the machining block next to said machining block
is partially removed from the start point of the machining block;

a machining route correcting unit for correcting the machining route in a manner such that the end point of the machining
block to be machined first, the extension point obtained by extending said machining block from said end point by the extension
distance read by the machining program analyzing unit, and the new start point obtained by partially removing the machining
block to be machined next by the removal distance read by the machining program analyzing unit are connected; and

a machining route controlling unit for moving the wire electrode with respect to the workpiece on the basis of the corrected
machining route,

wherein the extension point is obtained by linearly extending the machining block from the end point thereof in the machining
advancing direction by the extension distance.

US Pat. No. 9,246,297

GAS LASER OSCILLATOR CONTROLLING ADJUSTED LEVEL OF LASER POWER SUPPLY

Fanuc Corporation, Yaman...

1. A gas laser oscillator comprising
a plurality of discharge tubes through which a laser gas circulates,
a plurality of main discharge electrodes which are arranged corresponding to the plurality of discharge tubes and which make
main discharge start for discharge excitation of said laser gas,

a plurality of auxiliary electrodes which are arranged adjoining the plurality of main discharge electrodes and which make
auxiliary discharge start in said laser gas in a state lower than the output by which said main discharge starts,

an output mirror which outputs a laser which is oscillated at said plurality of discharge tubes, and
a mechanical shutter which cuts off the laser output from the output mirror, wherein
a base command for maintaining said auxiliary discharge in the state where the laser output is zero is set to a first command
value when said mechanical shutter is closed, and is set to a second command value smaller than said first command value when
said mechanical shutter is opened.

US Pat. No. 9,130,415

ELECTRIC MOTOR WITH BALANCE ADJUSTMENT MECHANISM FOR ROTOR AND MANUFACTURING PROCESS THEREOF

FANUC CORPORATION, Yaman...

1. A process for manufacturing an electric motor, the electric motor comprising an insert member having a cylindrical body
part and positioned in an insert bore extending from at least one end surface of a rotor toward the other end surface and
parallel to a central axis of the rotor,
the body part of the insert member being provided with a cutout portion in a part of the circumference thereof to define a
gap extending parallel to the central axis,

the body part of the insert member further comprising a pair of inner protrusions protruding radially inwardly from the opposite
side edges of the gap,

the process comprising inserting the insert member to the insert bore by using a jig having an outer diameter smaller than
an inner diameter of the body part of the insert member, the jig being provided with a groove capable of receiving the pair
of inner protrusions of the insert member,

wherein the groove of the jig is adapted to receive the pair of inner protrusions by elastically deforming the insert member
so as to have the outer diameter of the body part of the insert member smaller than the diameter of the insert bore.

US Pat. No. 9,068,828

CUTTING DISTANCE CALCULATING DEVICE FOR MULTI-AXIS WORKING MACHINE

FANUC CORPORATION, Yaman...

1. A multi-axis working machine, comprising:
at least three linear axes and two rotation axes;
a tool driven by the at least three linear axes and two rotation axes, the tool having a tool tip point; and
a cutting distance calculating device comprising:
a positional-information acquiring section configured to acquire axis positions at calculation times for the at least three
linear axes and two rotation axes;

a tool-tip-point-position calculating section configured to calculate a tool tip point position of the tool tip point on the
basis of the axis positions acquired by the position-information acquiring section; and

a cutting-distance calculating section configured to accumulate moving distances of the tool tip point on the basis of the
tool tip point position calculated by the tool-tip-point-position calculating section and set an accumulated moving distance
as a cutting distance,

wherein the cutting distance calculating device is configured to predict tool wear based on the cutting distance.

US Pat. No. 9,071,182

MOTOR DRIVE DEVICE WITH ALARM LEVEL SETTING UNIT

FANUC CORPORATION, Yaman...

1. A motor drive device, comprising:
a converter which converts AC power supplied from an AC power supply side into DC power to output to a DC side, and converts
the DC power supplied from the DC side into AC power at the time of deceleration of a motor to output to the AC power supply
side;

an inverter which converts the DC power supplied from a DC side into AC power for driving the motor to output to an AC motor
side, and converts regenerated AC power from the AC motor side into DC power to output to the DC side at the time of deceleration
of the motor;

a DC link unit which connects the DC side of the converter and the DC side of the inverter, and which has a DC link capacitor
which is capable of accumulating DC power;

a voltage detecting unit which detects a DC voltage value of the DC link capacitor;
an alarm level setting unit which sets an overvoltage alarm level for the DC voltage value of the DC link capacitor;
an alarm determining unit which determines whether or not the DC voltage value detected by the voltage detecting unit exceeds
the overvoltage alarm level set by the alarm level setting unit; and

an alarm reporting unit which, when the alarm determining unit determines that the DC voltage value detected by the voltage
detecting unit exceeds the overvoltage alarm level set by the alarm level setting unit, instructs the inverter to stop conversion
operation,

wherein the alarm level setting unit comprises:
a forecasting calculating unit which performs forecasting calculation of an increase of the DC voltage value of the DC link
capacitor during time required for the inverter to stop the conversion operation after the alarm determining unit determines
that the DC voltage value exceeds the overvoltage alarm level, based on a first parameter which is time required for the inverter
to stop the conversion operation after the alarm determining unit determines that the DC voltage value exceeds the overvoltage
alarm level, a second parameter which is an amount of the DC power generated by converting by the inverter regenerated AC
power generated at the time of deceleration of the motor, a third parameter which is an amount of the DC power used to generate
the AC power to be returned to the AC power supply side by the converter at the time of deceleration of the motor, and a fourth
parameter which is capacitance of the DC link capacitor; and

a setting unit which sets the overvoltage alarm level based on the increase when the DC voltage value of the DC link capacitor
at a time when the inverter stops the conversion operation, which is calculated from the increase, is greater than a predetermined
threshold set based on a withstand voltage of the DC link capacitor and a withstand voltage of each element in the converter
and the inverter, and sets the predetermined threshold as the overvoltage alarm level when the DC voltage value of the DC
link capacitor at the time when the inverter stops the conversion operation is smaller than the predetermined threshold.

US Pat. No. 10,739,273

INSPECTION APPARATUS AND INSPECTION METHOD

FANUC CORPORATION, Yaman...

1. An inspection apparatus for inspecting an inspection object having a coating layer, comprising:a plurality of light emitters configured to emit light beams each having an annular cross-section onto the coating layer;
an imaging unit configured to take an image of a light beam reflected on the coating layer;
a counter configured to count number of ring- or ellipse-shaped light beam images per unit area in the image taken by the imaging unit; and
a thickness determination unit configured to determine whether or not a thickness of the coating layer is acceptable, based on the number of the ring- or ellipse-shaped light beam images counted by the counter.

US Pat. No. 10,654,171

OPERATION DEVICE FOR OPERATING ROBOT, ROBOT SYSTEM, AND OPERATION METHOD

FANUC CORPORATION, Yaman...

1. A robot interface device for operating a robot, comprising:a touch screen configured to display an image of a robot model modeling the robot and receive a touch input;
a robot motion button for moving the robot in real space; and
a processor configured to:
move the image of the robot model in response to the touch input made by touching a surface of the touch screen;
move the robot in a real space;
detect an input of the robot motion button;
determine whether or not the input of the robot motion button is continuously detected for a predetermined time after detection of the input; and
start a command output operation to output a command for causing the robot to carry out a motion in the real space that is identical to a motion of the image of the robot model, when the processor determines that input of the robot motion button is continuously detected, and execute the command output operation during the continuous detection of the input of the robot motion button after the start of the command output operation.

US Pat. No. 10,645,280

IMAGE-SENSING SYSTEM

FANUC CORPORATION, Yaman...

1. An image-sensing system comprising: a line sensor camera that shoots a workpiece in which a plurality of circumferential surfaces whose radii differ from each other are aligned in a direction of an axis and which is being machined while being rotated about the axis from a direction orthogonal to the axis so as to cover the entire workpiece in the direction of the axis; anda scan rate change unit which changes a scan rate of the line sensor camera to values that respectively correspond to the radii of the circumferential surfaces,
wherein the line sensor camera shoots the workpiece at the scan rates which are changed to the values corresponding to the radii of the circumferential surfaces so as to respectively correspond to the circumferential surfaces.

US Pat. No. 10,632,658

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:an injection molding machine configured to implement injection molding;
a camera configured to obtain an image of a molded product molded by the injection molding in a current molding cycle;
a memory; and
a controller configured to
obtain at least one past value of a physical quantity of at least one past molded product molded by the injection molding in at least one past molding cycle,
based on the at least one past value of the physical quantity, set a reference value for determining whether to store the image of the molded product,
obtain a value of the physical quantity of the molded product in the current molding cycle,
make a determination whether to store the image of the molded product according to (i) the value of the physical quantity of the molded product and (ii) the set reference value, wherein the determination to store the image of the molded product is made in response to a difference between the value of the physical quantity of the molded product and the reference value exceeding a predetermined threshold, and
store the image of the molded product in the memory in response to the determination to store the image, wherein
the controller is further configured to
set a number of additional images of additional molded products to be additionally stored, wherein the additional molded products are obtained in molding cycles before and after the current molding cycle in which the molded product is molded, and
based on the set number of the additional images to be additionally stored, store, in the memory, the additional images of the additional molded products in addition to the image of the molded product determined to be stored.

US Pat. No. 10,632,659

ABNORMALITY DETECTION DEVICE

FANUC CORPORATION, Yaman...

1. An abnormality detection device for detecting an abnormality of a movable part provided in an injection molding machine, comprising:a through hole formed in the movable part or in an adjacent member arranged adjacent to the movable part; and
a microphone installed inside the through hole and configured to collect sound generated by movement of the movable part, wherein:
in order to suppress collection of background noise with the microphone through the through hole, a sound insulator is provided inside the through hole opposite a sound generation position where sound is generated by the movement of the movable part, with respect to the microphone.

US Pat. No. 10,632,705

PRESS APPARATUS

FANUC CORPORATION, Yaman...

1. A press apparatus comprising:a frame including a support surface, the support surface allowing a lower die support for supporting a lower die to rest on the support surface in close contact therewith;
a press shaft configured to support an upper die facing the lower die from vertically above the lower die and to vertically move the upper die relative to the frame in a state where the lower die support rests on the support surface;
a chip discharge mechanism configured to rotate the lower die support around a horizontal axis;
a force detection unit configured to detect a pressing force of the lower die support against the support surface; and
a control unit configured to control the chip discharge mechanism so that the pressing force detected by the force detection unit is equal to or larger than a predetermined threshold.

US Pat. No. 10,635,077

MOTOR CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A motor control device for controlling a spindle motor which rotationally drives a tool or workpiece in a machine tool, the motor control device comprising:a moving average filter which moving averages a torque command value or drive current value of the spindle motor for averaging time, and generates averaged load information of the spindle motor; and
an averaging time calculation unit which calculates, as the averaging time of the moving average filter, a first time of an integral multiple of a period of one rotation of the spindle driven by the spindle motor, or in a case of the spindle rotationally driving a tool, a second time of an integral multiple of a value arrived at by dividing the period of one rotation of the spindle by a number of cutting tooth of a tool held by the spindle.

US Pat. No. 10,627,796

RETRIEVAL SYSTEM AND RETRIEVAL METHOD

FANUC CORPORATION, Yaman...

1. A retrieval system comprising:an acquisition means for acquiring, from a plurality of machines being used under respectively different operation conditions, information representing an operating state of each of the plurality of machines;
an accumulation means for accumulating information representing a plurality of the operating states thus acquired;
a search means for accepting search criteria for searching the information accumulated in the accumulation means, retrieving information representing an operating state in a case of the information representing the operating state agreeing with the search criteria from the accumulation means, and outputting a search result, and
a management means for requesting information representing the operating state, from among the plurality of operating states, agreeing with the search criteria from a machine information database containing information different from the information accumulated in the accumulation means and the plurality of machines, wherein the machine information database is not one of the plurality of machines, in a case of information representing an operating state agreeing with the search criteria not being accumulated in the accumulation means, as a result of a search by the search means.

US Pat. No. 10,629,359

AC REACTOR

FANUC CORPORATION, Yaman...

1. An AC reactor comprising:a peripheral iron core constituted of partial peripheral iron cores for enclosing an outer periphery of the AC reactor, wherein a plurality of dividing surfaces are located between adjoining partial peripheral iron cores of the peripheral iron core;
at least three iron core coils contacting, connected to, or magnetically connected to an inner surface of the peripheral iron core, each of the iron core coils including an iron core and a coil wound around the iron core; and
a securing member for securing the partial peripheral iron cores to maintain the peripheral iron core in contact at the dividing surfaces, wherein
the partial peripheral iron cores have engaging portions formed at an end of each of the partial peripheral iron cores and configured to engage each partial peripheral iron core at a respective dividing surface, and
the securing member is secured to the peripheral iron core with adhesive.

US Pat. No. 10,606,233

MACHINE LEARNING APPARATUS THAT LEARNS SETTING VALUE IN MACHINING PROGRAM OF MACHINE TOOL, AND MACHINING SYSTEM

FANUC CORPORATION, Yaman...

1. A machine learning apparatus configured to learn a setting value in a machining program of a machine tool configured to machine an impeller, the machine learning apparatus comprising:a processor configured to
acquire a thermal displacement amount during a period of machining a workpiece, as a state variable,
receive an imbalance amount in the impeller after machining as determination data, and
learn the setting value in the machining program on the basis of the state variable and the determination data.

US Pat. No. 10,606,250

PRODUCTION MANAGEMENT DEVICE AND PRODUCTION SYSTEM

FANUC CORPORATION, Yaman...

1. A production management device communicably connected to a plurality of slave control devices respectively connected to a plurality of machine tools, the production management device further being communicably connected to a master control device for preparing an overall operation plan of the plurality of machine tools, the production management device comprising:a memory configured to store a program; and
a processor configured to execute the program and control the production management device to:
acquire data on a machine type and an operation condition of each of the plurality of machine tools from a respective slave control device of the plurality of slave control devices;
select, on the basis of the data acquired, an alternative machine tool to be substituted for a specific machine tool from among the plurality of machine tools; and
give the respective slave control device a command to substitute the alternative machine tool selected for the specific machine tool to perform machining based on the operation plan prepared by the master control device, and give the respective slave control device a command to automatically adjust a mechanism driven by an electric motor of the alternative machine tool.

US Pat. No. 10,607,868

MANUFACTURING CELL AND MANUFACTURING CELL MANAGEMENT SYSTEM

FANUC CORPORATION, Yaman...

1. A manufacturing cell communicable with another manufacturing cell or a management computer, the manufacturing cell comprising:a device configured to physically process a workpiece;
a memory; and
a processor configured to
set an allowable range for at least one of (1) physical quantity data related to the manufacturing cell and (2) statistical processing data obtained by statistically processing the physical quantity data, the statistical processing data being stored in the memory,
output to said another manufacturing cell or the management computer, output information including at least one of (a) a notification of occurrence of abnormality, (b) the physical quantity data, and (c) the statistical processing data, in a case where the physical quantity data or the statistical processing data deviate from the allowable range,
when an abnormality occurred in said another manufacturing cell, receive physical quantity data or statistical processing data of said another manufacturing cell contained in output information sent from said another manufacturing cell,
compare the received physical quantity data or statistical processing data of said another manufacturing cell with the physical quantity data or the statistical processing data of the manufacturing cell, to determine a correlation coefficient,
automatically make a determination, around a timing when the abnormality occurred in said another manufacturing cell, whether or not the abnormality is inherent to the another manufacturing cell in which the abnormality occurred, by comparing the correlation coefficient with a predetermined range, and
in response to the correlation coefficient falling outside the predetermined range which indicates a possibility of occurrence of an abnormality in the manufacturing cell similar to the abnormality that occurred in said another manufacturing cell,
stop operation of the manufacturing cell.

US Pat. No. 10,603,787

ROTARY AXIS CABLE WIRING STRUCTURE

FANUC CORPORATION, Yaman...

1. A rotary axis cable wiring structure comprising:a first member and a second member rotatable relatively;
a cylindrical rotary axis part disposed between the first member and the second member so as to be rotatable with respect to at least one of the first member and the second member;
one or a plurality of cable bundles passed from one of the first member and the second member to the other through the cylindrical rotary axis part;
first cable fixing means for fixing the cable bundles to the first member; and
second cable fixing means for fixing the cable bundles to the second member, wherein each of the cable bundles includes:
a plurality of cables extending through the cylindrical rotary axis part along an axial direction of the cylindrical rotary axis part,
a cable bundling member having an outer diameter smaller than an inner diameter of the cylindrical rotary axis part and bundling the plurality of cables in a state where mutual relative arrangement is maintained, and
in a radial direction relative to the axial direction of the cylindrical rotary axis part, the cylindrical rotary axis part is positioned within the first member and the second member.

US Pat. No. 10,603,788

ROBOT SIMULATION APPARATUS

FANUC CORPORATION, Yaman...

1. A robot simulation apparatus that performs a simulation of a robot configured such that at least one tool including one of a plurality of types of hands is attached, the at least one tool including an attachment member and being attached with an attachment surface of the robot by the attachment member, the robot simulation apparatus comprising:a storage that stores the plurality of types of hands in association with three-dimensional models and tool coordinate systems of the plurality of types of hands; and
at least one processor, the processor being configured to:
receive a selection of one of the plurality of types of hands;
receive an input of a shape and dimension of the attachment member;
set, according to the received input, a position and a posture of a hand of the selected type with respect to the attachment surface;
read, from the storage, a three-dimensional model in association with the hand of selected type;
generate a three-dimensional model of the robot, in which the read three-dimensional model is attached to the attachment surface based on the set position and posture;
set tool coordinate system; and
perform a simulation of the robot in which the at least one tool is attached with the attachment surface by using the generated three-dimensional model and the set tool coordinate system.

US Pat. No. 10,603,790

WORKPIECE PICKING DEVICE AND WORKPIECE PICKING METHOD FOR IMPROVING PICKING OPERATION OF WORKPIECES

FANUC CORPORATION, Yaman...

1. A workpiece picking device, comprising:a sensor configured to measure a plurality of workpieces randomly piled in a three-dimensional space;
a robot configured to hold the workpieces;
a hand mounted to the robot for holding the workpieces;
a robot controller configured to
calculate holding position posture data of a position and a posture to hold the workpieces by the robot on the basis of an output of the sensor,
generate loading state improvement operation data of an operation of improving a loading state of the workpieces by the robot on the basis of the output of the sensor,
output at least one operation candidate, and
determine one operation from the at least one operation candidate and control the robot and the hand on the basis of the operation as determined,
wherein the robot controller is configured to control the robot and the hand on the basis of the holding position posture data and the loading state improvement operation data to pick the workpieces or perform a loading state improvement operation; and
a processor configured to
observe, as state data, measurement data obtained by the sensor, the holding position posture data, and the loading state improvement operation data,
obtain, as determination data, time data relative to handling which is a series of operations of picking the workpieces by the robot and the hand, and
perform machine learning to learn an operation determination of determining one operation from the at least one operation candidate on the basis of the state data and the determination data.

US Pat. No. 10,599,125

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a machine tool including a spindle axis based on a machining program to relatively move the spindle axis with respect to a workpiece, thereby performing cutting in a different direction from a direction of the spindle axis, the numerical controller comprising:a tool data storage unit for storing tool data related to a tool attached to the spindle axis, the tool data including at least a recommended value of one-blade feed of the tool and a number of blades of the tool;
a command analyzer for reading and analyzing a command block from the machining program, and generating movement command data for relatively moving the spindle axis with respect to the workpiece and spindle axis rotation command data for rotating the spindle axis; and
a cutting speed controller for calculating a recommended cutting feed rate of the spindle axis by using at least the recommended value of one-blade feed of the tool and the number of the blades of the tool included in the tool data of the tool, and clamping a cutting feed rate of the spindle axis included in the movement command data at the recommended cutting feed rate when the cutting feed rate of the spindle axis is larger than the recommended cutting feed rate.

US Pat. No. 10,596,707

ARTICLE TRANSFER DEVICE

Fanuc Corporation, Yaman...

1. An article transfer device comprising:at least one robot configured to perform a workpiece picking operation with respect to a conveyor for transferring a plurality of workpieces;
a camera configured to sequentially capture images of the workpieces on the conveyor; and
a computer comprising a processor, wherein the computer is configured to execute:
a workpiece identification process which performs workpiece detection in the images captured by the camera;
a workpiece information storage process which stores workpiece information about a position and an angle of each detected workpiece in a storage device, when the workpiece detection is performed in the workpiece identification process;
an identical workpiece determination process which compares the workpiece information of each of the detected workpieces in a newly captured image, to which the workpiece detection is performed, with the workpiece information of each of the detected workpieces in a previously captured image, to which the workpiece detection is performed, to determine whether one or more of the detected workpieces that are identical to the detected workpieces in the previously captured image exist in the newly captured image;
a determination process which performs, for at least one detected workpiece determined as an identical one in the identical workpiece determination process, a first determination that determines a degree of match between the workpiece information in the newly captured image and a predetermined model, and a second determination that determines a degree of match between the workpiece information in the previously captured image and the predetermined model;
a workpiece information selection process which performs selection to store in the storage device only one of the workpiece information of the newly captured image and the workpiece information of the previously captured image, wherein the degree of match of the workpiece information which is to be stored is higher than the degree of match of the workpiece information which is not to be stored;
wherein the computer is further configured to execute:
an interference area setting process which sets an interference area for each of the detected workpieces in each of the images; and
an interference determination process which determines whether or not the interference area of the each detected workpiece interferes with a contour of another detected workpiece; and
wherein the robot does not perform the workpiece picking operation for detected workpieces to which interference is determined by the interference determination process.

US Pat. No. 10,593,455

REACTOR INCLUDING IRON CORES AND RECTIFIER, LC FILTER, AND MOTOR DRIVE APPARATUS INCLUDING THE SAME

FANUC CORPORATION, Yaman...

1. A reactor comprising:a first iron core having a first leg;
a second iron core having a second leg; and
a winding wound on any of the first leg or the second leg,
wherein a gap is formed between the first leg and the second leg disposed side by side with each other in a substantially circumferential direction,
wherein the first leg is provided with a first gap-facing surface, which faces against a second gap-facing surface of the second leg,
wherein the first gap-facing surface of the first leg includes a protruding portion that protrudes from a side surface of the first leg,
wherein the protruding portion of the first gap-facing surface of the first leg protrudes beyond a side surface of the second gap-facing surface of the second leg, and
wherein the first gap-facing surface of the first leg is configured to have a larger area than the second gap-facing surface of the second leg.

US Pat. No. 10,589,431

STRAIN SENSOR, MULTI-AXIAL FORCE SENSOR AND ROBOT

FANUC CORPORATION, Yaman...

1. A strain sensor comprising:a linear bearing including a first member and a second member which are supported such that the first member and the second member are relatively movable only in an axial direction of a predetermined axis;
a connecting member including fixed portions, which are respectively fixed to the first member and the second member, and a strain generation portion which connects the fixed portions with each other; and
a strain detecting portion disposed on the connecting member so as to be capable of detecting strain in at least a moving direction.

US Pat. No. 10,592,823

LEARNING MODEL CONSTRUCTION DEVICE, ABNORMALITY DETECTION DEVICE, ABNORMALITY DETECTION SYSTEM AND SERVER

FANUC CORPORATION, Yaman...

1. A learning model construction device comprising:a non-transitory memory including an apparatus position storage that stored position information a production apparatus; and
a central processing unit (CPU) connected to the non-transitory memory,
wherein the CPU acquires position information of an operator,
wherein the CPU acquires, via a voice receiving device, voice data in a case of the operator being located in a vicinity of the production apparatus, based on the acquired position information of the operator and the position information of the production apparatus stored in the apparatus position storage,
wherein the CPU acquires an abnormality degree related to a production line including the production apparatus as a label,
wherein the CPU performs supervised learning with a group of the voice data and the label as training data, and
wherein the voice receiving device is wearable by the operator.

US Pat. No. 10,594,193

HOLDER, ELECTRIC MOTOR, AND TEMPERATURE DETECTION ELEMENT FIXING METHOD

FANUC CORPORATION, Yaman...

1. A holder configured to fix a temperature detection element to a coil, the holder comprising:a holder body shaped as a circular pillar;
a recessed portion formed on a circumferential surface of the holder body, along a central axis of the holder body;
a wing portion that extends farther outward than the circumferential surface of the holder body, along a direction intersecting the central axis of the holder body; and
the temperature detection element that is housed in the recessed portion so that a portion of the temperature detection element protrudes from the circumferential surface of the holder body.

US Pat. No. 10,569,418

ROBOT CONTROLLER FOR EXECUTING CALIBRATION, MEASUREMENT SYSTEM AND CALIBRATION METHOD

FANUC CORPORATION, Yaman...

1. A robot controller configured to control a robot, comprising:a specifying section configured to specify at least two measurement regions within a movable range of a movable part of the robot, the at least two measurement regions including a first measurement region and a second measurement region different from the first measurement region;
a calibration executing section configured to execute a calibration of a mechanical parameter of the robot by moving the movable part of the robot into the first measurement region, and execute a calibration of the mechanical parameter of the robot by moving the movable part of the robot into the second measurement region; and
a storing section configured to store the mechanical parameter obtained by the calibration in the first measurement region as a first calibration result, and store the mechanical parameter obtained by the calibration in the second measurement region as a second calibration result,
wherein the specifying section specifies a third measurement region between the first and second measurement regions, based on the first and second calibration results stored in the storing section; the calibration executing section executes a calibration of the mechanical parameter of the robot by moving the movable part of the robot into the third measurement region; and the storing section stores the mechanical parameter obtained by the calibration in the third measurement region as a third calibration result.

US Pat. No. 10,566,923

MOTOR DRIVE DEVICE INCLUDING PWM CONVERTER CONTROLLED IN BOOSTING RATIO

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:a PWM converter configured to convert AC power supplied from an AC power supply into DC power by PWM control and supply the DC power to a DC link;
a DC link capacitor which is provided in the DC link and configured to store the DC power;
an inverter configured to convert the DC power in the DC link into AC power for motor driving and output the AC power; and
a boosting ratio control unit configured to control a boosting ratio as a ratio of a value of a DC voltage output from the PWM converter to a peak value of an AC voltage input from the AC power supply, to allow a motor to be driven using the AC power output by converting the DC power stored in the DC link capacitor by the inverter during shut-off of supply of the DC power from the PWM converter to the DC link.

US Pat. No. 10,565,010

LADDER PROGRAM ANALYZING DEVICE

FANUC CORPORATION, Yaman...

1. A ladder program analyzing device, comprising:a processor configured to
analyze a ladder program including a plurality of ladder circuits,
prepare an execution priority signal table in which execution priorities of the ladder circuits, reference signals indicating signals input to the ladder circuits, and update signals indicating signals output from the ladder circuits are correlated with each other,
extract a first ladder circuit and a second ladder circuit from the execution priority signal table, the update signal of the second ladder circuit being the same as the reference signal of the first ladder circuit, and
in response to a determination that the execution priority of the first ladder circuit is not higher than the execution priority of the second ladder circuit, cause a display to display the first ladder circuit as improvable in execution efficiency.

US Pat. No. 10,559,993

STATOR AND MOTOR

FANUC CORPORATION, Yaman...

1. A stator comprising:a stator core having a cylindrical yoke portion and a plurality of tooth portions protruding toward an inner side of a radial direction of the yoke portion from positions spaced from each other in a circumferential direction of an inner circumferential portion of the yoke portion and extending in an axial direction of the yoke portion;
a plurality of coils attached to the tooth portion so as to surround the tooth portion, the coils forming a first void portion between an inner circumferential portion of the coil and a first end surface on one end side in the axial direction of the tooth portion and forming a second void portion between the inner circumferential portion of the coil and a second end surface on the other end side in the axial direction of the tooth portion;
a plurality of first coil fixing components inserted into the first void portion from an inner side of the radial direction toward an outer side thereof to fix the coils; and
a plurality of second coil fixing components inserted into the second void portion from the inner side of the radial direction toward the outer side to fix the coils, wherein
the first end surface has a first concave portion,
the second end surface has a second concave portion,
the first coil fixing component has a first body portion inserted into the first void portion, a first convex portion protruding from a position contacting the first end surface, of the first body portion so as to be inserted into the first concave portion, and a first locking portion extending from an end on the inner side of the radial direction of the first body portion toward the opposite side of the first end surface to lock the coil from the inner side of the radial direction,
the second coil fixing component has a second body portion inserted into the second void portion, a second convex portion protruding from a position contacting the second end surface, of the second body portion so as to be inserted into the second concave portion, and a second locking portion extending from an end on the inner side of the radial direction of the second body portion toward the opposite side of the second end surface to lock the coil from the inner side of the radial direction,
the first body portion has a first guiding portion that guides insertion into the first void portion,
the second body portion has a second guiding portion that guides insertion into the second void portion,
the first body portion and the second body portion each have a shape that is tapered toward an outer side of the radial direction, and
at least one of the first body portion and the second body portion has an elastic structure that exerts elastic force in the axial direction.

US Pat. No. 10,549,368

ELECTRICAL DISCHARGE MACHINE AND FAILURE DETERMINING METHOD

FANUC CORPORATION, Yaman...

1. An electrical discharge machine configured to perform electrical discharge machining by applying a voltage to an inter-electrode gap formed between an electrode and a target workpiece and causing a current to flow, the electrical discharge machine comprising:a machining power supply having a plurality of different circuit states, and configured to be set to one circuit state of the plurality of circuit states by switching at least one of an electrical connection or an electrical setting;
a control unit comprising a storage medium in which a program is stored and a processor, wherein the processor is configured to:
determine whether or not the set circuit state is normal in response to setting each of the plurality of circuit states as the circuit state of the machining power supply;
specify a failure portion of the machining power supply based on a determination result with respect to each of the plurality of circuit states; and
set each of the plurality of circuit states as the circuit state of the machining power supply sequentially by switching at least one of the electrical connection or the electrical setting; and
a display configured to report the failure portion specified by the processor to an operator,
wherein the processor is further configured to determine, in response to switching the circuit state of the machining power supply, whether or not the switched circuit state is normal.

US Pat. No. 10,549,370

ROTATION TABLE

FANUC CORPORATION, Yaman...

1. A rotation table, comprising:a casing;
a face plate pivotally supported on the casing;
a drive portion for rotating the face plate; and
a seal mechanism portion including:
a sealing material arranged between the casing and the face plate;
a casing-side grooved portion for forming a casing-side seal mounting groove for retaining the sealing material, the casing-side seal mounting groove being formed on an end of the casing; and
a seal holding portion for holding a side of the sealing material with the casing-side grooved portion,
wherein a portion having the casing-side grooved portion and the seal holding portion are configured to be separable without moving or removing the face plate.

US Pat. No. 10,543,575

MACHINE TOOL AND AXIAL MOVEMENT CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A machine tool configured to perform machining on a workpiece using a tool, comprising:a motor configured to cause axial movement of the tool or the workpiece;
an imaging device configured to capture an image of the tool or the workpiece at a specified imaging magnification;
a display unit configured to display the image captured by the imaging device;
a command position calculating unit configured to, in a case that the imaging magnification is changed, calculate a movement command position of the tool or the workpiece based on the imaging magnification before and after having been changed, so as to maintain a relative positional relationship between a specified point of the tool or the workpiece in the image, and an imaging center position in the image before and after the change in the imaging magnification; and
a motor control unit configured to control the motor in a manner so that the tool or the workpiece is axially moved based on the movement command position.

US Pat. No. 10,509,387

CONTROL DEVICE FOR MACHINE TOOL PERFORMING OSCILLATION CUTTING

FANUC CORPORATION, Yaman...

1. A control device for controlling a machine tool for machining an outer peripheral surface or an inner peripheral surface of a workpiece using a tool, the machine tool including a main spindle for relatively rotating the workpiece and the tool about a central axis line of the workpiece, and at least one feed axis for relatively feeding the tool and the workpiece along a generatrix of the outer peripheral surface or the inner peripheral surface of the workpiece, the control device comprising:a position command generation unit for generating a position command for the feed axis, based on a relative rotation speed between the workpiece and the tool, and a relative feed speed between the tool and the workpiece; and
a feed axis control unit for controlling the feed axis by the position command, wherein
the feed axis control unit includes an oscillation command generation unit for generating an oscillation command for the feed axis based on the rotation speed and the position command, such that an oscillation frequency becomes a positive non-integer multiple of the rotation speed, and such that the tool intermittently machines the workpiece, and the feed axis control unit controls the feed axis based on a composite command obtained by adding the oscillation command to a positional deviation that is a difference between the position command and an actual position of the feed axis,
the control device further includes a command block timing detection unit for detecting arbitrary timing between adjacent command blocks, based on a machining program, including a plurality of command blocks, of the machine tool, and
the feed axis control unit further includes:
a learning controller for performing learning control in which a correction amount of the composite command is calculated based on an oscillation phase calculated from the oscillation command, and the composite command, and the correction amount is added to the composite command; and
a determination unit for determining whether or not a current time is in the arbitrary timing between the adjacent command blocks, and for stopping oscillation of the feed axis based on the determination.

US Pat. No. 10,503,140

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, and at least one feed axis 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, the control device comprising:a position command generation part for generating a position command for the at least one feed axis based on a relative rotation speed of the workpiece and the tool and a relative feed speed of the tool and the workpiece; and
a feed axis control part that controls the at least one feed axis according to the position command, wherein
the feed axis control part includes an oscillation command generation part that generates an oscillation command for the at least one feed axis based on the rotation speed and the position command such that the tool intermittently cuts the workpiece at an oscillation frequency which is a positive non-integral multiple of the rotation speed, and the feed axis control part is configured to control the at least one feed axis based on a resultant command obtained by adding the oscillation command to a position deviation, which is a difference between the position command and an actual position of the at least one feed axis;
the control device further comprising an oscillation permission/prohibition notification part which notifies the oscillation command generation part of generation permission of the oscillation command when the value of the position command is not within a predetermined range from the machining stop point of the workpiece which has been stored in the control device in advance, and which notifies the oscillation command generation part of generation prohibition of the oscillation command when the value of the position command is within the predetermined range; wherein
the feed axis control part further comprises:
a learning controller which performs learning control to obtain a correction amount of the resultant command based on an oscillation phase obtained from the oscillation command and the resultant command and which adds the correction amount to the resultant command; and
a determination part which determines whether the oscillation command generation part has been notified of generation permission or generation prohibition of the oscillation command, and in the determination, when notification of generation permission of the oscillation command has been received, the learning control is turned on, and when notification of generation prohibition of the oscillation command has been received, the oscillation command is set to zero and the learning control is turned off.

US Pat. No. 10,503,141

DISPLAY DEVICE AND MACHINING SYSTEM FOR OSCILLATION CUTTING

FANUC CORPORATION, Yaman...

1. A display device for displaying information related to a machine tool when performing intermittent cutting by oscillating a tool and a workpiece relative to each other in a machining feed direction in order to shred swarf generated when machining is performed, the machine tool performing machining through cooperation of a spindle for performing a relative rotation between the workpiece and the tool around a central axis of the workpiece, and a feed axis for performing a relative feeding between the tool and the workpiece in the machining feed direction, the display device comprising:a position information acquisition part which acquires position information of the feed axis at predetermined intervals when intermittent cutting is performed;
a rotation information acquisition part which acquires a rotation speed of the spindle as rotation information of the spindle when intermittent cutting is performed;
a first waveform generation part which generates first waveform data representing a change of the position information over time from time series position information of the feed axis acquired by the position information acquisition part at the predetermined intervals;
a second waveform generation part which generates a plurality of second waveform data by obtaining a rotation time per rotation from the rotation speed acquired by the rotation information acquisition part, dividing the first waveform data into partial waveform data for time per rotation, and sequentially shifting each partial waveform data in the time axis direction so as to match a start point of the first waveform data; and
a waveform display part which displays the plurality of second waveform data, the display device further comprising:
a third waveform generation part which generates third waveform data by subtracting nth second waveform data (where n is a non-negative integer) from (n+1)th second waveform data, regarding each of the nth and (n+1)th waveform data obtained by dividing and shifting the first waveform data for time per rotation; wherein
the waveform display part displays the third waveform data instead of the plurality of second waveform data.

US Pat. No. 10,500,687

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising:a tool magazine having a plurality of tool grippers radially disposed about a center of the tool magazine, each of the plurality of tool grippers being capable of gripping a tool;
a workpiece support with a workpiece placed thereon and removed therefrom by an automated workpiece carrier, the workpiece to be machined by the tool; and
a spindle subjected to attachment of the tool for machining the workpiece on the workpiece support, wherein
the tool magazine is able to rotate between a machining position where the tool attached to the spindle machines the workpiece, a tool exchange position where the tool attached to the spindle is exchanged, and a retreat position where the automated workpiece carrier is not disturbed in placing the workpiece on or removing the workpiece from the workpiece support,
the workpiece is placed on the workpiece support from above or removed upward from the workpiece support by the automated workpiece carrier via a space located horizontally adjacent the tool magazine, wherein
the tool magazine is configured such that when disposed in either the machining position or the tool exchange position, the automated workpiece carrier is precluded from accessing the workpiece support, and
when the automated workpiece carrier is performing the placing of the workpiece on or the removal of the workpiece from the workpiece support, the workpiece support is disposed lower than the tool magazine, and
the machine tool further comprises:
a tool magazine retractor for moving the tool magazine to the retreat position, and
a controller for controlling, in synchronism with each other, an operation of placing the workpiece on or removing the workpiece from the workpiece support by the automated workpiece carrier and an operation of the tool magazine retractor.

US Pat. No. 10,444,721

SIMULATION APPARATUS, PROGRAM GENERATING DEVICE, CONTROLLER, AND DISPLAY METHOD FOR COMPUTER

FANUC CORPORATION, Yaman...

1. A simulation apparatus comprising:a characteristics storage unit configured to store a rated value of a value related to output of a spindle of a machine tool depending on a rotational speed of the spindle;
a cutting conditions storage unit configured to store cutting conditions for cutting a workpiece;
a spindle output estimating unit configured to estimate, on basis of the stored cutting conditions, the rotational speed of the spindle, and the value related to the output of the spindle at a time of cutting the workpiece;
a cutting conditions display control unit configured to display the stored cutting conditions on a display unit;
a spindle output display control unit configured to display on the display unit a graph showing the rated value with respect to the rotational speed of the spindle, and also display on the display unit, as a coordinate point on the graph, the value related to the output with respect to the rotational speed of the spindle which is estimated from the cutting conditions; and
a cutting conditions setting unit configured to set conditions specified by an operation of an input unit by an operator, as the cutting conditions;
wherein the cutting conditions storage unit stores the set cutting conditions, and
wherein the cutting conditions setting unit calculates the cutting conditions from coordinates on the graph designated by an operation of the input unit by the operator, and changes the set cutting conditions to the calculated cutting conditions.