US Pat. No. 10,160,119

ROBOT SYSTEM

Fanuc Corporation, Yaman...

1. A robot system comprising:a robot having a hand attaching/detaching mechanism at a distal end of a wrist thereof;
a controller for controlling the robot; and
a hand stand on which several types of hands to be voluntarily attached to the hand attaching/detaching mechanism of the robot are put and which includes a ground circuit that electrically grounds the hands put on the hand stand to the ground,
wherein a first electrode to which detection voltage is applied is fixed to the distal end of the wrist of the robot,
wherein each of the hands has a reference position to be a reference when the hand is attached to the hand attaching/detaching mechanism, and is provided with a second electrode so that distance from the reference position to the second electrode differs for each hand,
wherein the robot system further comprises a current detecting unit for detecting electric current flowing into the ground circuit of the hand stand,
wherein the controller includes: a hand selecting unit for selecting one of the hands; a storage unit that stores the types of the hands and positions of the second electrodes so that the types are associated with the positions, and a hand identifying unit that makes the robot operate to move the first electrode toward each one of the hands put on the hand stand and identifies whether or not the hand is a selected hand selected by the hand selecting unit on the basis of whether or not the electric current is detected by the current detecting unit when the first electrode has been moved to a position corresponding to the position of the second electrode of the selected hand.

US Pat. No. 10,146,201

NUMERICAL CONTROL APPARATUS, NUMERICAL CONTROL METHOD AND COMPUTER PROGRAM FOR CONTROLLING MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A numerical control apparatus configured to control a machine tool, the numerical control apparatus comprising:a storage configured to store unique information unique to the numerical control apparatus or an operator;
a receiving part configured to receive a machining program including incidental information, the incidental information including information unique to the numerical control apparatus or the operator capable of executing the machining program;
a determination part configured to check the incidental information included in the machining program received by the receiving part against the unique information stored in the storage, and determine whether information matching the unique information is included in the incidental information; and
a machine controller configured to execute the machining program received by the receiving part so as to control the machine tool, only when it is determined that the information matching the unique information is included in the incidental information.

US Pat. No. 10,146,213

NUMERICAL CONTROLLER FOR AUTOMATICALLY SWITCHING ACCELERATION/DECELERATION SETTING IN ACCORDANCE WITH MACHINING CONTENT OR STATE

FANUC CORPORATION, Yaman...

1. A numerical controller controlling an axis provided in a machine tool performing a machining on a workpiece on the basis of a command of a block read from a machining program, the numerical controller comprising:an acceleration setting data storage unit for storing acceleration setting data where an acceleration/deceleration setting of the axis is associated with an application condition including at least a tool number;
an execution acceleration/deceleration setting storage unit for storing the acceleration/deceleration setting used when a control of the axis is executed;
an acceleration/deceleration control unit for performing an acceleration/deceleration control process on the axis on the basis of the acceleration/deceleration setting set in the execution acceleration/deceleration setting storage unit and
an acceleration/deceleration setting unit for setting the acceleration/deceleration setting of the acceleration setting data where a tool number commanded in a tool selection command of the block read from the machining program satisfies the application condition in the execution acceleration/deceleration setting storage unit,
wherein
the application condition further includes a condition of machining data, and
the acceleration/deceleration setting unit sets the acceleration/deceleration setting of the acceleration setting data where the command of the block read from the machining program and the machining data of each block obtained through a simulation of the machining program satisfy the application condition in the execution acceleration/deceleration setting storage unit.

US Pat. No. 10,145,829

LASER PROCESSING SYSTEM FOR MONITORING IMPURE GAS IN LASER OPTICAL PATH

FANUC CORPORATION, Yaman...

1. A laser processing system comprising:a laser oscillator configured to oscillate a laser beam;
a laser optical path that guides the laser beam from the laser oscillator to an object to be processed;
an oxygen sensor for detecting oxygen and one or more impure gas sensors for detecting an impure gas influencing propagation of the laser beam that are installed in the laser optical path;
an impure gas sensor output value correction unit that is configured to correct an output value of the impure gas sensor based on an output value of the oxygen sensor; and
an impure gas mixing determination unit that is configured to determine whether or not the impure gas was mixed in the laser optical path, based on a comparison between the output value of the impure gas sensor that is corrected by the impure gas sensor output value correction unit and a determination threshold value that is stored in advance.

US Pat. No. 10,132,710

SHAFT PRECISION AUTOMATIC MEASURING DEVICE FOR MOTOR

FANUC CORPORATION, Yaman...

1. A shaft precision automatic measurement device for a motor that includes a shaft, and a motor main body having a flange face and a fitting face to be fitted to a mounting target of the motor, the device comprising:a device main body;
a gripping part that is provided to the device main body, and grips the shaft;
a first contact-type displacement sensor that is provided to the device main body, and is able to measure a position of the flange face by contacting to follow the flange face;
a second contact-type displacement sensor that is provided to the device main body, and is able to measure a position of the fitting face by contacting to follow the fitting face;
a rotary part that causes the device main body to rotate in a state gripping the shaft by way of the gripping part, and executing measurement by way of the first contact-type displacement sensor and the second contact-type displacement sensor;
a displacement data acquisition part that acquires displacement data of the flange face from the first contact-type displacement sensor and displacement data of the fitting face from the second contact-type displacement sensor; and
a measurement part that, when defining, while causing the shaft to rotate, one or both of a shaft deflection that indicates a rotary deflection of a leading end of the shaft, and an eccentricity that indicates a shift in center line of the shaft relative to a central axis of the motor main body as a center runout, and defining a deflection angle that indicates slope of the shaft relative to the flange face as a face deflection,
measures the center runout and the face deflection of the shaft based on respective displacement data from the first contact-type displacement sensor and the second contact-type displacement sensor acquired by the displacement data acquisition part.

US Pat. No. 10,126,715

CONTROLLER HAVING CPU ABNORMALITY DETECTION FUNCTION

FANUC Corporation, Minam...

1. A controller comprising:a plurality of central processing units (CPUs) comprising a first CPU, a second CPU, and a third CPU;
a first temperature sensor disposed in a vicinity of the first CPU;
a second temperature sensor disposed in a vicinity of the second CPU; and
a third temperature sensor disposed in a vicinity of the third CPU, wherein each of the first, second, and third CPUs includes a CPU stop section, the first CPU reciprocally reads first temperature data (T11) detected by the first temperature sensor, second temperature data (T12) detected by the second temperature sensor, and third temperature data (T13) detected by the third temperature sensor,
the second CPU reciprocally reads fourth temperature data (T21) detected by the first temperature sensor, fifth temperature data (T22) detected by the second temperature sensor, and sixth temperature data (T23) detected by the third temperature sensor,
the third CPU reciprocally reads seventh temperature data (T31) detected by the first temperature sensor, eighth temperature data (T32) detected by the second temperature sensor, and ninth temperature data (T33) detected by the third temperature sensor,
the first temperature data (T11), the fourth temperature data (T21), and the seventh temperature data (T31) are compared with each other, the second temperature data (T12), the fifth temperature data (T22), and the eighth temperature data (T32) are compared with each other, and the third temperature data (T13), the sixth temperature data (T23), and the ninth temperature data (T33) are compared with each other, and
wherein when a difference between read temperatures of any of the first CPU, the second CPU, or the third CPU is above a predetermined threshold, then a system is stopped and is determined that the plurality of CPUs or peripheral circuits are abnormal.

US Pat. No. 10,124,457

MACHINE TOOL HAVING INSPECTION FUNCTION FOR DETERIORATED STATE OF SPINDLE

FANUC CORPORATION, Yaman...

1. A machine tool having an inspection function for a deteriorated state of a spindle, the machine tool comprising:a spindle configured to hold a tool for machining work, the spindle being rotatably supported by a bearing,
a motor configured to drive the spindle,
an encoder configured to measure a rotation angle position of the spindle or the motor, and
a processor configured to
calculate rotating speed of the spindle or the motor from an output of the encoder,
rotate the spindle or the motor at predetermined speed and thereafter interrupt power of the motor to rotate the spindle with inertia,
measure, after the power of the motor is interrupted, an inertial rotation time until the calculated rotating speed reaches set target speed,
set the measured inertial rotation time or a value calculated based on the measured inertial rotation time as a value for comparison with a threshold set in advance, and determine whether the value for comparison is equal to or smaller than the threshold; and
output an alarm when the value for comparison is larger than the threshold.

US Pat. No. 10,121,107

MACHINE LEARNING DEVICE AND METHOD FOR OPTIMIZING FREQUENCY OF TOOL COMPENSATION OF MACHINE TOOL, AND MACHINE TOOL HAVING THE MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A machine learning device for learning an action value with respect to a change of a tool compensation interval that is a time interval for compensating a tool in a machine tool, the device comprising:a state observation unit for observing the tool compensation interval of the machine tool, a processing error amount of a workpiece processed by the machine tool, and a machine working ratio of the machine tool as state variables;
a learning unit for learning by associating the tool compensation interval, the processing error amount, and the machine working ratio that are observed by the state observation unit with a change amount of the tool compensation interval; and
a decision making unit for determining a change amount of the tool compensation interval based on a result of learning by the leaning unit.

US Pat. No. 10,122,316

MOTOR DRIVE APPARATUS HAVING FUNCTION FOR DETERMINING ABNORMALITY OF MAIN POWER SUPPLY VOLTAGE

FANUC CORPORATION, Yaman...

1. A motor drive apparatus in which a main power supply used for motor drive is supplied via a magnetic contactor, the motor drive apparatus comprising:a monitoring unit electrically connected to no more than a single power supply,
the single power supply consisting of a single three-phase AC power supply,
the monitoring unit comprising three leads, each lead being coupled to a corresponding phase of the three-phase AC power supply on the AC power supply input side, each of the three leads being configured to measure the phase voltage of a corresponding phase of the three-phase AC power supply such that every phase of the three-phase AC power supply is monitored by the monitoring unit at the three-phase AC power supply of the magnetic contactor in a state in which contacts of the magnetic contactor are opened;
a determination unit in electrical communication with the monitoring unit, the determination unit determining whether the main power supply voltage monitored by the monitoring unit is normal; and
a magnetic contactor control unit in electrical communication with the determination unit and the contacts of the magnetic contactor, the magnetic contactor control unit outputting a command that controls opening and closing of the contacts of the magnetic contactor based on whether the main power supply voltage is abnormal as determined by the determination unit, wherein when it is determined by the determination unit that the main power supply voltage is abnormal, the magnetic contactor control unit maintains an output of an open command that controls such that the contacts of the magnetic contactor are opened.

US Pat. No. 10,108,170

NUMERICAL CONTROLLER PERFORMING RECIPROCAL TURNING IN COMPLEX FIXED CYCLE

FANUC Corporation, Minam...

1. A numerical controller that controls a machine tool that performs a turning on a workpiece on the basis of a cycle instruction indicated by an NC program, wherein the machine tool comprises:a first tool that performs a turning on the workpiece while moving in a first machining direction;
a second tool that performs a turning on the workpiece while moving in a second machining direction opposite to the first machining direction; and
a tool switching unit that switches, based on an instruction from the numerical controller, the tool used for a turning to an instructed tool, from among the first tool and the second tool, and establishes a state where a turning can be implemented by the tool,
the numerical controller comprises a cycle operation creation unit that creates, on the basis of the cycle instruction, a cycle operation for instruction to the machine tool, and
the cycle operation is an operation that repeats a reciprocal turning operation including:
a first operation for performing a turning in the first machining direction by the first tool;
a second operation for switching from the first tool to the second tool by the tool switching unit;
a third operation for performing a turning in the second machining direction by the second tool; and
a fourth operation for switching from the second tool to the first tool by the tool switching unit.

US Pat. No. 10,108,173

NUMERICAL CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A numeral control device that controls a tool driving unit configured to process a workpiece into an arbitrary finishing shape by performing a plurality of processing operations each of which makes a tool cut into the workpiece and feed the tool, so that the tool moves along a processing locus to perform the processing operations, the numeral control device comprising:an initial locus deriving unit configured to derive the processing locus based on the arbitrary finishing shape;
a processed range acquiring unit configured to acquire a processed range in which the tool has performed the processing operation along the derived processing locus;
a receiving unit configured to receive a processing instruction for a changed finishing shape different from the arbitrary finishing shape; and
a changed locus deriving unit configured to derive a changed processing locus based on a shape of a changed processed part obtained by excluding the processed range from the changed finishing shape when the receiving unit has received the processing instruction for the changed finishing shape at the time of interruption of the processing along the processing locus.

US Pat. No. 10,103,473

ELECTRONIC APPARATUS TO WHICH ONE OR A PLURALITY OF CHILD UNITS ARE CONNECTED

FANUC CORPORATION, Yaman...

1. An electronic apparatus, comprising:a plurality of openings formed in a face of the electronic apparatus;
a plurality of parent unit connectors to each of which a child unit connector of a child unit among a plurality of child units is to be connected, wherein each parent unit connector among the plurality of parent unit connectors is located in a corresponding opening among the plurality of openings;
a plurality of cutaway portions formed in an upper edge portion of the electronic apparatus, wherein the plurality of cutaway portions are distinct from the plurality of openings;
a plurality of connector covers respectively covering the plurality of parent unit connectors, each connector cover among the plurality of connector covers having one end portion extending into an inside of a corresponding cutaway portion among the plurality of cutaway portions; and
a plurality of pivoting mechanisms each configured to cause a corresponding connector cover among the plurality of connector covers to pivot in a direction perpendicular to a direction in which the child unit connector of a child unit among the plurality of child units is to be connected to a parent unit connector among the plurality of parent unit connectors.

US Pat. No. 10,093,037

MANUFACTURING SYSTEM IN WHICH WORKPIECE IS TRANSFERRED

FANUC CORPORATION, Yaman...

1. A manufacturing system comprising:a plurality of manufacturing process stations for processing a workpiece; and
at least one drone for transferring the workpiece among the plurality of manufacturing process stations,
at least one of the plurality of manufacturing process stations is disposed on a lower floor,
the remaining manufacturing process stations are disposed on an upper floor, which is located upper than the lower floor, and
the drone transfers the workpiece via an open ceiling space between the lower floor and the upper floor.

US Pat. No. 10,081,101

ROBOT ARM

FANUC CORPORATION, Yaman...

1. A robot arm comprising:an upper arm that is installed so as to be swingable around a horizontal first axis line;
a forearm that is installed at a distal end of the upper arm so as to be swingable around a second axis line perpendicular to a longitudinal axis of the upper arm;
a first wrist element that is installed at a distal end of the forearm so as to be rotatable around a third axis line perpendicular to the second axis line, and has a hollow part through which the third axis line penetrates;
a motor that is installed in the forearm, and rotates the first wrist element around the third axis line; and
a speed reduction mechanism that transmits rotation of the motor to the first wrist element while reducing speed of rotation, wherein
the motor includes a rotation center axis extending obliquely downward along a third plane on the opposite side of the upper arm across a first plane, the first plane including the third axis line and being perpendicular to the second axis line, the third plane being placed closer to the first wrist element than a second plane is, the second plane including the second axis line and being perpendicular to the third axis line, and
the speed reduction mechanism includes:
a hypoid gear set that includes an output hypoid gear, which is formed into a ring coaxial with the third axis line and is fixed to the first wrist element, and an input hypoid gear engaged with the output hypoid gear; and
a gear set that includes a gear wheel fixed to the input hypoid gear and a pinion that is fixed to a shaft of the motor and is engaged with the gear wheel.

US Pat. No. 10,065,268

LASER PROCESSING SYSTEM OPERATING BY PLURALITY OF OPERATION MODES

FANUC CORPORATION, Yaman...

1. A laser processing system comprising:a laser oscillator configured to generates laser light;
a laser processing machine configured to irradiates laser light generated by the laser oscillator onto a workpiece so as to process the workpiece, the laser processing machine including a movement mechanism configured to move an irradiation position of laser light on the workpiece;
a mode switching part configured to switches an operation mode which determines an electric power supplied to the laser oscillator between (1) a standard-standby mode for making the laser oscillator carry out a base discharge to generate laser light having a smaller laser power than a main discharge prior to a laser processing and (2) an energy saving mode in which the base discharge and the main discharge are stopped such that the power consumption is smaller than that in the standard-standby mode,
a movement controller configured to control the movement mechanism so as to arrange the irradiation position at a process start point arranged at a non-product region of the workpiece other than a product region of the workpiece used as a product; and
a switching controller configured to control the mode switching part so as to switch the operation mode from the energy saving mode to the standard-standby mode when the irradiation position is arranged at the process start point.

US Pat. No. 10,069,444

MOTOR CONTROL APPARATUS HAVING FUNCTION OF DISCHARGING ENERGY REMAINING IN DC LINK

FANUC CORPORATION, Yaman...

1. A motor control apparatus, comprising:a PWM rectifier configured to
convert AC power on a three-phase AC input power supply side into DC power, and
convert DC power on a DC output side into AC power;
a smoothing capacitor which is provided in a DC link on the DC output side of the PWM rectifier;
a DC voltage detection unit configured to detect a DC voltage of the smoothing capacitor;
an LCL filter which is connected to the AC input power supply side of the PWM rectifier;
a power disconnection unit which is connected to an AC power supply side of the LCL filter; and
a control unit configured to apply, after power is disconnected by the power disconnection unit, electric current to the LCL filter by controlling the PWM rectifier, to lower the DC voltage to a desired value by discharging energy stored in the smoothing capacitor,
wherein the control unit is configured to preliminarily lower the DC voltage to a peak value of a three-phase AC input power supply by controlling the PWM rectifier before power is disconnected by the power disconnection unit.

US Pat. No. 10,061,276

MACHINE LEARNING SYSTEM AND MAGNETIZER FOR MOTOR

FANUC CORPORATION, Yaman...

1. A magnetizer for manufacturing rotors for motors, the magnetizer comprising:a magnetization unit having a magnetizing yoke and windings configured to magnetize the rotors; and
a machine learning system, comprising:
a state observer configured to observe a winding temperature, a winding resistance, a current value, and a rotor magnetic flux density of the magnetization unit having the magnetizing yoke and windings; and
a processor configured to
calculate a reward from the rotor magnetic flux density obtained by the state observer, and
update an action value table based on a magnetization rate calculated from the rotor magnetic flux density and a target magnetic flux density, the winding temperature, and the winding resistance,
wherein the processor is configured to perform an arithmetic operation of a state variable observed by the state observer in a multilayer structure, and update the action value table in real time.

US Pat. No. 10,048,674

MACHINING SYSTEM HAVING FUNCTION OF RESTRICTING OPERATIONS OF ROBOT AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machining system, comprising:a machine tool;
a numerical controller configured to control the machine tool;
a robot;
a robot controller configured to control the robot to perform operations; and
an operator detecting device configured to detect whether or not an operator is present in an area in which the operator in the machining system is exposed to danger, wherein
the robot controller includes
an operation determining portion configured to determine an operation restriction on the machine tool based on a detection result obtained by the operator detecting device, and
a notifying portion configured to notify the numerical controller of the operation restriction determined by the operation determining portion, and
the numerical controller is configured to restrict an operation of the machine tool in accordance with the operation restriction notified by the notifying portion.

US Pat. No. 10,029,324

WIRE ELECTRIC DISCHARGE MACHINE HAVING CORNER SHAPE COMPENSATION FUNCTION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine which performs machining by relatively moving a wire electrode and a workpiece based on a desired shape, the wire electric discharge machine comprising:a desired-shape creation unit configured to create a desired shape with reference to a drawing;
a machining path creation unit configured to create a machining path based on a discharge gap and/or a wire diameter in addition to the created desired shape;
a machining speed calculation unit configured to calculate a machining speed based on a detected value of a machining voltage and/or a discharge pulse;
a circular-arc determination unit configured to determine a circular-arc portion in the desired shape;
a circular-arc speed control unit configured to control a command speed on the machining path, for a concave or convex circular-arc portion in the desired shape that is determined to be a circular-arc portion by the circular-arc determination unit, based on a difference between a circular arc length of the desired shape and a circular arc length on the machining path corresponding to the desired shape; and
a wire movement control unit configured to move the wire electrode relative to the workpiece along the machining path, based on the command speed controlled by the circular-arc speed control unit.

US Pat. No. 10,025,295

MOTOR POWER INTERRUPTING DEVICE OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A motor power interrupting device of an injection molding machine, the injection molding machine comprising:n servo motors configured to actuate movable portions, wherein n?2;
m servo amplifiers configured to drive the n servo motors, wherein m?n; and
a controller configured to control the m servo amplifiers, wherein the controller is configured to interrupt power of the servo motors by requesting power interruption to the servo amplifiers,
wherein the controller comprises:
a memory which stores used/unused information indicating whether each servo amplifier among a maximum number of servo amplifiers controllable by the controller is used or unused; and
a processor programmed to
output a common interruption request signal requesting power interruption to a plurality of servo amplifiers among the m servo amplifiers,
receive, from the plurality of servo amplifiers that have received the common interruption request signal, a power interruption confirmation signal confirming that the power of the servo amplifiers corresponding to the maximum number of servo amplifiers controllable by the controller is interrupted, and
determine, on the basis of (a) the interruption request signal, (b) the interruption confirmation signal and (c) the used/unused information, whether or not the power interruption is normally operated,
wherein
the processor is programmed to determine that a first abnormality exists when
the used/unused information corresponding to a servo amplifier among the maximum number of servo amplifiers controllable by the controller indicates that said servo amplifier is used, and
the interruption request signal sent to said servo amplifier is ON, and
the interruption confirmation signal returned from said servo amplifier in response to the interruption request signal is OFF.

US Pat. No. 10,027,200

ROTOR INCLUDING BALANCER WEIGHT AND MOTOR

FANUC CORPORATION, Yaman...

1. A rotor of a motor comprising:a shaft;
a core fixed on radially outside of the shaft, and including a plurality of core holes extending through the core in an axial direction;
a plurality of rods respectively inserted into the core holes so as to protrude from an end surface of the core at one side in the axial direction toward the one side in the axial direction;
a balancer weight including a weight hole into which a first rod of the plurality of rods is inserted, and placed on the end surface while the first rod is inserted into the weight hole;
a first fixing member including a first fixing hole into which the first rod is inserted, and contacting the balancer weight from the one side in the axial direction while the first rod is inserted into the first fixing hole, whereby holding the balancer weight between the first fixing member and the end surface so as to fix the balancer weight, wherein an inner edge of the first fixing member which defines the first fixing hole tightens the first rod so that the movement of the first fixing member relative to the first rod is prevented when the first rod is inserted into the first fixing hole; and
a second fixing member including a second fixing hole into which a second rod of the plurality of rods is inserted, and contacting the end surface from the one side in the axial direction while the second rod is inserted into the second fixing hole, wherein an inner edge of the second fixing member which defines the second fixing hole tightens the second rod so that the movement of the second fixing member relative to the second rod is prevented when the second rod is inserted into the second fixing hole.

US Pat. No. 10,022,876

JOINT STRUCTURE FOR ROBOT

FANUC CORPORATION, Yaman...

1. A joint structure of a robot, comprising:a hollow first arm;
a second arm rotatably attached to the first arm;
a power transmission mechanism provided outside of the first arm so as to be adjacent to the first arm, the power transmission mechanism including an inner space in which a lubricant is filled;
a booster section configured to increase a pressure in an interior of the first arm to be higher than an outside pressure; and
a one-way communication section configured to fluidly connect the interior of the first arm to the inner space so as to be in fluid communication with each other,
the one-way communication section having a one-way communication valve that allows a gas in the interior of the first arm to flow into the inner space, while the one-way communication section prevents the lubricant in the inner space from flowing out to the interior of the first arm.

US Pat. No. 10,022,879

ROBOT CONTROLLER WHICH RECORDS STATE OF OCCURRENCE OF EMERGENCY STOP OF ROBOT

FANUC CORPORATION, Yaman...

1. A robot controller for controlling a robot, the robot controller comprising:a load detection unit which detects a load of a motor for driving each individual articulated axis of the robot;
a speed detection unit which detects an axial speed at each individual articulated axis of the robot;
a cause-of-stop identifying unit which, when an emergency stop of the robot occurs, identifies a cause of the occurrence of the emergency stop;
a recording unit which records the cause of the occurrence of the emergency stop by associating the cause with the axial speed or the load of the motor; and
a display unit which displays information representing a state of occurrence of the emergency stop of the robot,
wherein the display unit is configured to display a number of occurrences of the emergency stop together with at least one of
each predetermined axial speed range among a plurality of predetermined axial speed ranges of the axial speed, said each predetermined axial speed range corresponding to the number of occurrences of the emergency stop, or
each predetermined motor load range of the load of the motor, said each predetermined motor load range corresponding to the number of occurrences of the emergency stop.

US Pat. No. 10,027,272

MOTOR CONTROL DEVICE INCLUDING TORQUE COMMAND LIMIT UNIT

FANUC CORPORATION, Yaman...

1. A motor control device which controls a motor in a machine tool or an industrial machine, the motor control device comprising:a power outage detection unit that detects a power outage of a power source which supplies electric power for driving the motor;
a DC link voltage detection unit that detects a value of a DC link voltage applied to an amplifier which drives the motor;
a comparison unit which compares the value of the DC link voltage with a predetermined threshold value;
a torque command generation unit which generates a torque command for driving the motor;
a torque limit value setting unit which sets a torque limit value in accordance with a result of a comparison by the comparison unit; and
a torque command limit unit which limits the torque command to the torque limit value when a power outage is detected by the power outage detection unit, and
wherein as a result of the comparison by the comparison unit, the torque limit value setting unit:
sets a first torque limit value when the value of the DC link voltage is less than the predetermined threshold value, and
sets a second torque limit value greater than the first torque limit value when the value of the DC link voltage is not less than the predetermined threshold value,
wherein the first torque limit value and the second torque limit value are set to minimize a stopping distance of the motor while avoiding a reduction of the DC link voltage below a low voltage threshold.

US Pat. No. 10,024,758

ABNORMALITY DETECTING DEVICE HAVING FUNCTION FOR DETECTING ABNORMALITY OF MACHINE TOOL, AND ABNORMALITY DETECTING METHOD

FANUC CORPORATION, Yaman...

1. An abnormality detecting device comprising:a spindle motor for driving a spindle of a machine tool; and
a motor controller for controlling the spindle motor,
wherein the motor controller comprises:
a time measuring part which measures a spindle stopping time from when the spindle motor is accelerated to a predetermined number of rotations to when the spindle motor is stopped after free-run of the spindle motor;
a storing part which stores the spindle stopping time measured by the time measuring part; and
a comparing part which compares a plurality of data with respect to the spindle stopping time stored in the storing part, the plurality of data including data when the spindle is normal, and judges as to whether an abnormality of the spindle or the spindle motor exists or not based on a comparison result.

US Pat. No. 10,018,992

NUMERICAL CONTROL DEVICE

FANUC Corporation, Minam...

1. A numerical control device configured to stop a machining operation without damage to a machine before a designated time arrives, when the designated time to stop the machining operation is designated, during the machining operation performed by controlling the machine based on a machining program, the numerical control device including a processor configured to execute the method comprising:receiving the designated time;
predicting a machining time of the machining program based on an order of execute blocks of the machining program and an execution time for acceleration and deceleration by a drive unit of the machine of each block of the machining program;
predicting an executing block of the machining program at the designated time, the executing block of the machining program predicted to be executing at the designated time, based on the predicted machining time of each block of the machining program;
designating a stop block for the machining operation to be stopped without damage to the machine before the designated time, by searching from the executing block at the designated time in reverse order of the order of execute blocks of the machining program; and
controlling stopping of the machining operation at the designated stop block.

US Pat. No. 9,999,937

SPOT WELDING SYSTEM, METHOD AND COMPUTER PROGRAM CAPABLE OF MAKING PRESSURIZING FORCE APPLIED TO OBJECT TO BE PRESSED TO BE CONSTANT

FANUC CORPORATION, Yaman...

1. A spot welding system, comprising:a spot welding gun including:
an opposite electrode,
a movable electrode movable relative to the opposite electrode, and
a drive part configured to drive the movable electrode;
a position detection part configured to detect a position of the movable electrode; and
a controller,
wherein,
based on
a first position of the movable electrode detected when the drive part is driven in accordance with a first pressurizing force command so as to pressurize an object to be pressed by the movable electrode in a state where the spot welding gun is arranged at a predetermined first attitude,
a second position of the movable electrode detected when the drive part is driven in accordance with the first pressurizing force command so as to pressurize the object by the movable electrode in a state where the spot welding gun is arranged at a second attitude different from the first attitude, and
the first pressurizing force command,
the controller is configured to calculate an amount of change between (i) a first pressurizing force which, during calibration, is applied to the object from the movable electrode at the first attitude when the drive part is driven in accordance with the first pressurizing force command, and (ii) a second pressurizing force applied to the object from the movable electrode at the second attitude when the drive part is driven in accordance with the first pressurizing force command,
wherein the controller is configured to store data including the calculated amount of change, and
wherein, when welding a workpiece with the spot welding gun at an arbitrary attitude, the controller is configured to drive the drive part based on the stored data corresponding to the arbitrary attitude.

US Pat. No. 9,985,409

LASER DEVICE CAPABLE OF USING SMALL-SIZED CHILLER

FANUC CORPORATION, Yaman...

1. A laser device, for use with a chiller that is a circulation-type coolant supply device, the laser device cooling at least heat emanating from a laser oscillator using the chiller, the laser device comprising:at least one laser oscillator;
a power supply unit that supplies electric power for laser oscillation to the laser oscillator;
an output light detection part that detects laser beam output from the laser oscillator;
a laser optical system for outputting a laser beam from the laser device;
at least one temperature detection part that detects temperature of coolant or a component for which temperature rises by heat generation from at least the laser oscillator;
an input unit;
a display unit;
a recording part that records characteristics of the laser device including optical output characteristics of the laser oscillator, and characteristics of the chiller;
a calculation part that calculates a state of the laser device; and
a control unit that controls each part of the laser device,
wherein the calculation part calculates, according to a command from the control unit, the state of the laser device based on (i) cooling capacity of the chiller and tank volume of the chiller, (ii) at least a heat generation amount from the laser oscillator, and (iii) heat capacity of a cooled part of the laser device to be cooled by the coolant, which are recorded in the recording part, relative to laser machining conditions including (a) at least one set of output command data among optical output command data to the laser oscillator and (b) power output command data for the laser oscillator to the power supply unit, which were inputted through the input unit or set,
wherein the control unit predicts whether the temperature of the coolant or the component will exceed predetermined respective allowed temperatures, in a case of assuming that machining has been performed at the laser machining conditions that have been inputted or set, by referencing the state of the laser device calculated by the calculation part, and
wherein the control unit has at least one function, among (i) function of displaying on the display unit a warning of excessive temperature rise and (ii) a function of recording a warning of excessive temperature rise in the recording part, prior to starting laser machining, in a case that the control unit has predicted the temperature of the coolant or the component exceed the predetermined respective allowed temperatures.

US Pat. No. 9,969,109

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:an injection molding machine configured to form an integrated molded article from an insert part inserted into a mold and a resin injected into the mold;
part insertion means for inserting the insert part into the mold;
inspection means for inspecting the insert part before the resin is injected into the mold, and outputting inspection data on the insert part obtained by the inspection; and
a controller configured to control the injection molding machine, and record
the inspection data on the insert part and
physical quantities related to the injection of the resin into the mold
in association with the cycle number of the molded article from the injection molding machine.

US Pat. No. 9,958,837

MOTOR CONTROL APPARATUS FOR CORRECTING INTERPOLATION ERROR OF POSITION DETECTOR

FANUC CORPORATION, Yaman...

3. A motor control apparatus, comprising:a position detector for detecting the position of a rotor of a motor;
a speed detection unit for calculating a speed detection value based on a position detection value detected by the position detector;
a speed command generation unit for generating a speed command which commands a rotation speed of the rotor of the motor; a torque command generation unit for generating a torque command which commands a rotational torque of the motor based on the speed command and the speed detection value;
a correction amount calculation unit for calculating a correction amount based on the position detection value detected by the position detector;
and a correction processing unit for correcting the torque command by subtracting the correction amount,
wherein the correction amount calculation unit calculates the correction amount by superposing a plurality of sinusoidal waves, and increasing a number of said plurality of superposed sinusoidal waves until the difference between a torque command error and the correction amount is within a predetermined range, and
wherein each of the sinusoidal frequency components has a value which is a natural number times a basic frequency determined by a rotation frequency of the motor and a physical scale number of the position detector,
wherein the correction amount=?n=1mgn sin(n?+?n), where each of m and n is a natural number (1?n?m), gn is an amplitude component of an n-th harmonic, ? is the position detection value, and ?n is an initial phase of the n-th harmonic.

US Pat. No. 9,910,426

DEVICE AND METHOD OF CONTROLLING MACHINE TOOL, TO CONTROL SYNCHRONIZED OPERATION OF SPINDLE AXIS AND FEED AXIS

FANUC CORPORATION, Yaman...

1. A controller of a machine tool, configured to control a synchronized operation of a spindle axis and a feed axis, the controller
being configured to:
prepare a spindle-axis command and a feed-axis command based on a tapping program;
control a rotational motion of the spindle axis in accordance with the spindle-axis command;
detect a rotational position of the spindle axis; and
control a feed motion of the feed axis in accordance with the feed-axis command, based on the rotational position;
obtain, from the tapping program, a total rotation amount and a maximum rotation speed of the spindle axis during a period
when the spindle axis operates from a process start position to a target thread depth, and to send the total rotation amount
and the maximum rotation speed as the spindle-axis command to the spindle-axis control section;

make the spindle axis perform an accelerated rotation at maximum capacity using a maximum permissible current of a drive source,
from the process start position toward the target thread depth, with the maximum rotation speed set as a target value;

execute a torque-limiting during a period when the spindle axis performs the accelerated rotation, in such a manner that,
at a start of acceleration, a predetermined torque command lower than a maximum torque command provided for the accelerated
rotation at maximum capacity is given to the spindle axis, and during a predetermined time elapsing from the start of acceleration,
the predetermined torque command is gradually increased so that the maximum torque command is given to the spindle axis at
an instant when the predetermined time has elapsed;

detect a maximum acceleration of the spindle axis during the accelerated rotation at maximum capacity, based on the rotational
position;

detect a residual rotation amount of the spindle axis during a period when the spindle axis operates from a current position
to the target thread depth, based on the total rotation amount and the rotational position;

detect a current speed of the spindle axis based on the rotational position; and
make the spindle axis perform a decelerated rotation at maximum deceleration corresponding to the maximum acceleration so
as to reach the target thread depth, after the accelerated rotation at maximum capacity, based on the maximum acceleration,
the residual rotation amount and the current speed;

wherein the synchronized operation of the spindle axis and feed axis are controlled by the controller.

US Pat. No. 9,897,998

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

FANUC CORPORATION, Yaman...

1. A system for detecting a load applied to a robot, comprising:
a force sensor including a detection part which detects a load in a direction, the detection part including a first single-axis
detection element for detection in one axis direction and a second single-axis detection element for detection in the one
axis direction; and

a malfunction judgment part which
judges whether a first detection value detected by the first detection element and a second detection value detected by the
second detection element are different from each other, and which judges that the first detection element or the second detection
element malfunctions when the first detection value and the second detection value are different from each other.

US Pat. No. 9,856,095

SYSTEM CAPABLE OF IMMEDIATELY PERFORMING OPERATION ON WORKPIECE

FANUC CORPORATION, Yaman...

1. A system, comprising:
a device configured to perform work on a workpiece;
a robot configured to convey the workpiece to an area where the device performs the work;
a cover that covers the device and the robot;
a partition cover that partitions a space covered by the cover into a first space where the robot is installed and a second
space where the device is installed;

a door provided in the partition cover;
a first controller configured to control an operation of the door to open the door when a temperature inside the first space
falls within a predetermined value range;

a first air conditioner configured to control the temperature inside the first space to a constant temperature, wherein
the first air conditioner includes a vent hole configured to blow temperature-controlled air into the first space,
the first air conditioner further includes a duct extending into the first space,
the duct penetrates a wall of the first space, and
the vent hole is provided at an end of the duct in the first space; and
a workpiece conveyor provided within the first space and in front of the vent hole of the first air conditioner,
wherein,
the workpiece is one among a plurality of workpieces conveyed by the workpiece conveyor to be sequentially machined by the
work performed by the device,

a second controller to control the robot to rearrange the plurality of workpieces on the workpiece conveyor in a manner that,
among the plurality of workpieces on the conveyor, a workpiece to be machined earliest is located closest to the vent hole,
and

the first air conditioner is configured to blow, through the vent hole, the temperature-controlled air directly against the
workpiece arranged by the robot and disposed in the first space closest to the vent hole.

US Pat. No. 9,822,794

FAN COVER HAVING VIBRATION SUPPRESSING MECHANISM OF FAN MOTOR, AND MOTOR DRIVE UNIT

FANUC CORPORATION, Yaman...

1. A fan cover on which a fan motor is mounted, the fan motor having a first surface and a second surface opposite the first
surface, the cover comprising: a fan cover flat portion in which an opening portion is formed, the opening portion remaining
open when the fan motor is mounted on the fan cover so that air passes through the opening portion from the fan motor; two
protruding portions having a proximal end coupled to the flat portion around the opening portion, the two protruding portions
extending from the fan cover flat portion, each of the two protruding portions having a supporting portion located at a distal
end of each protruding portion for supporting the fan motor, wherein one or two convex portions are arranged on a portion
of the fan cover flat portion wherein the one or two convex portions come into contact with the first surface of the fan motor,
wherein the one or two convex portions are arranged on a line equidistant between the proximal ends of the two protruding
portions, wherein the fan motor is supported between an end portion of the one or two convex portions and an upper face of
each of the supporting portions so that the end portion of the one or two convex portions contacts the first surface of the
fan motor and the supporting portion of each of the two protruding portions contacts the second surface of the fan motor.

US Pat. No. 9,823,647

SERVO CONTROL APPARATUS HAVING FUNCTION OF SENSORLESS CONTROLLED STOP

FANUC CORPORATION, Yaman...

1. A servo control apparatus for controlling a servomotor installed in a machine tool or an industrial machine, comprising:
a sensor unit for detecting a speed of the servomotor and outputting the speed as speed feedback;
an amplifier for driving the servomotor, and feeding back a current flowing through the servomotor;
a magnetic pole position detector for detecting a magnetic pole position of the servomotor;
a position controller for outputting a speed command based on a position command for the servomotor and a position of the
servomotor calculated from the detected speed;

a speed controller for outputting a current command based on the speed command and the detected speed;
a current controller for outputting a voltage command based on the current command and the detected current;
a speed estimator for calculating an estimated speed based on the voltage command;
a magnetic pole position estimator for calculating an estimated magnetic pole position from the estimated speed;
a sensor malfunction detector for detecting a malfunction in the sensor unit;
a deceleration command generator for generating a deceleration command to decelerate the servomotor;
a fourth switch for switching from the speed command to the deceleration command, when the sensor malfunction detector has
detected the malfunction in the sensor unit;

a second switch for switching from the magnetic pole position to the estimated magnetic pole position, when the sensor malfunction
detector has detected the malfunction in the sensor unit; and

a third switch for switching from the speed feedback to the estimated speed, when the sensor malfunction detector has detected
the malfunction in the sensor unit.

US Pat. No. 9,815,158

ROTARY-MAGAZINE TOOL CHANGER CAPABLE OF CHANGING TOOL STORAGE POSITION

FANUC CORPORATION, Yaman...

1. A tool changer for a machine tool, comprising:
a rotary tool magazine configured to attach and detach tools to and from a spindle of the machine tool, the tools comprising
a first tool and a second tool to be mounted on the spindle after the first tool, the rotary tool magazine including tool
storage positions at least including a first, a second and a third tool storage positions;

tool grip portions circumferentially disposed on the tool magazine corresponding to the tool storage positions;
an index unit configured to turn the tool magazine while one of the tools is mounted on the spindle;
and a control unit configured to control the index unit, during a tool change operation,
wherein
the first tool was stored at the first tool storage position before being mounted to the spindle, and the third tool storage
position is empty during the entire time that the first tool is mounted on the spindle,

the tool changer comprises a command unit for outputting, to the control unit a change command for changing a tool storage
position for the first tool from the first tool storage position where the first tool was stored before being mounted on the
spindle to the third tool storage position where the first tool is to be stored after being removed from the spindle, wherein
the third tool storage position is closer to the second tool storage position where the second tool is stored than to the
first tool storage position,

the index unit is configured to rotate the tool magazine even when the first tool is mounted on the spindle, and
the control unit is configured to
on receiving the change command from the command unit, turn the tool magazine while the first tool is mounted on the spindle,
and control the index unit to index the tool grip portion corresponding to the third tool storage position to a tool change
position to store the first tool mounted on the spindle into the third tool storage position, then

control the index unit to index the second tool storage position stored with the second tool to the tool change position to
mount the second tool on the spindle after the first tool.

US Pat. No. 9,800,012

CONTROL APPARATUS FOR CONTROLLING LASER OSCILLATOR

Fanuc Corporation, Yaman...

1. A control apparatus for controlling a laser oscillator including:
a first assembly comprised of a first power unit and a first optical unit having at least one light source driven by the first
power unit; and

a second assembly comprised of a second power unit and a second optical unit having at least one light source driven by the
second power unit, the control apparatus comprising:

a laser beam output command control unit for controlling a first laser beam output command for the first optical unit and
a second laser beam output command for the second optical unit;

a monitoring unit for monitoring a first current output from the first power unit and a second current output from the second
power unit, and a first laser beam output from the first optical unit and a second laser beam output from the second optical
unit;

an abnormality determining unit which determines an abnormality of the first assembly based on a first deviation between the
first laser beam output command and the first laser beam output and which determines an abnormality of the second assembly
based on a second deviation between the second laser beam output command and the second laser beam output;

a command unit for issuing a predetermined current command to at least one of the first power unit and the second power unit
when the abnormality determining unit determines that at least one of the first assembly and the second assembly has an abnormality;

an abnormality determination stopping unit for stopping the abnormality determining unit from determining an abnormality when
at least one of the first power unit and the second power unit is driven based on the predetermined current command;

a storage unit for storing, when at least one of the first power unit and the second power unit is driven based on the predetermined
current command, at least one of a first current relationship between the predetermined current command and the first current
output monitored by the monitoring unit, a second current relationship between the predetermined current command and the second
current output monitored by the monitoring unit, a first laser beam relationship between the first laser beam output command
of the first optical unit, which corresponds to the predetermined current command, and the first laser beam output monitored
by the monitoring unit, and a second laser beam relationship between the second laser beam output command of the second optical
unit, which corresponds to the predetermined current command, and the second laser beam output monitored by the monitoring
unit; and

an estimation unit for estimating an abnormality in at least one of the first power unit, the second power unit, the first
optical unit, and the second optical unit, based on at least one of the first current relationship, the second current relationship,
the first laser beam relationship, and the second laser beam relationship, which are stored by the storage unit.

US Pat. No. 9,782,898

ROBOT CONTROLLER FOR AVOIDING PROBLEM REGARDING ROBOT AT THE TIME OF EMERGENCY STOP

FANUC CORPORATION, Yaman...

1. A robot controller for controlling a robot, the robot controller comprising:
at least one first detector configured to detect overheating of a driving part for driving the robot, wherein the overheating
represents a predetermined abnormality which does not require the robot to be immediately stopped; and

a processor configured to:
control a motion of the robot;
judge whether or not a predetermined stopping condition is satisfied when the at least one first detector detects the overheating
of the driving part;

execute a stopping process of the robot when the stopping condition is satisfied; and
not execute the stopping process of the robot when the stopping condition is not satisfied.

US Pat. No. 9,778,645

NUMERICAL CONTROLLER PROVIDED WITH FUNCTION OF CORRECTING DISPLACEMENT ERROR CAUSED BY WORK

FANUC Corporation, Minam...

1. A numerical controller for controlling a five-axis machine tool that applies machining to a work to be machined placed
on a table with three linear axes and two rotation axes, comprising:
a work lattice region setting unit that sets a work lattice region within a work neighboring region covering the work in a
three-dimensional coordinate system fixed on the table, the work lattice region being divided in a lattice at lattice points
arranged at predetermined intervals;

a rotation axis work lattice region setting unit that sets the work lattice region as a rotation axis work lattice region
with rotation positions of the two rotation axes about which the table rotates;

a work-caused translation correction amount setting unit that sets correction amounts of a work-caused translation error at
the lattice points caused before the work has been placed on the table and after the work has been placed on the table with
respect to the lattice points of the rotation axis work lattice region; and

a work-caused translation correction amount calculation unit that calculates, from the set correction amounts, a work-caused
translation correction amount for a tool center point position on the work,

wherein the numerical controller includes a function that corrects an error by adding the work-caused translation correction
amount to positions of the three linear axes.

US Pat. No. 9,744,636

ROTATION TABLE

FANUC CORPORATION, Yaman...

1. A rotation table, comprising:
a rotation axis;
a work placement table connected to one end of the rotation axis;
a clamping device configured to hold the work placement table at a stop position;
a switching valve configured to switch the clamping device; and
a member configured to connect the clamping device to the switching valve, said member having a pressure fluid supply flow
passageway, and the member being free of a joint and a pipe,

wherein the clamping device and the switching valve are configured to communicate with each other.

US Pat. No. 9,764,414

SPOT WELDING SYSTEM AND SPOT WELDING METHOD

FANUC CORPORATION, Yaman...

1. A spot welding system, comprising:
a spot welding gun including:
a base;
a fixed arm fixed to the base;
a fixed electrode tip supported by the fixed arm;
a movable arm provided at the base and configured to move relative to the fixed arm;
a movable electrode tip supported by the movable arm and holding a workpiece to be welded between the movable electrode tip
and the fixed electrode tip; and

a drive part configured to drive the movable arm;
a position detection part configured to detect a position of the movable arm; and
a controller comprising a processor, the processor being programmed to perform a spot welding method comprising:
a first pressing step of controlling the drive part to drive the movable arm of the spot welding gun by a predetermined drive
force for pressing the movable electrode tip supported by the movable arm against the fixed electrode tip supported by the
fixed arm of the spot welding gun;

a first position detection step of receiving, from the position detection part, a detected position of the movable arm at
the first pressing step;

a first spring constant calculation step of calculating a combined spring constant of the movable arm and the fixed arm, based
on the detected position of the movable arm at the first position detection step, and on the drive force applied to the movable
arm at the first pressing step;

a second pressing step of controlling the drive part to drive the movable arm by a predetermined drive force for pressing
the movable electrode tip against a reference fixed object provided separate from the spot welding gun;

a second position detection step of receiving, from the position detection part, a detected position of the movable arm at
the second pressing step;

a second spring constant calculation step of calculating a spring constant of the movable arm, based on the detected position
of the movable arm at the second position detection step, and on the drive force applied to the movable arm at the second
pressing step;

a third spring constant calculation step of calculating a spring constant of the fixed arm based on the combined spring constant
and on the spring constant of the movable arm;

a workpiece holding step of controlling the drive part to drive the movable arm by a predetermined drive force for holding
the workpiece to be welded between the movable electrode tip and the fixed electrode tip;

an elastic displacement calculation step of calculating an amount of elastic displacement of the fixed arm generated at the
workpiece holding step, based on the spring constant of the fixed arm, and on a drive force applied to the movable arm at
the workpiece holding step; and

a position correction step of controlling a manipulator drive part to operate a manipulator, to which the spot welding gun
is attached, for correcting a position of the spot welding gun based on the calculated amount of the elastic displacement
of the fixed arm.

US Pat. No. 9,724,825

ROBOT CONTROLLER FOR ROBOT WHICH SETS TWO OBJECTS IN COMBINED STATE

FANUC CORPORATION, Yaman...

1. A robot controller which controls a force acting between a given object located on an end effector of a robot and a different
object to move the given object relative to the different object to obtain a state in which a predetermined portion of the
given object and a predetermined portion of the different object are in contact and combined with each other, the robot controller
comprising:
a force measuring unit which measures the force acting between the given object and the different object;
a translational force control direction setting unit which sets at least one direction of translational force control in which
the given object is translated relative to the different object based on the force acting between the given object and the
different object;

a translational force control target force setting unit which sets, for each of the at least one direction of translational
force control, a translational force control target force representing a target value for the force acting between the given
object and the different object in the direction of translational force control;

a rotational force control axis setting unit which sets at least one axis of rotational force control representing an axis
of rotation about which the given object is rotated relative to the different object based on the force acting between the
given object and the different object, and sets an axis that is not parallel to the direction of translational force control
as at least one of the at least one axis of rotational force control;

a translational force control direction target movement amount calculation unit which calculates a target amount of translational
force control direction movement representing a target value for an amount of translational movement of the given object relative
to the different object in the direction of translational force control, based on the force acting between the given object
and the different object;

a rotational force control axis target rotational movement amount calculation unit which calculates a target amount of rotational
force control axis rotational movement representing a target value for an amount of rotational movement of the given object
relative to the different object about the axis of rotational force control, based on the force acting between the given object
and the different object;

a target direction target movement amount calculation unit which calculates a target amount of translational movement representing
a target value for an amount of translational movement of the given object, and a target amount of rotational movement representing
a target value for an amount of rotational movement of the given object, based on

the force acting between the given object and the different object,
the direction of translational force control set by the translational force control direction setting unit,
the axis of rotational force control set by the rotational force control axis setting unit,
the target amount of translational force control direction movement calculated by the translational force control direction
target movement amount calculation unit, and

the target amount of rotational force control axis rotational movement calculated by the rotational force control axis target
rotational movement amount calculation unit; and

an operation command generation unit which generates an operation command for the robot, based on the target amount of translational
movement and the target amount of rotational movement calculated by the target direction target movement amount calculation
unit,

wherein the translational force control direction target movement amount calculation unit
calculates the target amount of translational force control direction movement, based on one of a first predetermined amount
of translational force control direction movement, and the first predetermined amount of translational force control direction
movement and the translational force control target force in the direction of translational force control, when the force
acting between the given object and the different object in the direction of translational force control is smaller than a
first predetermined threshold for a force in the direction of translational force control, and

calculates the target amount of translational force control direction movement, based on one of
the force acting between the given object and the different object in the direction of translational force control and the
translational force control target force in the direction of translational force control, and the force acting between the
given object and the different object in the direction of translational force control, the translational force control target
force in the direction of translational force control, and a second predetermined amount of translational force control direction
movement, when the force acting between the given object and the different object in the direction of translational force
control is not less than the first predetermined threshold for the force in the direction of translational force control.

US Pat. No. 9,755,566

CONTROLLER AND CONTROL METHOD FOR MACHINE TOOL CAPABLE OF CHANGING MOTION DEPENDING ON MOTOR TEMPERATURE

Fanuc Corporation, Yaman...

1. A controller of a machine tool having a spindle motor for driving a spindle and a feed shaft motor for driving a feed shaft,
the controller comprising:
a numerical controlling part which transmits an operation command to the spindle motor and the feed shaft motor;
an acceleration/deceleration judging part which judges as to whether the spindle motor is in an acceleration/deceleration
state;

a current detecting part which detects a current value flowing in the spindle motor;
a first temperature estimating part which estimates a first amount of change in temperature of the spindle motor due to the
current flowing in the spindle motor when the spindle motor is in the acceleration/deceleration state of operation;

a second temperature estimating part which estimates a second amount of change in temperature of the spindle motor due to
the current flowing in the spindle motor when the spindle motor is in a steady state of operation;

a motor temperature obtaining part which obtains a total amount of change in temperature of the spindle motor, based on the
first amount of change in temperature and the second amount of change in temperature; and

a comparing part which compares the first and second amounts of change in temperature;
wherein when the total amount of change in temperature exceeds a predetermined threshold, the numerical controlling part is
configured to:

1) change the operation command of the spindle motor, when the comparison of the first and second amounts of change in temperature
indicates that the first amount of change in temperature exceeds the second amount of change in temperature multiplied by
a coefficient,

2) change the operation command of the feed shaft motor, when the comparison of the first and second amounts of change in
temperature indicates that the second amount of change in temperature exceeds the first amount of change in temperature multiplied
by the coefficient, and

3) change the operation command of the spindle motor and the feed shaft motor, when the comparison of the first and second
amounts of change in temperature indicates that the first amount of change in temperature does not exceed the second amount
of change in temperature multiplied by the coefficient and the second amount of change in temperature does not exceed the
first amount of change in temperature multiplied by the coefficient.

US Pat. No. 9,709,170

MACHINE TOOL INCLUDING SEALING STRUCTURE IN ROTATION UNIT

FANUC CORPORATION, Yaman...

1. A machine tool that includes a sealing structure in a rotation unit, the machine tool comprising:
a gas supply unit configured to supply and discharge an air sealing gas to the periphery of the rotation unit;
a rotation state determination unit configured to determine whether the rotation speed of the rotation unit is in a deceleration
state; and

a gas supply amount control unit configured to control an air sealing gas supply amount when the deceleration state determined
by the rotation state determination unit larger than an air sealing gas supply amount when a non-deceleration state determined
by the rotation state determination unit,

wherein the rotation state determination unit is configured to
calculate a rotation number change rate of a number of rotations per unit of time of the rotation unit, and
determine that a current state is the deceleration state when the calculated rotation number change rate exceeds a predetermined
reference value.

US Pat. No. 9,701,017

PROCESS APPLICATION ROBOT SYSTEM HAVING FUNCTION FOR MANAGING PROCESS CONDITION

FANUC CORPORATION, Yaman...

1. A process application robot system comprising:
a robot which carries out a predetermined process operation with respect to an object to be processed;
a robot controlling part which controls a motion of the robot;
a process controlling part which controls a processing treatment in the process operation carried out by the robot;
an interface part for setting, changing or adjusting a process condition which determines a content of the process treatment
commanded by the process controlling part, wherein the process condition does not include a condition regarding the motion
control of the robot; and

a process condition change managing part which carries out an operation limitation with respect to setting of or setting change
in the process condition, based on a predetermined judgment condition,

wherein the process condition, which is set when the operation limitation by the process condition change managing part is
invalid, is applied to the system as a reference condition, and wherein, when the operation limitation by the process condition
change managing part is valid, the process condition can be adjusted within an adjustable range based on the reference condition.

US Pat. No. 9,694,493

UMBILICAL MEMBER ARRANGEMENT STRUCTURE OF PARALLEL LINK ROBOT

FANUC CORPORATION, Yaman...

1. An umbilical member arrangement structure for a parallel link robot, comprising:
an umbilical member;
a clamp member;
a base part;
a movable part positioned below the base part; and
three link parts which connect the base part and the movable part, each of the three link parts including one degree-of-freedom
relative to the base part,

wherein each of the three link parts comprises
a drive link connected to the base part, and
a passive link part constituted by a pair of passive links which are parallel to each other and connect the drive link and
the movable part,

wherein an opening is formed on a bottom surface of the base part and exists in one of two spaces defined by a plane including
center axes of the pair of passive links of one of the three link parts,

wherein the umbilical member is withdrawn from the opening, the umbilical member then extends through the space in which the
opening exists, resulting in being parallel with the plane, and then the umbilical member reaches a lateral side portion of
one of the passive link parts while extending, in a plane existing in the space, at an angle of 70 to 110 degrees with respect
to a longitudinal direction of the one of the passive link parts,

wherein the umbilical member is held by the clamp member which is positioned on the lateral side portion of the one of the
passive link parts, and

wherein the clamp member is closer to a joint, which connects the one of the passive link parts to the corresponding drive
link, than to the movable part.

US Pat. No. 9,656,349

LASER PROCESSING APPARATUS CAPABLE OF INCREASING FOCUSED BEAM DIAMETER

FANUC CORPORATION, Yaman...

1. A laser processing apparatus comprising:
a processing head configured to irradiate a workpiece with a laser beam;
a light-focusing optical section provided in said processing head, the light-focusing optical section configured to focus
a laser beam having a diffusion angle, the laser beam being supplied from a laser source and entering said processing head,
and to enable the laser beam to be emitted from said processing head as the laser beam having a convergent angle; and

a transmissive optical member provided in said processing head, the transmissive optical member configured to be located at
an upstream side of said light-focusing optical section as seen in a traveling direction of the laser beam so as to transmit
the laser beam while keeping said diffusion angle constant, before and after transmission, or alternatively, the transmissive
optical member configured to be located at a downstream side of said light-focusing optical section as seen in a traveling
direction of the laser beam so as to transmit the laser beam while keeping said convergent angle constant, before and after
transmission;

wherein said transmissive optical member includes a focused-beam diameter increasing part configured to increase a focused
beam diameter of the laser beam transmitted through the focused-beam diameter increasing part, as compared to a focused beam
diameter of the laser beam in a case where the laser beam is not transmitted through the focused-beam diameter increasing
part but is focused by said light-focusing optical section;

wherein said focused-beam diameter increasing part comprises a rotationally-symmetric conical plate portion of said transmissive
optical member, the conical plate portion being oblique to a symmetry axis and having a uniform thickness; and

wherein said transmissive optical member is located at a position where the symmetry axis of the conical plate portion coincides
with an optical axis of said light-focusing optical section.

US Pat. No. 9,682,475

ROBOT PROGRAM MODIFICATION SYSTEM

FANUC CORPORATION, Yaman...

1. A robot program modification system, comprising:
a robot control apparatus which controls a motor for driving a robot; and
a program modification apparatus communicating with the robot control apparatus, wherein
the robot control apparatus comprises:
an information acquisition unit configured to
execute an operation program including a command speed and a command acceleration at a teaching point of the robot, and
acquire robot detection information including a speed and a current value of a current of the motor from the robot; and
a first communication unit configured to transmit the robot detection information acquired by the information acquisition
unit to the program modification apparatus, and

the program modification apparatus comprises:
a simulation unit configured to perform a simulation of an operation of the robot on the basis of the operation program;
a correction unit configured to, on the basis of the current value included in the robot detection information transmitted
by the first communication unit, correct a current value of the current of the motor calculated by the simulation unit to
obtain a corrected current value;

a program modification unit configured to modify the operation program on the basis of the robot detection information transmitted
by the first communication unit and the corrected current value obtained by the correction unit so that a result of the simulation
satisfies an evaluation basis decided in advance while the simulation unit repeatedly performs the simulation; and

a second communication unit configured to transmit a modified operation program modified by the program modification unit
to the robot control apparatus,

wherein the correction unit is configured to
obtain at least one correction coefficient, and
use the obtained at least one correction coefficient to correct the current value of the current of the motor calculated by
the simulation unit when the simulation is repeated, without further acquiring the current value of the current of the motor
from the robot control apparatus.

US Pat. No. 9,682,478

SAFETY MONITORING DEVICE FOR ROBOT GRIPPING AND CARRYING WORKPIECE

Fanuc Corporation, Yaman...

1. A safety monitoring method for monitoring a robot provided with a force detection unit for detecting an external force
acting on the robot, the robot safety monitoring method comprising:
utilizing a safety monitoring device comprising:
a workpiece parameter switching unit for switching a workpiece parameter including at least one of a mass, a center of mass,
and an inertia matrix of a workpiece to be gripped by the robot;

an external force estimation unit configured to estimate, as an external force estimation value, a force or a torque acting
on the robot from an external environment by using the switched workpiece parameter;

an external force monitoring unit configured to stop the robot when the external force estimation value satisfies an external
force determination condition;

an operation monitoring unit configured to stop the robot when at least one of the following conditions is not satisfied:
a position of the robot is included within a predetermined region, a moving direction of the robot is a predetermined direction,
an operation speed of the robot is equal to or slower than a predetermined speed, and an operation acceleration of the robot
is equal to or smaller than a predetermined acceleration;

an operation monitoring state switching unit configured to switch between an operation monitoring disabling command operation
monitoring enabling command and

an external force determination condition setting unit configured to switch the external force determination condition to
an operation monitoring disabling time external force determination condition when the operation monitoring state switching
unit is switched to the operation monitoring disabling command;

wherein external force determination condition setting unit is further configured to switch the external force determination
condition to an operation monitoring enabling time external force determination condition when the enabling command;

switching the workpiece parameter including at least one of the mass, the center of mass, and the inertia matrix of the workpiece
to be gripped by the robot;

estimating, as the external force estimation value, the force or the torque acting on the robot from the external environment
by using the switched a workpiece parameter;

stopping the robot when the external force estimation value satisfies the external force determination condition;
stopping the robot when at least one of the following conditions is not satisfied: the position of the robot is included within
the predetermined region,the moving direction of the robot is the determined direction, the operation speed of the robot is
equal to or slower than the predetermined speed, and the operation acceleration of the robot is equal to or smaller than the
predetermined acceleration;

switching between the operation monitoring disabling command and the operation monitoring enabling command;
switching the external force determination condition to the operation monitoring disabling time external force determination
condition when the operation monitoring state switching unit is switched to the operation monitoring disabling command; and

switching the external force determination condition to the operation monitoring enabling time external force determination
condition when the operation monitoring state switching unit is switched to the operation monitoring enabling command.

US Pat. No. 9,638,594

DISPLACEMENT DETECTION TYPE SIX-AXIS FORCE SENSOR

FANUC CORPORATION, Yaman...

1. A six-axis force sensor comprising:
a fixed part including a first fixed surface;
a first movable part including a first movable surface and a second fixed surface, the first movable surface facing the first
fixed surface;

a first connecting part configured to connect said first movable part to said fixed part so that the first movable part is
able to be elastically displaced in a direction parallel to a first axis, a direction parallel to a second axis orthogonal
to the first axis and a rotational direction about a third axis orthogonal to both of the first axis and the second axis,
in a three-axis rectangular coordinate system;

a second movable part including a second movable surface facing the second fixed surface;
a second connecting part configured to connect said second movable part to said first movable part so that the second movable
part is able to be elastically displaced in a rotational direction about said first axis, a rotational direction about said
second axis and a direction parallel to said third axis, in said three-axis rectangular coordinate system;

a first detecting section configured to detect a displacement of said first movable part relative to said fixed part based
on a relative displacement between the first fixed surface and the first movable surface; and

a second detecting section configured to detect a displacement of said second movable part relative to said first movable
part based on a relative displacement between the second fixed surface and the second movable surface;

wherein the six-axis force sensor enables a detection of a force component in a direction of said first axis, a force component
in a direction of said second axis, a force component in a direction of said third axis, a moment component about said first
axis, a moment component about said second axis and a moment component about said third axis, of a force applied to said second
movable part, with reference to a detection value of said first detecting section and a detection value of said second detecting
section.

US Pat. No. 9,622,201

SYNCHRONIZATION OF CONTROL DEVICE

FANUC Corporation, Minam...

1. A synchronization control device configured to previously register a displacement table, in which displacement of a driven
shaft is associated with respective phases of a drive shaft, and determine a displacement of the driven shaft with respect
to the phase of the drive shaft and position the driven shaft on the basis of the displacement table,
the synchronization control device comprising:
a command movement amount calculation unit for calculating a command movement amount, which is an amount of movement of the
driven shaft to a synchronization position, relative to a current phase of the drive shaft, on the basis of the displacement
table;

a predicted command movement amount calculation unit for calculating a predicted command movement amount, which is an amount
of movement of the driven shaft to a synchronization position, relative to the phase of the drive shaft after the current
phase, on the basis of the displacement table; and

a movement amount comparison unit for comparing the command movement amount with the predicted command movement amount, wherein
synchronization of the driven shaft is not started when the comparison result from the movement amount comparison unit indicates
that the predicted command movement amount is less than the command movement amount, and synchronization is started when the
predicted command movement amount is equal to or greater than the command movement amount.

US Pat. No. 9,618,928

SIMULATION APPARATUS OF NUMERICAL CONTROLLER

FANUC Corporation, Minam...

1. A computer-implemented simulation apparatus of a numerical controller that controls a movable unit of a machine tool on
the basis of a machining program, the machining program including a machining cycle command for generating a series of movement
commands from designated work shape data and machining conditions,
the simulation apparatus comprising:
an image displaying device;
an execution unit configured to analyze the machining program and, when a command of the analyzed machining program is a machining
cycle command, sequentially generate movement commands for the movable unit from the designated work shape data and machining
conditions;

a memory configured to store the series of movement commands generated by the execution unit; and
a display unit configured to display
a moving image of the machining operation based on the movement commands of the movable unit generated by the execution unit
in the first display area,

the machining program including a machining cycle command in the second display area, and
the series of movement commands generated from the machining cycle command by the execution unit in the third display area,
wherein

the simulation apparatus is configured to
display the series of movement commands generated by the execution unit in the third display area of the image displaying
device,

display a moving image of a machining operation based on the movement commands of the movable unit generated by the execution
unit in the first display area, and, same time,

store the movement commands generated by the execution unit, displayed in the third display area, and
wherein the execution unit is configured to invoke any one of the stored series of movement commands displayed in the third
display area, and to execute the invoked movement commands.

US Pat. No. 9,579,798

HUMAN COLLABORATIVE ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A human-collaborative robot system in which a robot and a human share a working space, comprising:
a detection unit configured to directly or indirectly detect a physical quantity which is changed in response to contact force
applied to the robot when the robot comes in contact with an external environment; and

a stop command unit configured to compare the physical quantity detected by the detection unit with a first threshold value
and a second threshold value greater than the first threshold value, stop the robot according to a predetermined stop method
when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold
value, and stop the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity
is equal to or greater than the second threshold value.

US Pat. No. 9,566,733

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding machine comprising:
a mold clamping mechanism configured to generate a mold clamping force by opening and closing a mold;
an injection mechanism arranged opposite to the mold clamping mechanism and configured to melt and inject a resin into the
mold; and

a machine base on which the mold clamping mechanism and the injection mechanism are mounted, wherein
the machine base includes a plurality of struts, and
at least one of the struts is constituted by arranging and coupling a plurality of members formed in an approximately C shape
in plane view.

US Pat. No. 9,531,241

COOLING DEVICE FOR ELECTRIC MOTOR AND ELECTRIC MOTOR

Fanuc Corporation, Yaman...

1. A cooling device for an electric motor, comprising:
a cover which is detachably attached to the electrical motor and has a cylindrical-shaped main part which houses the electric
motor, and

a fan motor which is attached to said main part so as to blow air to the inside of said main part, and
a connector which is attached to said main part of said cover, and is connected to a power supply source of said fan motor,
wherein

said cover further has an abutting part formed from a vibration absorbing material, which protrudes from an inside surface
of said main part and abuts against the electric motor,

said abutting part forms a gap for blowing air between said main part and said electric motor,
said main part comprises a first component which corresponds to part of the cylindrical shape in the circumferential direction,
and to which said fan motor is attached, and a second component which is detachable from said first component in a detachment
direction perpendicular to an extension direction of a drive shaft of the electric motor, and corresponds to the remaining
part of the cylindrical shape in the circumferential direction,

said abutting part is provided on both said first component and said second component, and is provided on each of four sections
of the main part which are defined by a first plane which includes an axis line of said drive shaft and is parallel to the
detachment direction, and by a second plane which includes said axis line and is perpendicular to said first plane,

said abutting parts are arranged symmetrically with said first plane and with said second plane, and
said main part is fastened to the electric motor only by a contact surface pressure which acts from said abutting parts on
an outside periphery of the electric motor.

US Pat. No. 9,475,192

SIMULATION DEVICE FOR PLURAL ROBOTS

Fanuc Corporation, Yaman...

1. A simulation device which simulates motion of a robot system comprising a plurality of robots each comprising a drive shaft
driven by a motor, the simulation device comprising:
a simulation unit which executes, by simulation, a motion program for each robot in which each robot is set in advance so
as not to interfere with one another, the motion program containing a command velocity and a command acceleration of the drive
shaft, and a motion waiting instruction;

a motor load calculation unit which calculates a motor load acting on the motor at every predetermined time based on a simulation
result obtained by the simulation unit;

a storage unit which stores in time series a line number of the motion program and the command velocity and the command acceleration
at the line number associated with one another and further stores in time series the motor load further calculated by the
motor load calculation unit associated with the line number;

a robot load calculation unit which calculates a robot load acting on the robot based on the motor load stored in the storage
unit;

an execution time calculation unit which calculates an execution time of the motion program for each of the line numbers stored
in the storage unit based on a simulation result obtained by the simulation unit;

a waiting time calculation unit which calculates a motion waiting time in accordance with the motion waiting instruction based
on the execution time calculated by the execution time calculation unit;

a load designation unit which designates an allowable range of the motor load;
a waiting time designation unit which designates an allowable range of the motion waiting time of the robot; and
a program modification unit which modifies the command velocity and the command acceleration such that the motor load stored
in the storage unit is in the allowable range of the motor load designated by the load designation unit and that the motion
waiting time calculated by the waiting time calculation unit is in the allowable range of motion waiting time designated by
the waiting time designation unit.

US Pat. No. 9,479,083

POWER CONVERTER IN WHICH SWITCHING ELEMENTS ARE DRIVEN IN PARALLEL

FANUC Corporation, Minam...

1. A power converter for converting input DC power to AC power by a switching operation of a switching element, comprising:
a bridge circuit configured by at least two series circuits using, as power in input terminals, terminals on both sides of
two switching elements connected to each other in series and using, as a power output terminal, a connection point of the
two switching elements connected in parallel via the power output terminal;

a gate drive circuit having driving signal output terminals for outputting a driving signal which controls to turn on/off
the switching elements by the same driving signal; and

signal lines using the driving signal output terminals in the gate drive circuit as a starting point of wiring, each signal
line individually hard-wired between one driving signal output terminal and a corresponding switching element, the signal
lines having inductances which are substantially equal to each other, wherein the signal lines include:

gate signal lines individually hard-wiring a positive-side electrode in the driving signal output terminal and each of gate
terminals of the switching elements in each of the series circuits to which the same driving signal is supplied from the driving
signal output terminal; and

emitter signal lines individually hard-wiring a negative-side electrode in the driving signal output terminal and emitter
terminals of the switching elements in each of the series circuits to which the same driving signal is supplied from the driving
signal output terminal.

US Pat. No. 9,471,055

SERVO CONTROL DEVICE REDUCING DEFLECTION OF FRONT END POINT OF MACHINE

Fanuc Corporation, Yaman...

1. A servo control device which comprises a position control unit and a speed control unit and which controls the position
and speed of a motor to control a front end point of a machine of a machine tool, the control device comprising:
a position detecting unit configured to detect a position of a driven member which is driven by the motor or the motor;
a first position error calculating unit configured to calculate a first position error on the basis of a position command
to a motor and position feedback from said position detecting unit;

a torsion estimating unit configured to estimate an amount of torsion of the front end point of the machine;
a second position error calculating unit configured to add said first position error and estimated amount of torsion to calculate
a second position error;

a coefficient adapting unit configured to determine a coefficient of feedforward control so as to minimize said second position
error; and

a higher order feedforward control unit configured to perform the feedforward control by using said determined coefficient
and the position command to the motor.

US Pat. No. 9,350,209

STATOR OF ELECTRIC MOTOR PROVIDED WITH COIL FASTENING PART, ELECTRIC MOTOR, AND FASTENING METHOD OF UNIT COIL

Fanuc Corporation, Yaman...

1. A stator of an electric motor which is provided with a tooth, a unit coil which is attached to said tooth so as to surround
an outer circumferential surface of said tooth, and a coil fastening part which is arranged in a gap between an end face at
the outer circumferential surface of said tooth and an inner circumferential surface of said unit coil, wherein
said coil fastening part can be turned inside said gap about its axis of rotation and has a noncircular shape cross-section
which is vertical to said axis of rotation,

said coil fastening part has a cross-section with a first dimension which is represented by a first line segment which intersects
said axis of rotation and a second dimension which is represented by a second line segment which intersects said axis of rotation
and is different from said first line segment and which is larger than said first dimension,

said coil fastening part can be turned about said axis of rotation so as to move between a first position at which said first
line segment is aligned with a height direction of said gap vertical to said end face of said tooth and a second position
at which said second line segment is aligned with a height direction of said gap, and

said coil fastening part pushes against said end face of said tooth and said inner circumferential surface of said unit coil
at said second position whereby said unit coil is fastened to said tooth.

US Pat. No. 9,339,961

METERING CONTROLLER FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A metering controller for an injection molding machine, comprising:
a screw advancing/retreating unit for advancing and retreating a screw;
a screw rotating unit for rotating the screw;
a resin pressure detection unit configured to detect a resin pressure;
a metering unit configured to retreat the screw to a preset metering completion position while forwardly rotating the screw
during metering;

a screw reverse rotation unit configured to reversely rotate the screw during a time period between the end of the metering
and the start of injection; and

a pilot injection unit configured to advance the screw so that the resin pressure reaches a predetermined compression pressure
during the time period between the end of the metering and the start of the injection,

wherein the pilot injection unit is configured to start screw advance, while reverse rotation of the screw is continued, after
the start of the screw reverse rotation by the screw reverse rotation unit, and

the screw reverse rotation unit is configured to finish the screw reverse rotation after the start of the screw advance by
the pilot injection unit.

US Pat. No. 9,335,757

NUMERICAL CONTROLLER WITH AUXILIARY COMMAND EXECUTION FUNCTION

FANUC Corporation, Minam...

1. A numerical controller which, when reading a program command from a machining program, determines whether the read program
command is an auxiliary command or not, transmits a signal requesting to execute an auxiliary function associated with the
auxiliary command when the read program command is the auxiliary command, and executes a subsequent command by receiving a
signal indicating the completion of the auxiliary command, the numerical controller comprising:
a storage unit for storing an auxiliary command indicating unnecessity of waiting to receive a completion signal corresponding
to an auxiliary command, and a condition for ending monitoring of the completion signal corresponding to the auxiliary command,

wherein, after starting the execution of the auxiliary command indicating the unnecessity of waiting to receive the completion
signal, monitoring of the completion signal corresponding to the auxiliary command is started and the monitoring of the completion
signal is continued while subsequent commands are sequentially executed, and

wherein when the completion signal is received before the condition for ending monitoring of the completion signal, stored
in the storage unit, is satisfied, the monitoring of the completion signal is ended, but when the completion signal corresponding
to the auxiliary command is not received before the condition for ending monitoring of the completion signal is satisfied,
the execution of the machining program is stopped.

US Pat. No. 9,337,702

METHOD FOR MANUFACTURING ELECTRIC MOTOR STATOR

Fanuc Corporation, Yaman...

1. A method for manufacturing an electric motor stator, including:
attaching a hollow bracket to an end of a hollow stator core around which a winding is wound, and allowing a lead connected
to the winding to pass through an opening formed in a peripheral surface of the bracket to take out the lead to an outside
of the bracket;

placing a core material inside the stator core and the bracket;
attaching a sealing member with a through-hole smaller than the opening to an outer peripheral surface of the bracket so as
to block the opening while allowing the lead to pass through the through-hole; and

filling a molten resin into an annular space as gap between the stator core and the core material and between the bracket
and the core material, to form a resin unit.

US Pat. No. 9,077,226

MOTOR STRUCTURE HAVING CONNECTOR OR TERMINAL BLOCK TO WHICH CONDUCTIVELY CAULKED TERMINAL IS SOLDERED

FANUC Corporation, Minam...

1. A motor structure having a motor wherein a winding wire is wound onto a stator core and an end of the winding wire is connected
to a connector or a terminal block,
wherein a terminal member attached to the end of the winding wire is directly connected to the connector or the terminal block
by soldering,

wherein the terminal member has a wire receiving portion at one end thereof and a connecting portion at the other end thereof,
the end of the winding wire is received in the wire receiving portion and is fixed by conductive caulking, and the connecting
portion is directly connected to the connector or the terminal block,

wherein the connecting portion of the terminal member is a rod portion, and the connector or the terminal block has a hole
portion into which the rod portion may be inserted, such that the rod portion is inserted into the hole portion and soldered,

wherein a solder cup having the hole portion is arranged on the connector or the terminal block, and
wherein the solder cup is substantially filled with a solder.

US Pat. No. 10,759,056

CONTROL UNIT FOR ARTICULATED ROBOT

FANUC CORPORATION, Yaman...

1. A control unit for an articulated robot operating in an area where a human can exist comprising:a memory unit which accumulates, from at least one sensor, when a safety stop function operates by a contact or a proximity between the articulated robot in operation and at least one of the human and an object, information of occurrence positions in each of which the contact or the proximity occurs or information detected by the at least one sensor which can be used to derive the occurrence positions, wherein the contact and the proximity are causes of the operation of the safety stop function; and
a controller which makes a display device display a plurality of spheres, whose centers are the occurrence positions, respectively, on a predetermined display based on the information of the occurrence positions or the information detected by the at least one sensor and accumulated by the memory unit, and display on the predetermined display overlapping regions of the plurality of spheres by assigning a color thereto, wherein the color is different from one which is assigned to a region where the spheres are not overlapping with each other.

US Pat. No. 10,710,240

PROGRAMMING DEVICE FOR WELDING ROBOT AND PROGRAMMING METHOD FOR WELDING ROBOT

FANUC CORPORATION, Yaman...

1. A programming device for a welding robot, the programming device comprising:a processor comprising hardware, the processor being configured to:
obtain a three-dimensional model of the welding robot and three-dimensional models of two workpieces to be welded together by a tool of the welding robot;
specify a welding line along which the two workpieces are to be welded together, as well as an origin on the welding line, on the basis of the three-dimensional models of the two workpieces;
accept an operation;
calculate an angle made at the origin by the two workpieces to be welded together as an angle projected onto a plane perpendicular to the welding line and set a target angle of the tool by using the calculated angle or that sets the target angle on the basis of the operation accepted via the accepting unit;
set an advance angle of the tool on the basis of the operation accepted via the accepting unit;
set a tentative coordinate system defined with reference to the origin and a tool coordinate system in accordance with the tool on the basis of the tentative coordinate system;
set a welding position of the tool on the basis of the newly set tool coordinate system;
create an operating program for the welding robot to weld the two workpieces together with reference to the newly set tool coordinate system; and
detect, by using the three-dimensional robot of the welding robot and the three-dimensional models of the two workpieces in a virtual space, interference that occurs between the welding robot and the two workpieces in the case where welding is performed along the welding line with the set welding position, wherein
three axes constituting the tentative coordinate system include a first axis set on the basis of the welding line, a second axis perpendicular to the first axis and parallel to a face of one of the workpieces to be welded together, and a third axis perpendicular to both the first axis and the second axis,
the tool coordinate system is a coordinate system set by rotating the tentative coordinate system about the first axis of the tentative coordinate in accordance with the target angle and about the third axis of the tentative coordinate in accordance with the advance angle, and
in the case where the interference is detected, the setting of the welding position of the tool sets a new welding position that resolve the interference by rotating the tool coordinate system about at least one of the first axis, the second axis, and the third axis.

US Pat. No. 10,710,241

CONTROLLER FOR LIMITING SPEED OF ROBOT COMPONENT

FANUC CORPORATION, Yaman...

1. A controller for controlling a robot including drive axis for driving a component of the robot and a position detector for detecting a position on the drive axis, the controller comprising:a stop command unit for stopping a motion of the robot when a person comes into contact with the robot; and
a speed limiting unit for limiting an operation speed of the component driven on the drive axis, wherein
the controller is configured to switch between
a collaboration control in which the robot performs an operation in collaboration with the person and
a quick control in which the robot performs the operation alone without performing the operation in collaboration with the person,
a variable calculated from the position of the component on the drive axis and a range of the variable for a state where the person is caught by the robot or an operation tool attached to the robot are determined in advance,
in the collaboration control, the speed limiting unit acquires the position of the component on the drive axis from the output of the position detector, acquires the variable based on the position of the component on the drive axis, and controls the operation speed of the component to a predetermined speed limit or lower if the variable is within the range, and
in the quick control, the controller prohibits a control in which the speed limiting unit controls the operation speed of the component to the predetermined speed limit or lower if the variable is within the range.

US Pat. No. 10,714,899

SEMICONDUCTOR LASER MODULE AND LASER OSCILLATOR

FANUC CORPORATION, Yaman...

1. A semiconductor laser module comprising:a semiconductor laser element that emits laser light, and
a mirror that includes a first surface which reflects laser light and which transmits visible light and a second surface which transmits the laser light and which reflects the visible light;
wherein the laser light is applied to the first surface of the mirror,
the laser light has a wavelength of from 900 nm to 1000 nm, and
the first surface and the second surface further transmit light whose wavelength is longer than a wavelength of the laser light applied by the semiconductor laser element.

US Pat. No. 10,700,573

MOTOR DEVICE

FANUC CORPORATION, Yaman...

1. A motor device comprising: a motor which includes a fixing portion for fixing to a fixing surface with a bolt;a looseness detection sensor which is provided in the fixing portion so as to be adjacent to at least one of the bolts, the looseness detection sensor indirectly detecting looseness of the bolt; and
a control unit which determines occurrence of looseness of at least one of the bolts based on a signal output from the looseness detection sensor,
wherein the looseness detection sensor is formed with a pressure sensor, the pressure sensor being sandwiched between the fixing portion and the fixing surface, and
wherein the control unit detects decrease in pressure between the fixing portion and the fixing surface due to decrease in an axial force of the bolt, based on an output value from the pressure sensor.

US Pat. No. 10,647,001

CALIBRATION DEVICE, CALIBRATION METHOD, AND COMPUTER READABLE MEDIUM FOR VISUAL SENSOR

FANUC CORPORATION, Yaman...

1. A calibration device that associates a robot coordinate system at a robot and an image coordinate system at a camera by placing a target mark at the robot, controlling the robot so as to move the target mark, and detecting the target mark at multiple points in a view of the camera, the calibration device comprising:a memory configured to store a program; and
a processor configured to execute the program and control the calibration device to:
set an image range in the image coordinate system; and
measure a calibration range as an operation range for the robot corresponding to the image range before implementation of calibration by controlling the robot to move the target mark and detecting the target mark by determining whether or not the target mark is detectable in the image range that was set in the image coordinate system by moving the target mark and detecting the target mark repeatedly, thereby measuring a calibration range as an operation range for the robot corresponding to the set image range, wherein
during implementation of the calibration, the robot is controlled so as to move the target mark in the calibration range.

US Pat. No. 10,647,006

HAND AND HAND SYSTEM

Fanuc Corporation, Yaman...

1. A hand comprising:a pair of finger members disposed separated by an interval and relatively movable in an interval direction;
a finger drive unit that moves at least one of the finger members in the interval direction;
a pair of holding pads that are provided on the respective finger members, the pair of holding pads being supported to face each other and to be rotatable around an axis extending in the interval direction;
a pressing member that is provided to be movable in a direction intersecting a radial direction, at a position separated from the axis in the radial direction, the pressing member pressing a surface of a workpiece held between the holding pads; and
wherein the pressing member comprises a rod movable in the direction intersecting the radial direction, and a cam follower that is supported to be rotatable around an axis parallel to the axis at a tip end of the rod and is pressed against the surface of the workpiece.

US Pat. No. 10,625,453

CLAMPING DEVICE OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A clamping device of an injection molding machine comprising:a stationary platen;
a rear platen;
a tie bar supported by the stationary platen and the rear platen while extending through the stationary platen and the rear platen, and provided parallel to a center axis of the clamping device;
a moving platen configured to advance and retreat under guidance by the tie bar;
a toggle mechanism connected to both the rear platen and the moving platen and used for making the moving platen advance and retreat;
a guide rod having one end fixed to the rear platen and the other end extending toward the moving platen;
a guide rod support including a supported part and a supporting part, supported by the tie bar at the supported part, and supporting the guide rod at the supporting part; and
a crosshead configured to advance and retreat under guidance by the guide rod, the advance and retreat of the crosshead expanding and contracting the toggle mechanism to make the moving platen advance and retreat, wherein
the guide rod support is provided in such a manner that the supported part is arranged closer to the rear platen than the supporting part along the center axis.

US Pat. No. 10,630,218

MOTOR CONTROL DEVICE

Fanuc Corporation, Yaman...

1. A motor control device that controls an induction motor which drives a spindle of a machine tool, the motor control device comprising:an operation control part that generates a torque command based on an operation command, and controls a rotational position and/or rotational speed of the spindle;
a current control part that generates an excitation current command to control secondary magnetic flux of the induction motor, and a torque current command to control torque of the induction motor based on the torque command, and performs vector control on the induction motor;
a change detection part that detects a change in operation command requiring increasing the secondary magnetic flux of the induction motor;
a magnetic flux amplification part that performs magnetic flux amplification to temporarily increase the excitation current command or a magnetic flux command for generating the excitation current command in the current control part, in a case of a change in the operation command being detected by the change detection part; and
a gain change part that changes gain of the operation control part when performing magnetic flux amplification by the magnetic flux amplification part,
wherein the gain change part decreases the gain of the operation control part, when performing magnetic flux amplification by the magnetic flux amplification part.

US Pat. No. 10,625,415

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a conveying apparatus that conveys an article;
a robot that performs processing on the article;
a camera that captures, at an upstream side of the robot in the conveying direction, images of the article being conveyed by the conveying apparatus and a mark being moved by the conveying apparatus;
a conveying-velocity calculating portion that calculates at least one of a position of the article and a velocity at which the article is conveyed on the basis of the plurality of images captured by the camera; and
a control unit that controls the robot on the basis of at least one of the position and the conveying velocity calculated by the conveying-velocity calculating portion,
wherein the control unit determines whether or not the article and the mark are present in the images acquired by the camera, and, controls the robot on the basis of at least one of the position and the conveying velocity calculated by the conveying-velocity calculating portion when the article and the mark are absent, and
wherein the conveying-velocity calculating portion outputs, in the form of the conveying velocity, an average of the velocities calculated for at least two of the articles.

US Pat. No. 10,625,420

MACHINING SYSTEM

Fanuc Corporation, Yaman...

1. A machining system comprising:a machine tool which processes a work positioned on a machining table;
a numerical controller which stores a machining program and which moves the machining table according to the machining program;
a robot which performs a predetermined process on the work which are processed by the machine tool;
a robot control unit which controls the robot;
wherein the numerical controller is configured to obtain current position coordinates of the machining table, and calculates prefetched position coordinates of the machining table at a prefetching time by prefetching the machining program and carrying out an acceleration and deceleration interpolation while the machining table is moving, and which sends, to the robot control unit, the current position coordinates, the prefetched position coordinates, and information of times which respectively correspond to the current position coordinates and the prefetched position coordinates; and
wherein the robot control unit createstracking data for making a distal end portion of the robot follow movement of the machining table that moves from the current position coordinates to the prefetched position coordinates of the prefetching time by using the current position coordinates, the prefetched position coordinates calculated by the numerical controller, and the information of the times, which the robot control unit receives from the numerical controller, and the robot control unit controls the robot so that the robot follows the movement of the machining table by using the tracking data.

US Pat. No. 10,607,337

OBJECT INSPECTION SYSTEM AND OBJECT INSPECTION METHOD

FANUC CORPORATION, Yaman...

1. An object inspection system comprising:an imaging section configured to image a first object and a second object which have a common outer shape;
a movement machine configured to move the first object or the second object and the imaging section relative to each other;
a positional data acquisition section configured to acquire first positional data of the movement machine when the movement machine disposes the first object and the imaging section at a first relative position, and acquire second positional data of the movement machine when the movement machine disposes the second object and the imaging section at a second relative position;
an image data acquisition section configured to acquire a first image of the first object imaged by the imaging section at the first relative position, and acquire a second image of the second object imaged by the imaging section at the second relative position; and
an image registering section configured to register the first image and the second image with each other in an image coordinate system of the imaging section, using the first positional data, the second positional data, and a known positional relation between the image coordinate system and a movement machine coordinate system of the movement machine,
wherein the object inspection system is configured to inspect whether or not there is a visually recognizable error in the second object with respect to the first object, based on the first image and the second image that are registered with each other.

US Pat. No. 10,603,797

MACHINE LEARNING DEVICE, ROBOT SYSTEM, AND MACHINE LEARNING METHOD FOR LEARNING MOTION OF ROBOT ENGAGED IN TASK PERFORMED BY HUMAN AND ROBOT IN COOPERATE WITH EACH OTHER

FANUC CORPORATION, Yaman...

1. A robot system, comprising:a robot configured to perform a task in cooperation with a human;
a robot control unit controlling a motion of the robot;
a machine learning device for learning the motion of the robot engaged in the task performed by the human and the robot in cooperation with each other, the machine learning device comprising:
a state observation unit configured to observe a state variable indicating a state of the robot when the human and the robot cooperate with each other and perform the task;
a reward calculation unit configured to calculate a reward based
(1) on control data and the state variable for controlling the robot, and
(2) on a reaction of the human to the robot in response to the motion of the robot when the task is performed by the human and the robot cooperating with each other; and
a value function update unit configured to update an action value function for controlling the motion of the robot, based on the reward and the state variable, wherein the machine learning device is configured to learn the motion of the robot by analyzing a distribution of feature points or workpieces after the human and the robot have cooperated with each other and performed the task; and
a task intention recognition unit configured to receive outputs of at least one of a camera, a force sensor, a tactile sensor, a microphone, or an input device, and recognize an intention regarding the task,
wherein the state variable inputted to the state observation unit of the machine learning device is an output of the task intention recognition unit,
wherein the task intention recognition unit is configured to
convert a positive reward based on the reaction of the human into a state variable set for the positive reward and output the state variable to the state observation unit, and
convert a negative reward based on the reaction of the human into a state variable set for the negative reward and output the state variable to the state observation unit, and
wherein the reaction of the human is received by at least one of the camera, the force sensor, the tactile sensor, the microphone, or the input device, during a time when the task is being performed by the human and the robot cooperating with each other.

US Pat. No. 10,592,214

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

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,591,888

CONTROL SYSTEM FOR DISTRIBUTING DATA

Fanuc Corporation, Yaman...

1. A control system that distributes information from a control device to a reception device, the control system comprising:a read request transmission unit configured to transmit a read request to the control device to read the information from the control device;
an information generation unit configured to generate the information from the control device in response to the read request;
an information transmission unit configured to transmit the generated information to the reception device; and
a distribution cycle computation unit configured to compute a distribution cycle based on a generation interval of the read request, the information transmission unit being configured to transmit the information in accordance with the distribution cycle computed by the distribution cycle computation unit.

US Pat. No. 10,565,343

CIRCUIT CONFIGURATION OPTIMIZATION APPARATUS AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A circuit configuration optimization apparatus that optimizes a circuit configuration and an arrangement of a field programmable gate array (FPGA) device, the circuit configuration optimization apparatus comprising:a machine learning device that learns the circuit configuration of the FPGA device, wherein the machine learning device includes
a state observation section that observes, as state variables that express a current state of an environment, circuit configuration data of the FPGA device indicating the circuit configuration of the FPGA device, and FPGA error occurrence state data indicating an error occurrence state of the FPGA device which includes soft error occurrence frequencies at the respective positions of the EPGA device,
a determination data acquisition section that acquires determination data indicating propriety determination results of an operating state of the FPGA device, and
a learning section that learns the circuit configuration of the FPGA device in association with the FPGA error occurrence state data, using the state variables and the determination data.

US Pat. No. 10,564,611

CONTROL SYSTEM AND MACHINE LEARNING DEVICE

Fanuc Corporation, Yaman...

1. A control system having at least one machine that machines a workpiece and a high-order apparatus that adjusts servo gain used in machining by the machine, the control system comprising:a machine learning device including processor that performs machine learning of an adjustment of the servo gain of the machine, wherein the processor is configured to:
observe machine information on the machine as state data;
acquire information on machining by the machine as determination data;
calculate a reward based on the determination data and a plurality of preset reward conditions that are defined by a priority factor preset for the machine according to preferences given in the adjustment of the servo gain;
perform the machine learning of the adjustment of the servo gain of the machine;
determine an action of adjustment of the servo gain of the machine, based on the state data and a machine learning result of the adjustment of the servo gain of the machine;
change the servo gain of the machine based on the action of adjustment of the servo gain; and
perform the machine learning of the adjustment of the servo gain of the machine, based on the state data, the action of adjustment, and the reward calculated after the action of adjustment.

US Pat. No. 10,509,397

ACTION INFORMATION LEARNING DEVICE, ACTION INFORMATION OPTIMIZATION SYSTEM AND COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. An action information learning device, comprising:a processor; and
a memory,
wherein the processor is configured to:
acquire state information including an operation pattern of a spindle and a combination of parameters related to machining of a machine tool, wherein the combination of the parameters related to the machining of the machine tool is a combination of an operation pattern including at least any of a cutting feedrate and a dwell causing the spindle to standby for a designated time, and a parameter including at least any of a time constant of acceleration/deceleration and a cutting feedrate override;
output action information including adjustment information for the operation pattern and the combination of parameters included in the state information;
acquire judgment information, which is information for temperature of the machine tool and a machining time related to the machining of the machine tool, and calculate a value of a reward for reinforcement learning based on the judgment information thus acquired;
update a value function by performing the reinforcement learning based on the value of the reward, the state information and the action information,
set the value of the reward as a first negative value in a case of the temperature of the machine tool being at least a predetermined temperature,
set the value of the reward as a positive value in a case of the temperature of the machine tool being less than a predetermined temperature, and a machining time of the machine tool being shorter than a prior machining time, and
set the value of the reward as a second negative value in a case of the temperature of the machine tool being less than a predetermined temperature, and a machining time of the machine tool being longer than a prior machining time.

US Pat. No. 10,500,668

MACHINE LEARNING DEVICE, ARC WELDING CONTROL DEVICE, ARC WELDING ROBOT SYSTEM, AND WELDING SYSTEM

FANUC CORPORATION, Yaman...

1. An arc welding control device, comprising:a machine learning device which learns to determine at least one arc welding condition; and
an arc welding execution unit which executes arc welding in accordance with the determined at least one arc welding condition output from the machine learning device,
the machine learning device comprising:
a state observation unit which observes a state variable comprising (i) at least one physical quantity regarding the arc welding at least during or after the arc welding and (ii) the at least one arc welding condition,
wherein the at least one arc welding condition includes one of an amount of adjustment of a weld waveform, push/drag angles of a welding torch, an aim angle of a welding torch, a torch aim position, a weaving condition, an arc sensor condition, and an offset amount of the welding position in a multi-layer welding, and
wherein the at least one physical quantity includes at least one of an outer appearance of a weld bead, an excess weld metal height of the weld bead, a bead width of the weld bead, which are obtained by processing image data picked up by an image pickup unit, an amount of generated spatter, and an amount of penetration obtained by a penetration measurement unit; and
a learning unit which learns to determine the at least one arc welding condition by updating a function that determines the at least one arc welding condition based on the state variable,
wherein the learning unit comprises (i) a reward computation unit which computes a reward for a result of the determined at least one arc welding condition and (ii) a function update unit which updates the function based on the reward computed by the reward computation unit,
wherein the at least one arc welding condition is learned so as to increase the reward computed by the reward computation unit, by repeatedly carrying out the updating of the function in the function update unit.

US Pat. No. 10,505,342

LASER DEVICE

FANUC CORPORATION, Yaman...

1. A laser device, comprising:a laser oscillation device comprising one or a plurality of laser cavities, and a housing that houses the one or a plurality of laser cavities;
a cooling unit arranged outside the laser oscillation device, that is able to cool circulated cooling water that is used to cool the laser oscillation device;
a cooling water circulation passage that links the laser oscillation device and the cooling unit to allow the circulated cooling water to circulate,
a microbubble generator that is arranged in the laser oscillation device, and is configured to generate microbubbles to generate microbubble-containing water;
a bypass passage that is linked to the microbubble generator and the cooling water circulation passage, the bypass passage being able to supply the circulated cooling water to the microbubble generator from the cooling water circulation passage, and supply the microbubble-containing water generated by the microbubble generator to the cooling water circulation passage, and
a gas selecting mechanism that can supply gas to the microbubble generator, can select a type of gas to be supplied, and can select one or more types of gas from at least activated gas, inert gas, and air,
wherein the microbubble generator generates microbubbles of the gas selected and supplied by the gas selecting mechanism,
wherein the gas selecting mechanism comprises a mode setting unit that can automatically change an operation mode,
wherein the operation mode that can be changed by the mode setting unit includes at least a mode for supplying inert gas and a mode for supplying activated gas,
wherein the microbubbles of the micro-bubble containing water have a peak diameter of 100 ?m or less.

US Pat. No. 10,496,074

INFORMATION PROCESSING DEVICE

Fanuc Corporation, Yaman...

1. An information processing device which displays numerical control (NC) machining program including one or more blocks and a physical state of a machine tool operated on the basis of the NC machining program, the information processing device comprising:a processor configured to control the machine tool by executing a block of code in the NC machining program, and acquire, during the execution of the block, a plurality of data indicative of the physical state of the controlled machine tool during a plurality of time points during the execution of the block;
a memory device configured to store a database in which the block being executed and the acquired plurality of data are associated with each other; and
a display screen configured to refer to the database, draw the block using a plurality of colors or color shades according to an intensity of the plurality of data, and display the NC machining program.

US Pat. No. 10,493,566

MACHINE LEARNING DEVICE, MACHINE LEARNING SYSTEM, AND MACHINE LEARNING METHOD

Fanuc Corporation, Yaman...

1. A machine learning device comprising:a state observing means that acquires data indicating an intensity distribution of a laser beam and data indicating a condition for observing the laser beam, performed to generate the data indicating the intensity distribution as input data;
a label acquisition means that acquires an evaluation value related to judgment of the quality of the laser beam as a label; and
a learning means that performs supervised learning using a pair of the input data acquired by the state observing means and the label acquired by the label acquisition means as training data to construct a learning model for judging the quality of the laser beam.

US Pat. No. 10,499,538

ELECTRONIC DEVICE

FANUC CORPORATION, Yaman...

1. An electronic device comprising:a circuit board including a first engaging portion;
a heat sink configured to cool an electronic component on the circuit board, wherein the heat sink and the circuit board are joined by snap-fitting;
a cylindrical portion formed in the heat sink and extending toward the circuit board, the cylindrical portion having a tip configured to abut the circuit board when the heat sink and the circuit board are joined; and
a first hook projecting from a surface of the heat sink that faces the circuit board, the first hook including a first claw portion at a tip thereof, the first hook being formed separately from the heat sink and is inserted into the cylindrical portion in a state of being movable with respect to the heat sink, the first hook including a biasing member configured to, in a state where the first claw portion and the first engaging portion are in engagement with each other, bias the first hook in a direction of pressing the circuit board to the heat sink.

US Pat. No. 10,496,251

SCREEN CREATION APPARATUS HAVING APPLICATION SCREEN CREATION SUPPORT FUNCTION

FANUC CORPORATION, Yaman...

1. A screen creation apparatus configured to execute an application screen creation software for creating an application screen in which a display component provided with a plurality of property items is disposed, the screen creation apparatus comprising:a memory containing
a component edit history database that automatically records an edit history of each of the plurality of property items of the display component when the display component disposed on the application screen is edited, and
a component property characteristic database in which, for each property item of the plurality of property items of the display component, a category characteristic of said property item, a property characteristic of said property item, and a prediction priority characteristic parameter of said property item are stored in association with each other; and
a processor configured to
perform an analysis of the component edit history database and the component property characteristic database,
when a new display component based on the display component recorded in the component edit history database is disposed on the application screen, predict initial values for all of the plurality of property items of the new display component based on a result of the analysis of the component edit history database and the component property characteristic database, and
create the application screen and cause a display to display the created application screen in which the new display component with the plurality of property items having the predicted initial values is disposed,
wherein, for each property item of the plurality of property items,
the property characteristic indicates an expected value of the initial value, and is based on a type of the display component and relations of the display component with respect to other display components disposed in the same application screen,
the property characteristic classified by the category characteristic is a factor in the analysis of the component edit history database and the component property characteristic database and in setting the prediction priority characteristic parameter in each category, and
the prediction priority characteristic parameter includes an operator's selection of an item to be prioritized when the prediction and the analysis are performed.

US Pat. No. 10,488,849

NUMERICAL CONTROLLER FOR CONTROLLING FEED RATE BASED ON SPINDLE LOAD

Fanuc Corporation, Yaman...

1. A numerical controller which, in controlling a machine including a tool, a spindle motor for driving the tool and a servo motor for driving the machine along an axis, based on a programmed command, performs PID control for controlling the servo motor to control move speed of the machine along the axis such that a spindle load value of the spindle motor becomes constant, the numerical controller comprising:a processor configured to:
analyze the programmed command and generate command data for providing instructions on driving the machine along the axis with the servo motor;
control the servo motor to drive the machine along the axis based on the command data; and
determine the spindle load value as the machine is driven along the axis, and in response to determining that the spindle load value exceeds the preset threshold value:
set an override for a feed rate of the machine along the axis to an initial value of an integral term with an offset of zero for the PID control, and then
start a speed calculation process for calculating the override such that the spindle load value becomes constant.

US Pat. No. 10,490,336

THREE-PHASE AC REACTOR HAVING EXTERNAL CONNECTION POSITION CHANGE UNIT AND MANUFACTURING METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A three-phase AC reactor comprising:three-phase coils arranged inside a casing neither in parallel with each other nor in a linear manner, each of the three-phase coils having coil ends arranged in a first pattern relative to each other;
an input and output terminal block having an input and output unit having terminals arranged in a second pattern that is parallel and linear with respect to each other; and
an external connection position change unit:
1) mounted to the casing between a coil end of each of the three-phase coils and the input and output terminal block,
2) enclosing the three-phase coils arranged within the casing, and
3) including respective bus bars having first ends arranged in the first pattern for mating with the coil ends of the three-phase coils, and having second ends arranged in the second pattern for mating with the terminals of the input and output terminal block, the respective bus bars electrically connecting the three-phase coils to the input and output terminal block.

US Pat. No. 10,483,033

ELECTROMAGNETIC DEVICE

FANUC CORPORATION, Yaman...

1. An electromagnetic device comprising:an outer peripheral iron core; and
at least three iron core coils which are in contact with or coupled to the inner surface of the outer peripheral iron core, wherein
the at least three iron core coils each include an iron core respectively having tip side iron core portions and base end side iron core portions, which are located at the outer peripheral iron core side, and at least one of a primary coil and a secondary coil, which are wound around the base end side iron core portions,
the at least three iron core coils are arranged on a circumference of a circle, and the tip side iron core portion of the iron core of one iron core coil of the at least three iron core coils is in contact with the tip side iron core portions of the iron cores of the other iron core coils adjacent to the one iron core coil;
each of radially inside ends of the tip side iron core portions converge on a center of the outer peripheral iron core; and
the tip side iron core portions and the base end side iron core portions are in contact with each other in a radial direction of the outer peripheral iron core.

US Pat. No. 10,482,322

MONITOR APPARATUS FOR MONITORING SPATIAL REGION SET BY DIVIDING MONITOR REGION

FANUC CORPORATION, Yaman...

1. A monitor apparatus, comprising:a three-dimensional camera configured to capture a three-dimensional image in a first direction; and
a processor configured to
process an output signal of the three-dimensional camera,
set a part of an image capturing region of the three-dimensional camera as a monitor region for a monitoring operation,
divide the monitor region by a plurality of cutting planes radially extending from the three-dimensional camera serving as a start point, to set a plurality of spatial regions,
set one spatial region of the plurality of spatial regions on one end of the monitor region in a second direction as a first spatial region, the second direction being perpendicular to the first direction, and
set another spatial region of the plurality of spatial regions on the other end of the monitor region in the second direction as a second spatial region.

US Pat. No. 10,474,122

MACHINING TOOL WITH NUMERICAL CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A machining tool, comprising:a numerical control device configured to control operation of the machining tool,
a fixed part, and
a movable part which is movable relative to the fixed part and on which a load is to be loaded, the numerical control device comprising:
a storage unit configured to store a weight and a gravity center position of each of the fixed part, the movable part, and the load;
an actual gravity center calculation unit configured to, when a weight of the load changes each time, calculate an actual gravity center, the actual gravity center being a whole gravity center of the machining tool and the load, based on
the gravity center position and the weight of the fixed part stored in the storage unit,
the gravity center position and the weight of the movable part stored in the storage unit,
a relative position of the movable part to the fixed part, and
the gravity center position and the weight of the load stored in the storage unit;
a target gravity center position set unit configured to set an arbitrary point based on data through an input unit as a target gravity center position for the whole gravity center of the machining tool and the load; and
a movable part position correction unit configured to cause the movable part to move relative to the fixed part to the arbitrary point to make a position of the whole center gravity center of the machining tool and the load coincide with the target gravity center position set by the target gravity center position set unit.

US Pat. No. 10,471,603

SYSTEM FOR CONVEYING WORKPIECE HAVING EXTERNAL FORCE MONITORING FUNCTION

FANUC CORPORATION, Yaman...

1. A conveying system configured to convey a workpiece by a robot, the conveying system comprising:a robot including a tool configured to hold a workpiece;
a workpiece support configured to support the workpiece which has not been conveyed;
a force or torque detection unit configured to detect a force or torque applied to the robot;
a driving mechanism configured to move (a) the workpiece held by the tool and (b) the workpiece support relative to each other; and
a controller configured to
change workpiece parameters so as to calculate a force or torque applied to the robot caused by the workpiece, according to a holding state of the workpiece;
calculate an external force applied to the robot, based on (i) the force or torque applied to the robot and detected by the force or torque detection unit and (ii) the workpiece parameters;
stop the robot when the calculated external force exceeds a threshold; and
control the driving mechanism to move the workpiece and the workpiece support relative to each other without changing a position and posture of the robot,
wherein the workpiece support comprises a pair of supporting units moveable relative to each other in a horizontal direction to grip the workpiece horizontally.

US Pat. No. 10,471,604

FORCE DETECTION DEVICE AND ROBOT

FANUC CORPORATION, Yaman...

1. A force detection device comprising:a deforming member to be deformed under an external force, the deforming member including:
a bottom part;
a top part arranged opposite to the bottom part so as to be separate from the bottom part; and
a column extending between the bottom part and the top part; and
a first fixation part which is provided so as to protrude from the bottom part and which is a part fixed to a first attachment to which the force detection device is to be attached,
wherein the first fixation part includes a contact surface which contacts the first attachment,
wherein the contact surface is separated from a base surface of the bottom part in a direction away from the top part, and is laterally separated from a side surface of the bottom part, and
wherein the force detection device is attached, at the top part side, to a second attachment to which the force detection device is to be attached.

US Pat. No. 10,456,932

CONDUCTION PATH STRUCTURE OF ROBOT

FANUC CORPORATION, Yaman...

1. A conduction path structure of a robot, comprising:a structural mechanism which functions as a support and has plural conductor portions formed side by side along a circumferential direction so as to form a rigid skeletal portion surrounding an inner area of the structural mechanism;
an actuator that operates the structural mechanism; and
a conduction path through which driving power and/or a control signal is supplied to the actuator, wherein
the conduction path is comprised of the plural conductor portions.

US Pat. No. 10,451,561

INSPECTION SYSTEM

FANUC CORPORATION, Yaman...

1. An inspection system that makes image inspection on an inspection target, comprising:an image capture device that captures an image of the inspection target;
a blower with a blow nozzle from which clean gas is blown out to the inspection target;
a robot with an arm tip to which the image capture device and the blow nozzle, or the inspection target is attached; and
an inspection. device that makes image inspection on the inspection target based on an image captured by the image capture device, wherein
the inspection device generates an operation program for the robot based on the position of the image capture device and that of the blow nozzle relative to each other so as to move the blow nozzle ahead of the image capture device relative to the inspection target.

US Pat. No. 10,443,683

BEARING AND ECCENTRICITY CORRECTION METHOD

FANUC CORPORATION, Yaman...

1. A bearing that rotatably supports a rotating shaft, the bearing comprising:an inner wheel that supports the rotating shaft in a manner to be coaxial with the rotating shaft;
an outer wheel provided radially outside the inner wheel; and
a plurality of rolling bodies that are provided in a ring-shaped gap between the inner wheel and the outer wheel, wherein
the inner wheel is provided with a correcting section that corrects eccentric rotation of the rotating shaft, wherein
the correcting section is a plurality of holes formed in the inner wheel along an axial direction of the rotating shaft.

US Pat. No. 10,434,650

PROGRAMMING DEVICE WHICH GENERATES OPERATION PROGRAM AND METHOD FOR GENERATING PROGRAM

FANUC CORPORATION, Yaman...

1. A programming device which generates an operation program for moving an imaging section or a workpiece by a robot and imaging the workpiece by the imaging section, the programming device comprising:a model arrangement section configured to arrange, in a virtual space, a workpiece model modeling the workpiece, a robot model modeling the robot, and an imaging section model modeling the imaging section;
a target-portion extracting section configured to extract a target portion of the workpiece model, which corresponds to a portion of the workpiece to be imaged, in accordance with a predetermined extraction condition;
a simulating section configured to move the imaging section model or the workpiece model by the robot model to an imaging position where the imaging section model is to image the target portion extracted by the target-portion extracting section; and
a program generating section configured to generate an operation program for causing the imaging section to image the portion of the workpiece to be imaged, based on positional data of the robot model when the robot model positions the imaging section model or the workpiece model at the imaging position.

US Pat. No. 10,437,224

NUMERICAL CONTROLLER CAPABLE OF COMPENSATING ERROR IN CONSIDERATION OF AXIS MOVEMENT DIRECTION

Fanuc Corporation, Yaman...

1. A numerical controller controlling a five-axis machining machine having three linear axes and two rotation axes and machining a workpiece set on a table based on an instruction of a program, comprising:a processor configured to:
store, in a memory device, a linear-axis-caused compensation amount for each combination of movement directions of the three linear axes and a rotation-axis-caused compensation amount for each combination of movement directions of the two rotation axes, the linear-axis-caused compensation amount for correcting positional error between target positions and actual positions of the machining machine along the three linear axes, and the rotational-axis-caused compensation amount for correcting positional error between target positions and actual positions of the machining machine along the two rotation axes;
determine linear axis movement direction for each of the three linear axes, and a rotation axis movement direction for each of the two rotation axes;
acquire, from the memory device, a stored linear-axis-caused compensation amount for the combination of the determined linear axis movement direction of each of the three linear axes and a stored rotation-axis-caused compensation amount for the combination of the determined rotation axis movement direction of each of the two rotation axes;
calculate a translation/rotation compensation amount based on the linear-axis-caused compensation amount and the rotation-axis-caused compensation amount;
calculate corrected axis positions for each axis of the five-axis machining machine by modifying the positions of each axis based on the calculated translation/rotation compensation amount; and
control the five-axis machining machine based on the corrected axis positions.

US Pat. No. 10,429,404

ELECTRONIC DEVICE HAVING IMPACT DETECTING FUNCTION

Fanuc Corporation, Yaman...

1. An electronic device installed in a machine where there is a possibility of occurrence of vibration or impact, comprising:an acceleration sensor configured to detect acceleration in a predetermined time interval;
a processor for controlling an operation of the machine, the processor configured to:
1) compare an acceleration value of acceleration detected by the acceleration sensor to a predetermined first acceleration threshold value,
2) in response to determining that the acceleration value detected by the acceleration sensor exceeds the predetermined first acceleration threshold value, calculate a second acceleration threshold value as a fraction of a maximum acceleration value among acceleration values of plural accelerations detected by the acceleration sensor over the predetermined time interval,
3) compare subsequent acceleration values detected by the acceleration sensor to the second acceleration threshold value,
4) in response to determining that a number of the subsequent acceleration values exceeding the second acceleration threshold value is a predetermined number or less, determine the impact as a single-type impact, and
5) in response to determining that the number of the subsequent acceleration values exceeding the second threshold value exceeds the predetermined number, determine the impact as a multiple-type impact; and
an audio output device or a visual output device outputting a signal in response to the processor determining that the impact is the multiple-type impact.

US Pat. No. 10,421,169

CUTTING TOOL HOLDING MECHANISM, CUTTING TOOL HOLDER AND MACHINE TOOL SYSTEM

FANUC CORPORATION, Yaman...

1. A cutting tool holding mechanism provided in a spindle of a machine tool to detachably hold a cutting tool, the spindle and cutting tool holding mechanism together defining a proximal end and an opposite distal end, the cutting tool holding mechanism comprising:a collet chuck configured to clamp and unclamp the cutting tool;
a first elastic part disposed on a distal end side of the collet chuck and configured to elastically urge the collet chuck in a direction from the distal end side of the collet chuck toward a proximal side of the spindle so that the collet chuck clamps the cutting tool;
a piston disposed deeper towards the proximal side of the spindle than the collet chuck is and configured to urge the collet chuck by pressure of fluid supplied from the proximal side of the spindle in the direction from the proximal side toward a distal end side of the spindle so that the collet chuck unclamps the cutting tool;
a spool valve provided in the piston and configured to open owing to centrifugal force caused when the spindle is turned, so as to supply the fluid fed from the spindle to the cutting tool; and
a second elastic part provided in the piston and configured to elastically urge the spool valve in a valve closing direction.

US Pat. No. 10,401,826

NUMERICAL CONTROLLER FACILITATING MEASURE TO BE TAKEN AFTER DETECTION OF INTERFERENCE

Fanuc Corporation, Yaman...

1. A numerical controller which controls driving of at least one axis installed in a machine based on an instruction of a program such that when predictive detection of occurrence of interference between a movable part moved by the driving of the axis and another object is made, the numerical controller decelerates and stops movement the movable part, the numerical controller comprising:an attribute change processing part which changes a display attribute of information display relating to the axis based on an operation state of the axis which is being driven when predictive detection of occurrence of interference is made; and
an axis information display processing part which displays information on the axis according to the display attribute that is changed by the attribute change processing part,
wherein the display attribute indicates a moving direction of the machine irrespective of the information on the axis.

US Pat. No. 10,399,163

WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

8. A wire electric discharge machine having a core fixing function of fixing a core produced by electric discharge machining and a workpiece, by relatively moving a wire electrode and the workpiece in accordance with a machining program, by performing the electrode discharge machining of the workpiece by the electric discharge generated between the wire electrode and the workpiece, and by attaching and depositing machining debris produced by the electric discharge machining to a machining groove, the wire electric discharge machine comprising: a core image acquiring unit for acquiring an image of the core; and a control device connected to the core imaging unit, and having a processor configured to determine whether the core is fixed from the image acquired by the core imaging unit; and stop the electric discharge machining, when the processor determines that the core is not fixed;wherein the processor is configured to determine whether the core is fixed, from the image obtained by the core image acquiring unit, at a stage in which machining is completed to the end point of a machining path for cutting the core or at a stage in which fixing machining of the core fixing function is completed.

US Pat. No. 10,379,519

SERVO CONTROLLER, CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE RECORDING MEDIUM FOR MACHINE TOOL USED FOR OSCILLATING CUTTING

FANUC CORPORATION, Yaman...

1. A controller that controls a machine tool comprising multiple control axes and used for machining by cutting of a work as a machining target by means of coordinated motion of the control axes, the controller comprising:a memory; and
a processor configured to execute the functions of:
a position command acquiring unit that acquires a position command directed to a servo motor for driving a cutting tool or a position command directed to a servo motor for driving the work;
a rotation speed acquiring unit that acquires a rotation speed of the rotated cutting tool or that of the rotated work;
an oscillation amplitude calculating unit that calculates oscillation amplitude based on the acquired position command and the acquired rotation speed;
an oscillation frequency calculating unit that calculates an oscillation frequency based on the acquired rotation speed;
an oscillation command calculating unit that calculates an oscillation command for causing the cutting tool and the work to oscillate relative to each other along a machining route along which the cutting tool travels, to shred chips caused during cutting, based on the calculated oscillation amplitude and the calculated oscillation frequency;
a position command storage unit that stores a command route determined based on the calculated oscillation amplitude;
an oscillation command correcting unit that corrects the oscillation command based on the stored command route; and
a driving unit that determines a drive signal to be used for driving the servo motor based on the acquired position command and the corrected oscillation command, and outputs the drive signal,
wherein the position command storage unit stores the command route which is at least longer than the oscillation amplitude, and
wherein the oscillation command correcting unit corrects the oscillation command so as to cause the cutting tool and the work to oscillate relative to each other along the stored command route.

US Pat. No. 10,355,717

ENCODER SIGNAL PROCESSING DEVICE, ENCODER, AND SIGNAL PROCESSING METHOD AND RECORDING MEDIUM

FANUC CORPORATION, Yaman...

1. An encoder signal processing device that detects position data at every predetermined time interval from an original signal which is an analog amount generated in an encoder according to movement of a measurement target, the encoder signal processing device comprising:an approximate curve calculation unit that calculates an approximate curve of a detection position on the basis of the position data at at least three or more points acquired at equal intervals within one cycle of the original signal generated by the encoder;
an approximate error computation unit that computes an approximate value of a detection error of the position data at an arbitrary time point on the basis of the approximate curve of the detection position calculated by the approximate curve calculation unit; and
a position data correction unit that corrects the detection error of the position data at the arbitrary time point on the basis of the approximate value of the detection error of the position data computed by the approximate error computation unit.

US Pat. No. 10,345,796

CELL CONTROLLER AND PRODUCTION SYSTEM FOR MANAGING WORKING SITUATION OF A PLURALITY OF MANUFACTURING MACHINES IN MANUFACTURING CELL

FANUC CORPORATION, Yaman...

1. A cell controller, which is communicably connected to a host computer having a database and which controls a manufacturing cell containing a plurality of manufacturing machines, the cell controller comprising:a plurality of sensors which detect a state of each of the plurality of manufacturing machines;
a state storing unit which stores the state of each of the manufacturing machines detected by the sensors;
a breakdown information acquiring unit which is configured to acquire breakdown information of each of the manufacturing machines, from state information of each of the manufacturing machines, which is stored in the state storing unit;
an input unit which enables an input of recovery operation information to the cell controller when each of the manufacturing machines stops;
a recovery operation information storing unit which stores the recovery operation information of each of the manufacturing machines, which is input by the input unit;
a correlation data generating unit which is configured to
for each of the manufacturing machines, generate correlation data obtained by correlating (i) the breakdown information acquired by the breakdown information acquiring unit with (ii) the recovery operation information stored by the recovery operation information storing unit, and
transmit the generated correlation data to the database; and
a data discriminating unit which is configured to compare the recovery operation information input from the input unit to the recovery operation information storing unit, with the plurality of correlation data accumulated in the database,
wherein
when the data discriminating unit finds out recovery operation information similar to the recovery operation information input to the recovery operation information storing unit, from among the plurality of correlation data accumulated in the database, the data discriminating unit is configured to send the similar recovery operation information and the breakdown information associated with the recovery operation information, to an output unit.

US Pat. No. 10,340,774

TEMPERATURE ESTIMATING DEVICE OF ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A temperature estimating system for estimating an actual temperature of a measurement target part of an electric motor, the temperature estimating system comprising:the electric motor;
a temperature sensor attached to the measurement target part of the electric motor, the measurement target part being a winding of the electric motor, and the temperature sensor comprises a temperature detecting element and a resin covering the temperature detecting element;
a memory configured to store a detected temperature detected by the temperature sensor;
a processor that performs processing for correcting the detected temperature stored in the memory to an estimated temperature on the basis of the detected temperature; and
an alarm that generates an alarm sound or displays an alarm message upon receiving a respective command from the processor,
wherein the processor is programmed to:
acquire the detected temperature detected by the temperature sensor to successively store the detected temperature in the memory at a predetermined sampling period;
calculate a first estimated temperature by weighting the detected temperature on the basis of amount of change of the detected temperature per unit time or average value of amounts of change thereof and a coefficient that is predetermined so that an estimated temperature of the measurement target part approaches the actual temperature of the measurement target part, and further calculate a second estimated temperature by weighting the first estimated temperature on the basis of the amount of change of the detected temperature per unit time or the average value of amounts of change thereof and the coefficient; and
judge whether the electric motor is in an overheated state by comparing the second estimated temperature with a predetermined threshold value and issue a warning command to the alarm when it is judged that the electric motor is in the overheating state;
wherein the first estimated temperature Tcn at time tn, where “n” is a whole number of 2 or more, is calculated using the equation:

wherein:
Tn is the detected temperature of the measurement target part at the time tn,
K is the coefficient,
tn?1 is time before the time tn,
Aavr is the average value of amounts of change of the detected temperature per the unit time, and
Tn?1 is the detected temperature of the measurement target part at the time tn?1, and
wherein the second estimated temperature Tcn+1 at time ttn+1, where “n” is a whole number of 2 or more is calculated, using the following equation:

wherein:
tn+1 is time after the time tn,
A(n+1) is the amount of change of the detected temperature per the unit time during the time period from the time tn to the time tn+1, and
Tn+1 is the detected temperature of the measurement target part at the time tn+1.

US Pat. No. 10,340,835

CHIP EVACUATION DEVICE DRIVEN BY SYNCHRONOUS MOTOR

FANUC CORPORATION, Yaman...

1. A chip evacuation device that evacuates chips produced in a machine tool to outside of the machine tool, the chip evacuation device comprising:a synchronous motor as a power source for the chip evacuation device,
a load monitoring unit that monitors a load on the synchronous motor or on a driving unit of the chip evacuation device which is operated by the synchronous motor,
a threshold storage unit that stores at least one threshold of the load on the synchronous motor or on the driving unit of the chip evacuation device which is operated by the synchronous motor,
a comparison unit that makes comparison between the load monitored by the load monitoring unit and the threshold stored in the threshold storage unit, and
a synchronous motor control unit that changes a number of rotation or a direction of rotation of the synchronous motor in accordance with results of the comparison made by the comparison unit,
wherein the at least one threshold stored in the threshold storage unit defines a first load region, and
wherein the synchronous motor control unit increases at least either of the number of rotation and a frequency of operation of the synchronous motor when the load monitored by the load monitoring unit is in the first load region in the results of the comparison.

US Pat. No. 10,331,108

NUMERICAL CONTROLLER OPERATING FROM TABLE-FORMAT DATA

FANUC Corporation, Minam...

1. A numerical controller that performs a machining operation on a workpiece by controlling a drive motor of a machine tool based on table-format data, the numerical controller comprising:a table management unit that selects a plurality of tables of table-format data to be used for the machining operation;
a table readout unit that sequentially reads out the selected plurality of tables of table-format data;
a distribution processing unit that
updates one or more reference values specified by each of the tables of table-format data, the one or more reference values including one or more of (i) a period of time, (ii) a position of an axis of the machine tool, and (iii) a position of a spindle of the machine tool,
generates, for each of the tables of table-format data, distributed interpolation data for controlling a corresponding control axis of the machine tool on the basis of the updated one or more reference values specified by the respective tables of table-format data, and
sets selection and superimposition conditions for the distributed interpolation data generated for the tables of table-format data, the selection and superimposition conditions specifying, for each table of table-format data, whether the corresponding distributed interpolation data is to be superimposed with distributed interpolation data corresponding one or more other tables of table-format data;
a selection and superimposition unit that selects and superimposes, for each control axis of the machine tool, the distributed interpolation data generated by the distribution processing unit based on the selection and superimposition conditions; and
a motor control unit that controls a position of each control axis of the machine tool on the basis of the superimposed distributed interpolation data.

US Pat. No. 10,312,851

MOTOR DRIVE HAVING FUNCTION FOR PREVENTING SECONDARY DAMAGE

FANUC CORPORATION, Yaman...

1. A motor drive comprising:a condition detection circuit configured to monitor the condition of a motor drive by detecting data representing the condition of a power supply;
a determination circuit configured to determine whether or not the detected data indicates an abnormality in the motor drive using a first threshold value as a reference;
a memory unit configured to store, in an event of occurrence of the abnormality in the motor drive, a detection value including at least more than one of the following: a peak value of voltage applied to the motor drive from the power supply, a peak value of current flowing through the motor drive, a cumulative number of occurrences of abnormalities, detected data of variations per unit time in the detected peak voltage and the peak current; and
a setting unit configured to set in advance allowable values as a second threshold value of the motor drive in the peak voltage, the peak current, the cumulative number of occurrences of abnormalities, the detected data of variations per unit time in the peak voltage, and the peak current,
wherein, whenever the motor drive is powered on, it is determined whether or not the detection data stored in the memory unit at the last time of powering on the motor drive reaches the set values set in advance, and in a case where the detection data reaches the allowable value, powering the motor drive is prohibited to avoid secondary damage to the motor drive, and
wherein the first threshold value is lower than the second threshold value, the first threshold value is a reference value for detecting abnormality of the motor drive and the second threshold value is a reference value for determining whether repowering of the motor drive is allowed or not.

US Pat. No. 10,313,655

IMAGE CAPTURE DEVICE AND IMAGE CAPTURE METHOD

FANUC CORPORATION, Yaman...

1. An image capture device with multiple image capture units, the image capture device comprising:one light emission unit for distance measurement that emits a reference beam; and
the multiple image capture units that capture images of a reflected beam of the reference beam while having common timing of image capture, wherein
the multiple image capture units include a first image capture unit as a master and a second image capture unit as a slave,
a control unit for the first image capture unit outputs a light emission timing signal to the light emission unit and outputs an image capture timing signal to a control unit for the second image capture unit,
the light emission unit emits a beam based on the light emission timing signal input from the control unit for the first image capture unit,
the second image capture unit captures an image based on the image capture timing signal input from the control unit for the first image capture unit, and
an output unit or an input unit that outputs or inputs the light emission timing signal and/or the image capture timing signal, and comprises a phase shifter which controls deviation in timing between the light emission timing signal and the image capture timing signal due to differences or changes in characteristics of components.

US Pat. No. 10,300,543

WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine configured from a plurality of machine elements, and performing electric discharge machining on a workpiece in a state in which an upper guide and a lower guide are disposed at predetermined relative positions, by causing the workpiece and a wire electrode installed between the upper guide and the lower guide to relatively move, the wire electric discharge machine comprising:a temperature detector configured to detect temperature of at least one machine element among the plurality of machine elements;
a storage configured to store temperatures detected by the temperature detector as temperature data;
a rendering unit configured to digitize an installation environment, and render as environmental data;
a position command unit configured to command a relative position of the upper guide and the lower guide;
a relational expression calculation unit configured to calculate a relational expression by way of the machine learning for obtaining a correction amount required in order to correct the relative position of the upper guide and the lower guide, by setting the temperature data stored in the storage and the environmental data rendered by the rendering unit as input data, and set a relative position commanded by the position command unit as training data;
a relational expression decision unit configured to calculate a correction amount by substituting the temperature detected by the temperature detector into the relational expression calculated by the relational expression calculation unit, obtain error between the relative position of the upper guide and the lower guide based on said correction amount and the relative position commanded by the position command unit, and determine whether said error is small, and in the case of being determined that said error is not small, modify the relational expression by repeating calculation of the relational expression by way of machine learning, and in the case of being determined that said error is small, decide said relational expression as a formal relational expression; and
a correction execution unit configured to calculate an estimated value for the relative position by substituting the temperature detected by the temperature detector into the relational expression decided by the relational expression decision unit, then calculate a correction amount for the upper guide and the lower guide based on said estimated value for the relative position, and perform correction on the relative position of the upper guide and the lower guide based on said correction amount.

US Pat. No. 10,303,152

MOTOR CONTROLLER

Fanuc Corporation, Osaka...

1. A motor controller which controls a servo motor for driving a machine,the motor controller comprising:
a speed command unit which issues a speed command for commanding a speed of the machine;
a speed detection unit which detects a speed of the servo motor; and
a speed control unit which produces a torque command based on the speed command issued by the speed command unit and a motor speed detected by the speed detection unit so as to control the speed of the servo motor,
wherein the speed control unit includes a filter which approximates an inverse characteristic of a transmission characteristic from the servo motor to the machine,
the filter has a transmission characteristic:

wherein F(s) is based on a frequency ?, a vibration damping coefficient ? and a cutoff frequency ?adj which are adjustment parameters and
the frequency ? is adjusted so as to be equal to or more than an antiresonant frequency ?0 of the machine but less than a resonant frequency ?p of the machine.

US Pat. No. 10,302,519

ROBOT CENTER-OF-GRAVITY DISPLAY DEVICE, ROBOT CONTROL DEVICE, AND ROBOT SIMULATION DEVICE

FANUC CORPORATION, Yaman...

1. A robot center-of-gravity display device comprising:a specification setting unit that stores specifications set in advance, the specifications including, at least, the weights, center-of-gravity positions, and dimensions of components of respective shafts of a robot;
a posture setting unit in which position information of the respective shafts of the robot is set on a basis of designation by a user;
a robot-image generating unit that generates a three-dimensional model image of the robot in a state in which the respective shafts thereof are located at the positions indicated by the position information based on the position information of the respective shafts of the robot set by the posture setting unit and the specifications of the components of the respective shafts of the robot set by the specification setting unit;
a center-of-gravity-position calculation unit that calculates the center-of-gravity position of the overall robot based on the position information of the respective shafts of the robot set by the posture setting unit and the specifications of the components of the respective shafts of the robot set by the specification setting unit;
an image combining unit that superimposes an indication showing the center of gravity of the overall robot on the three-dimensional model image generated by the robot-image generating unit, at the center-of-gravity position calculated by the center-of-gravity-position calculation unit; and
a display unit that displays the image generated by the image combining unit.

US Pat. No. 10,305,634

COMMUNICATION SYSTEM

FANUC CORPORATION, Yaman...

1. A communication system for controlling a motor of a machine tool, the communication system comprising:a plurality of units including a first, a second and a third units; and
a transmission line connecting the plurality of units,
wherein
each of the plurality of units is configured to transmit and receive, through the transmission line, a packet that is a collection of communication data including
a data string,
a linear error-correcting code for the data string, and
additional data including a header,
the second unit receives, from the third unit, a received packet including
a third data string which is the third unit's own data string,
a third error-correcting code for the third data string, and
the additional data, and
the second unit includes:
a transmitter having
a transmission data memory for storing a second data string which is the second unit's own data string, and
a first memory for storing first array information to put the second data string into a second data array for coding and decoding, and
a receiver having
a second memory for storing second array information to put the third data string included in the received packet received from the third unit into a third data array for coding and decoding,
to decode the received packet received from the third unit, the receiver of the second unit is configured to
decode the third data array in which the third data string of the received packet is put into a coding data array based on the second array information stored in the second memory, using the third error-correcting code contained in the received packet received from the third unit,
wherein decoded data of the third data array containing the third data string is processed by a processor of the receiver of the second unit for controlling the motor of the machine tool, and
to transmit a transmission packet assembled by the second unit to the first unit, the transmitter of the second unit is configured to
add the second data string stored in the transmission data memory to the third data string contained in the received packet received from the third unit,
put the second data string into the second data array using the first array info illation stored in the first memory,
calculate a second error-correcting code based on the second data array in which the second data string is put in a corresponding position of the coding data array and 0 is put in other bits, and
combine the third error-correcting code contained in the received packet from the third unit with the calculated second error-correcting code as a combined error-correcting code of the transmission packet assembled by the second unit to be transmitted to the first unit,
wherein the transmission packet is transmitted to the first unit independently of the processing of the decoded data containing the third data string by the processor of the receiver of the second unit.

US Pat. No. 10,293,429

QUALITY CHECK SYSTEM OF SPOT WELDING

FANUC CORPORATION, Yaman...

1. A spot welding quality check system for checking welding quality of spot welding, the system comprising:a pair of electrodes which apply current and pressure to an object to be welded;
a displacement detector positioned to detect an amount of displacement between the pair of electrodes while spot welding is carried out;
an actuator which drives at least one of the pair of electrodes;
a driving force detector positioned to detect a driving force of the actuator; and
a processor configured to:
estimate whether spot welding quality is good or poor by using an estimation algorithm that continuously monitors the displacement between the pair of electrodes to generate a time-series of displacement samples, and compares the time-series of displacement samples to a time-series of reference samples to estimate whether spot welding quality is good or poor;
set the estimate of the spot welding quality to poor when the driving force detected by the driving force detector is an abnormal value;
when the processor receives a correction changing the estimate of the spot welding quality based on an actually verified result obtained by verifying an actually welded workpiece, update the estimation algorithm based on the changed estimate; and
when the processor does not receive the correction changing the estimate of the spot welding quality, update the estimation algorithm based on the estimate.

US Pat. No. 10,291,443

SERIAL COMMUNICATIONS UNIT AND COMMUNICATION METHOD FOR SERIAL COMMUNICATIONS UNIT

FANUC CORPORATION, Yaman...

1. A serial communications unit connected in a daisy chain fashion, comprising:a first conversion unit configured to convert reception serial data into reception parallel data which is synchronized with a reception parallel clock pulse signal;
a memory unit configured to store the reception parallel data converted by the first conversion unit;
a reception delay time calculating unit configured to calculate a reception delay time of a reception start timing at which reception of packets is started, on a basis of a reference parallel clock pulse signal having a same period as the reception parallel clock pulse signal;
a timing control output unit configured to read out the reception parallel data stored in the memory unit in synchronism with a transmission parallel clock pulse signal having the same period as the reception parallel clock pulse signal, and to output transmission parallel data, in which a transmission delay time of a transmission start timing at which transmission of packets is started, on the basis of the reference parallel clock pulse signal, is controlled so that a delay time from the reception start timing and until transmission of packets is started is made constant, in synchronism with the transmission parallel clock pulse signal; and
a second conversion unit configured to convert the transmission parallel data, which is output by controlling the transmission start timing, into transmission serial data.

US Pat. No. 10,265,790

WIRE ELECTRIC DISCHARGE MACHINE HAVING FUNCTION OF CLEANING INSIDE OF MACHINING TANK

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine configured to perform electric discharge machining in a machining tank, the wire electric discharge machine comprising:a camera configured to capture an image of the inside of the machining tank;
a controller configured to detect dirt in the machining tank based on the image captured by the camera; and
a cleaning device configured to remove machining chips deposited in the machining tank;
a robot comprising at least either the camera or the cleaning device,
wherein
the controller is further configured to operate the robot,
a mark is provided on a predetermined spot captured by the camera, and the controller determines whether or not the inside of the machining tank is contaminated, based on the image of the predetermined spot captured by the camera and a reference image of the mark, and
the controller is further configured to operate the robot in such a manner that the machining chips in the location in the machining tank which corresponds to the image captured by the camera are removed by the cleaning device when the machining tank is determined to be contaminated by the controller.

US Pat. No. 10,216,170

NUMERICAL CONTROLLER AND PROGRAM EDITING METHOD HAVING MACHINING CYCLE GENERATION FUNCTION

FANUC Corporation, Minam...

1. A numerical controller that performs machining control of a machine tool by using a numerical controller (“NC”) program, the numerical controller including a processor configured to perform a method for controlling the machining of a workpiece, the method comprising:recognizing, by the processor as a single machining process for a first tool, one or more blocks of machining commands for a first tool number previously designated by a first NC program based on a block for a tool change command for a second tool number being designated by the first NC program;
identifying, by the processor from a tool data list, a machining type and associated tool figure data based on the first tool number previously designated by the first NC program, wherein a machining type and associated tool figure data are predefined for each tool number of a plurality of tool numbers;
identifying, by the processor from a cutting conditions table, cutting conditions for the single machining process based on the identified machining type;
generating, by the processor, a machining area figure for the identified cutting conditions by extracting all cutting feed commands for the identified cutting conditions from one or more blocks of the first NC program for the single machining process;
generating, by the processor, a machining cycle command for the first tool from the recognized single machining process for the first tool based on the identified cutting conditions and generated machining area figure;
generating, by the processor, a new NC program in which the recognized single machining process for the first tool of the first NC program is replaced by the generated machining cycle command for the first tool, wherein the new NC program has a smaller number of blocks than blocks of the first NC program; and
controlling of the machine tool by using the new NC program.

US Pat. No. 10,213,917

ARTICLE CONVEYING DEVICE HAVING TEMPORARY PLACEMENT SECTION

FANUC CORPORATION, Yaman...

6. An article conveying device comprising:a supplying section configured to convey a plurality of articles;
a discharging section configured to convey a plurality of containers each having a plurality of cells for containing the plurality of articles;
a temporary placement section having a temporary placement space on which at least one of the articles can be temporarily placed;
a first detecting section configured to detect a position and posture of the article on the supplying section at a first time point, and detect an amount of movement of the supplying section;
a second detecting section configured to detect a position and posture of the container on the discharging section at a second time point, and detect an amount of movement of the discharging section;
a working machine configured to:
take out the article by following the movement of the article on the supplying section, based on the position and posture of the article at the first time point and the amount of movement of the supplying section;
place the taken out article on the temporary placement section; take out the article placed on the temporary placement section; and
locate the article into the container by following the movement of the container on the discharging section, based on the position and posture of the container at the second time point and the amount of movement of the discharging section; and
a controlling section configured to:
compare a predicted arrival time indicating when the article conveyed by the supplying section reaches a motion range of the working machine to a time threshold, or compare a predicted distance indicating when the article conveyed by the supplying section reaches the motion range of the working machine to a distance threshold, and
command the working machine to place the article from the supplying section to the temporary placement section, and, when the container is positioned within a container existence judgment region defined on the discharging section and when a predicted arrival time is larger than the time threshold or the predicted distance is larger than the distance threshold, command the working machine to locate the article from the temporary placement section into the container positioned on the discharging section.

US Pat. No. 10,207,457

METHOD FOR BONDING COMPONENTS BY USING ENERGY RAY-CURABLE ADHESIVE

FANUC CORPORATION, Yaman...

1. A method for bonding a first component containing a material incapable of transmitting an energy ray in a first wavelength range to a second component in fabricating an assembly comprising the first component and the second component, wherein the assembly comprises an optical encoder and the first component comprises a slit plate used for the optical encoder,the method comprising:
applying, to one component of the first component and the second component,
a wavelength conversion element that converts an energy ray in a second wavelength range capable of being transmitted through the first component into an energy ray in the first wavelength range and that emits the energy ray in the first wavelength range, and
an energy ray-curable adhesive curable by irradiation with the energy ray in the first wavelength range, the energy ray-curable adhesive being applied on the wavelength conversion element;
bringing the other component of the first component and the second component into contact with the energy ray curable adhesive; and
transmitting the energy ray in the second wavelength range through the first component to the energy ray-curable adhesive and the wavelength conversion element, thus curing the energy ray-curable adhesive.

US Pat. No. 10,197,461

DEVICE FOR CUTTING SUBSTRATE AND ROBOT

FANUC CORPORATION, Yaman...

1. A cutting device for cutting a substrate, comprising:a pedestal part;
a pressing device fixed to the pedestal part, the pressing device moveable in a first direction;
a cutting mechanism arranged adjacent to the pressing device and supported by the pedestal part via a moveable part so as to be configured to pivot around a distal end of the pressing device in a second direction opposite the first direction sandwiching a workpiece between the cutting mechanism and the pressing device;
a first force generation mechanism which generates a pressing force for pressing the pressing device against the substrate; and
a controller configured to:
1) increase the pressing force in response to the pressing force being below a first threshold when the pressing device is pressed against the substrate by the first force generation mechanism, and
2) decrease the pressing force in response to the pressing force being above a second threshold when the pressing device is pressed against the substrate by the first force generation mechanism.

US Pat. No. 10,184,975

PRINTED BOARD WITH WIRING PATTERN FOR DETECTING DETERIORATION, AND MANUFACTURING METHOD OF THE SAME

FANUC CORPORATION, Yaman...

1. A printed board with a wiring pattern for detecting deterioration, comprising:an insulating substrate;
a wiring pattern group that is formed on the insulating substrate and includes a wiring pattern for detecting deterioration which detects a degree of deterioration of the printed board; and
solder resist covering the wiring pattern group,
wherein
the printed board with a wiring pattern for detecting deterioration has:
a thin film section in which a thickness of the solder resist from the insulating substrate surface is small; and
a thick film section in which the thickness of the solder resist is larger than the thin film section, and
the wiring pattern for detecting deterioration is formed in the thin film section whose entire surrounding area or partial surrounding area is surrounded by the thick film section.

US Pat. No. 10,180,346

WEIGHT MEASUREMENT SYSTEM AND METHOD USING ROBOT

FANUC CORPORATION, Yaman...

1. A weight measurement system for measuring a weight of an article to be measured by using a robot and a lever, the weight being supported by a plurality of grounded support points or at least one grounded support surface of the article,wherein the robot is configured to push-down one end of the lever so as to lift a working point of the article mounted on the other end of the lever so that at least one of the support points or a part of the support surface of the article is lifted, and simultaneously, the remaining support point or the remaining part of the support surface of the article is grounded,
and wherein the weight measurement system comprises an arithmetic processing unit configured to: calculate a magnitude of a force applied to the working point based on a load of a motor provided to the robot; and calculate the weight of the article based on the magnitude of the force and a positional relationship among the working point, the remaining support point or the remaining part of the support surface, and a center of gravity of the article.

US Pat. No. 10,137,623

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:an injection molding apparatus;
a conveyance means configured to convey a molded article produced by the injection molding apparatus;
an inspection means configured to inspect the molded article conveyed by the conveyance means;
a conveyance position detection means configured to detect a position of a conveyance part of the conveyance means;
a controller communicated with the injection molding apparatus, the inspection means and the conveyance position detection means; and
a data storage configured to store data,
wherein the data storage is configured to store, under a control of the controller:
molding data when the injection molding apparatus produces the molded article; and
first position information of the conveyance part that is a position of the conveyance part detected by the conveyance position detection means when the produced molded article is picked up by the conveyance means,
the molding data and the first position information of the conveyance part being stored in association with each other as a set, a plurality of sets of the molding data and the first position information being stored in the data storage,
wherein the data storage is further configured to store, under the control of the controller:
inspection data regarding the molded article when a molded article is inspected by the inspection means, and
second position information of the conveyance part that is a position of the conveyance part detected by the conveyance position detection means when the molded article is inspected by the inspection means,
the inspection data and the second position information of the conveyance part being stored in association with each other as a set, a plurality of sets of the inspection data and the second position information of the conveyance part being stored in the data storage,
wherein the data storage is configured to
extract, under the control of the controller, (1) a first set of the molding data and the first position information of the conveyance part and (2) a second set of the inspection data and the second position information of the conveyance part, respectively from (i) the plurality of sets of the molding data and the first position information of the conveyance part and (ii) the plurality of sets of the inspection data and the second position information of the conveyance part, wherein the first position information and the second position information of the conveyance part have a difference equal to a predetermined distance between (a) a pickup position where the molded article is picked up by the conveyance means and (b) an inspection position where the molded article is inspected by the inspection means, and
store (1) the molding data included in the extracted first set of the molding data and the first position information and (2) the inspection data included in the extracted second set of the inspection data and the second position information in association with each other, and
wherein the controller is configured to determine the molded article as non-defective or as defective by using (1) the stored molding data included in the extracted first set and (2) the stored inspection data included in the extracted second set in association with each other.

US Pat. No. 10,126,734

SERVO CONTROL APPARATUS FOR DRIVING PLURALITY OF MOTORS

FANUC CORPORATION, Yaman...

1. A servo control apparatus that performs control for driving one driven object by way of a master-axis motor on a master axis and a slave-axis motor on a slave axis, the apparatus comprising:a subtractor that calculates a difference between an integral value of a speed deviation of the master axis and an integral value of a speed deviation of the slave axis;
a low pass filter that performs filtering of the difference;
an adder that adds a result of the filtering to the integral value of the speed deviation of the slave axis to produce an addition result; and
a CPU that estimates a torsional rigidity value of the driven object, based on a torsion angle of the driven object calculated based on a value of difference between a position feedback amount of the master axis and a position feedback amount of the slave axis, and each value of the first current command for rigidity estimation of the master axis and the second current command for rigidity estimation of the slave axis, wherein
a current command for driving the master-axis motor is calculated for the master axis by using the integral value of the speed deviation of the master axis;
a current command for driving the slave-axis motor is calculated for the slave axis by using the addition result of the adder; and
a cutoff frequency of the low-pass filter is adjusted based on an estimated result of the CPU.

US Pat. No. 10,124,432

ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. An electrical discharge machine configured so that a workpiece is immersed in a machining fluid and a voltage is applied to a machining gap between an electrode and the workpiece to generate electrical discharge, whereby the workpiece is subjected to machining, the electrical discharge machine comprising:a machining tank stored with the machining fluid in which the workpiece is immersed for electrical discharge machining;
a reservoir unit configured to store the machining fluid in order to supply to and recover the machining fluid from the machining tank;
a machining tank non-storage condition detecting unit configured to detect that the machining fluid is not stored in the machining tank;
an addable amount specifying unit configured to specify the amount of the machining fluid stored in the reservoir unit when it is detected by the machining tank non-storage condition detecting unit that the machining fluid is not stored in the machining tank and specify an addable amount, which is an addable machining fluid amount, based on the capacity of the reservoir unit and the specified amount of the machining fluid stored in the reservoir unit;
an addable amount storage unit configured to store the addable amount obtained by the addable amount specifying unit; and
a machining fluid adding unit configured to add the machining fluid in an amount that is no greater than the addable amount stored in the addable amount storage unit, wherein
the machining fluid adding unit adds the machining fluid only during a predetermined machining fluid addition permission period.

US Pat. No. 10,108,175

NUMERICAL CONTROLLER SUPPORTING LEFT-HANDED COORDINATE SYSTEM

FANUC Corporation, Minam...

1. A numerical controller that controls a machine tool having a plurality of driving axes based on a first machining program, the numerical controller comprising:non-transitory computer readable memory;
one or more hardware processors coupled to the non-transitory memory and configured to read instructions from the non-transitory memory to cause the numerical controller to perform operations comprising:
outputting a second machining program obtained by applying coordinate system conversion processing to the first machining program; and
outputting instruction data for specifying operation of the driving axes based on the second machining program, wherein
the coordinate system conversion processing involves interchanging of an instruction based on a right-handed coordinate system and an instruction based on a left-handed coordinate system.

US Pat. No. 10,103,611

MACHINE LEARNING APPARATUS AND METHOD FOR LEARNING ARRANGEMENT POSITION OF MAGNET IN ROTOR AND ROTOR DESIGN APPARATUS INCLUDING MACHINE LEARNING APPARATUS

FANUC CORPORATION, Yaman...

1. A machine learning apparatus that learns a condition associated with an arrangement position of a magnet on a core of a motor rotor, the machine learning apparatus comprising:a state observation unit that observes a state variable composed of data relating to arrangement positions of a plurality of magnets arranged on the core, data relating a magnitude of a cogging torque generated when the plurality of magnets are arranged at the respective arrangement positions, and data relating to a magnetic flux density of each of the magnets; and
a learning unit that learns the condition associated with arrangement positions of the magnets on the core in accordance with a training data set constituted by the state variable.

US Pat. No. 10,099,305

ELECTRIC DISCHARGE MACHINE HAVING ROTARY TABLE

FANUC CORPORATION, Yaman...

1. An electric discharge machine, comprising:a working tank configured to contain a working fluid;
a rotary table disposed in the working tank, the rotary table configured to be fitted with an object to be machined; and
a processor configured to control the rotary table to perform electric discharge machining,
the rotary table comprising:
a rotary table body;
a faceplate pivotally supported on the rotary table body and configured to rotate;
a drive unit configured to rotate the faceplate;
a sealing member disposed between the rotary table body and the faceplate, and configured to seal an inside of the rotary table body from the working fluid; and
a working fluid penetration detection unit configured to detect penetration of the working fluid into the rotary table body,
wherein
the rotary table body has a sealing mechanism section in which the sealing member is arranged, and
the working fluid penetration detection unit is attached to the rotary table body at a location on the inside of the rotary table body, and faces a gap formed by the sealing mechanism section and the faceplate to detect the working fluid leaking through the sealing member into said gap.

US Pat. No. 10,101,726

AUTONOMOUS CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. An autonomous control system, comprising:a numerical control device configured to perform machining operation by driving control of an item in a machining tool based on a machining program; and
an external device configured to operate interlocking with the machining operation of the machining tool,
the numerical control device comprising:
a configuration data storing unit configured to store configuration data representing configuration of the item;
a machining program looking-ahead processing unit configured to generate item disposition data including disposition of the item in the machining tool of the machining tool and holding time for the disposition of the item, based on the machining program and the configuration data; and
a data output unit configured to output the item disposition data; and
the external device comprising:
a work information storing unit configured to store (i) space data including information of work space occupied and (ii) work time required when the external device works, wherein the space data and the work time are stored in association with each other;
an interference determination processing unit configured to command start of operation of the external device at time when the operation of the external device does not interfere with the item driven in the machining tool, based on the item disposition data output by the data output unit, the space data, and the work time; and a program execution unit configured to start the operation of the external device based on the command from the interference determination processing unit.

US Pat. No. 10,088,825

TOOL PATH CURVE GENERATION METHOD AND TOOL PATH CURVE GENERATION APPARATUS

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:a tool path curve generation apparatus adapted to generate a tool path curve from a tool path designated by command points in a command point sequence, the apparatus comprising a processor configured to:
define a tolerance region
which is based on a polygonal line path connecting the command points in the command point sequence,
which includes the polygonal line path, and
in which the tool path curve is to be included,
determine whether the tool path curve is included in the tolerance region on the basis of a geometric shape of a surface of the tolerance region, and
output the tool path curve which has been determined to be included in the tolerance region,
wherein
the tolerance region includes a plurality of element regions,
each element region among the plurality of element regions is a rotating body having a rotation axis that is a segment of the polygonal line path connecting a pair of adjacent command points in the command point sequence,
the tool path curve includes a plurality of curve sections each corresponding to an element region among the plurality of element regions, and
the processor is configured to determine that a curve section among the plurality of curve sections is included in the corresponding element region when the element region includes a spheroid having
ends of the curve section as focal points, and
a length of the curve section as a sum of distances from points on the spheroid to the focal points,
wherein the processor is configured to determine that the element region includes the spheroid by projecting the spheroid and the element region onto a plane that is orthogonal to the rotation axis of the element region, and
the machine tool is configured to machine a workpiece in accordance with the outputted tool path curve.

US Pat. No. 10,066,666

SPINDLE-BEARING PROTECTING DEVICE AND MACHINE TOOL EQUIPPED WITH THE SAME

FANUC CORPORATION, Yaman...

1. A spindle-bearing protecting device for protecting a bearing that supports a spindle so as to be rotatable, comprising:a rotating part positioned further to an outer side in an axial direction than the bearing, and having a rotor blade configured to rotate along with the spindle;
a supply part configured to supply coolant or lubricant between the rotor blade and the bearing;
a detection unit configured to detect abnormality of the bearing; and
a control unit configured to control a supply of the coolant or the lubricant by the supply part and a revolution speed of the spindle, in a case where the detection unit detects an abnormality amount of the bearing,
wherein:
the supply part is configured to supply the coolant or the lubricant to the bearing in a case where the abnormality amount changes so as to exceed a predetermined threshold or to exceed a predetermined change rate, and even when a maximum flow rate is supplied, in a case where the abnormality amount increases, the control unit is configured to drop the revolution speed of the spindle to a first revolution speed at which the abnormality amount no longer increases, then after confirming stopping of the increase in the abnormality amount, the control unit is further configured to drop the revolution speed of the spindle to a second revolution speed that is lower than the first revolution speed.

US Pat. No. 10,065,255

DEVICE AND METHOD OF CONTROLLING MACHINE TOOL, TO CONTROL SYNCHRONIZED OPERATION OF SPINDLE AXIS AND FEED AXIS

FANUC CORPORATION, Yaman...

1. A controller of a machine tool, configured to control a synchronized operation of a spindle axis and a feed axis, the controller comprising:a numerical control section configured to prepare a spindle-axis command and a feed-axis command based on a tapping program;
a spindle-axis control section configured to control a rotational motion of the spindle axis in accordance with the spindle-axis command;
a rotation detecting section configured to detect a rotational position of the spindle axis; and
a feed-axis control section configured to control a feed motion of the feed axis in accordance with the feed-axis command, based on the rotational position;
the numerical control section comprising:
a spindle-axis command outputting section configured to obtain, from the tapping program, a total rotation amount and a maximum rotation speed of the spindle axis during a period when the spindle axis operates from a process start position to a target thread depth, and to send the total rotation amount and the maximum rotation speed as the spindle-axis command to the spindle-axis control section;
the spindle-axis control section comprising:
an initial-motion control section configured to make the spindle axis perform an accelerated rotation at maximum capacity using a maximum permissible current of a drive source from the process start position, by a velocity control in which the maximum rotation speed is set as a target value;
a maximum-acceleration detecting section configured to detect a maximum acceleration of the spindle axis during the accelerated rotation at maximum capacity, based on the rotational position;
a residual rotation-amount detecting section configured to detect a residual rotation amount of the spindle axis during a period when the spindle axis operates from a current position to the target thread depth, based on the total rotation amount and the rotational position;
a current-speed detecting section configured to detect a current speed of the spindle axis based on the rotational position;
a positioning-motion control section configured to execute a position control for making the spindle axis perform a decelerated rotation so as to reach the target thread depth, after the accelerated rotation at maximum capacity, based on the maximum acceleration, the residual rotation amount and the current speed; and
an overshoot detecting section configured to detect an overshoot of the spindle axis relative to the target thread depth during the decelerated rotation, based on the residual rotation amount.

US Pat. No. 10,061,086

BEAM DISTRIBUTOR

FANUC CORPORATION, Yaman...

1. A beam distributor comprising at least one beam entrance and at least two multiple beam exits, the beam distributor comprising:a cylindrical member rotatable about a central axis as a rotary axis;
at least two multiple reflectors of the same number as the beam exits, the multiple reflectors being arranged at positions shifted from each other axially and circumferentially along a circumferential surface of the cylindrical member;
a rotation mechanism that rotates the multiple reflectors about the rotary axis by rotating the cylindrical member about the rotary axis;
a fixing mechanism that fixes circumferential movement of the cylindrical member at the reflectors by fixing circumferential movement at the cylindrical member;
a reflector position sensing mechanism that senses a position of one of the reflectors;
a light absorber; and
a control unit that controls the rotation mechanism so as to rotationally move the reflectors and controls the fixing mechanism so as to fix the reflectors, wherein
the control unit controls the rotation mechanism so as to rotationally move a rotational position about the cylindrical member to a position where an input laser beam input through the beam entrance and traveling parallel to the rotary axis of the cylindrical member is to be reflected on one of the reflectors toward a selected one of the beam exits, a position where the input laser beam is to pass through between adjacent ones of the reflectors to be absorbed by the light absorber, or a position where the input laser beam is to be reflected on one of the reflectors and absorbed by the light absorber, and the control unit controls the fixing mechanism so as to fix rotational movements of the reflectors at positions to which the reflectors have been moved rotationally.

US Pat. No. 9,977,408

CONTROL DEVICE AND CONTROL METHOD FOR CHANGING OPERATION ACCORDING TO MOTOR TEMPERATURE

FANUC CORPORATION, Yaman...

1. A control device for a machine tool, the control device comprising:a master-shaft motor drive part that drives a master-shaft motor,
a slave-shaft motor drive part that drives a slave-shaft motor, and
a numerical control part that sends a master-shaft operation command to the master-shaft motor drive part,
wherein the master-shaft motor drive part drives the master-shaft motor based on the master-shaft operation command received from the numerical control part, and the slave-shaft motor drive part drives the slave-shaft motor so as to synchronize with the master-shaft motor, based on position feedback information received from the master-shaft motor through the master-shaft motor drive part,
wherein the master-shaft motor drive part includes a first temperature acquisition part that acquires a temperature of the master-shaft motor,
wherein the slave-shaft motor drive part includes a second temperature acquisition part that acquires a temperature of the slave-shaft motor,
wherein the numerical control part creates the master-shaft operation command as a command to restrict output of the master-shaft motor, upon the temperature of the master-shaft motor received from the first temperature acquisition part exceeding a first predetermined value, and
wherein the numerical control part creates the master-shaft operation command as the command to restrict output of the master-shaft motor, upon the temperature of the slave-shaft motor received from the second temperature acquisition part exceeding a second predetermined value.

US Pat. No. 9,971,329

CELL CONTROL SYSTEM, MANUFACTURING SYSTEM, AND CONTROL METHOD WHICH CONTROL MANUFACTURING CELL INCLUDING PLURALITY OF MANUFACTURING MACHINES

FANUC CORPORATION, Yaman...

1. A cell control system comprising:a communication device for communicating with a production planning apparatus and a manufacturing cell comprising a plurality of manufacturing machines configured to manufacture a product;
an obtaining module for obtaining first manufacturing information defined in a manufacturing cell unit associated with the manufacture of the product from the production planning apparatus via the communication device;
a first generation module for generating a plurality of pieces of second manufacturing information for the plurality of manufacturing machines, respectively, based on the first manufacturing information;
a transmission module for transmitting the plurality of pieces of second manufacturing information to the plurality of manufacturing machines, respectively, via the communication device;
a reception module for receiving manufacturing machine-specific, third manufacturing information corresponding to the second manufacturing information from each of the plurality of manufacturing machines;
a second generation module for generating fourth manufacturing information defined in the manufacturing cell unit, based on the third manufacturing information from each of the plurality of manufacturing machines; and
an output module for outputting the fourth manufacturing information,
wherein the production planning apparatus performs manufacturing-related management by handling only the first manufacturing information defined in the manufacturing cell unit without recognizing individual manufacturing machines of the plurality of manufacturing machines, and
wherein the production planning apparatus handles only the first manufacturing information when the obtaining module obtains production planning information from the production planning apparatus.

US Pat. No. 9,966,811

METHOD FOR MANUFACTURING AN ELECTRIC MOTOR STATOR INCLUDING RESIN-MOLDED UNIT, AND ELECTRIC MOTOR HAVING SUCH A STATOR

FANUC CORPORATION, Yaman...

1. An electric motor stator manufacturing by steps of:attaching a hollow bracket to an end of a hollow stator core around which a winding is wound, and allowing a lead connected to the winding to pass through an opening formed in a peripheral surface of the bracket to take out the lead to an outside of the bracket;
placing a core material inside the stator core and the bracket;
attaching a sealing member with a through-hole smaller than the opening to an outer peripheral surface of the bracket so as to block the opening while allowing the lead to pass through the through-hole; and
filling a molten resin into an annular space as gap between the stator core and the core material and between the bracket and the core material, to form a resin unit, wherein a molded surface of the resin unit in the opening formed by the step of filling the molten resin does not protrude from the outer peripheral surface of the bracket.

US Pat. No. 9,904,279

NUMERICAL CONTROL DEVICE PROVIDED WITH PROGRAMMED MACHINING RESTART FUNCTION

FANUC Corporation, Minam...

1. A numerical control device configured to control a machine tool and machine a workpiece by analyzing and executing a machining
program on a per block basis, comprising:
a setting unit for setting in advance, for the machining program including a plurality of machining steps, a plurality of
specific codes, each specific code indicating a corresponding limit point of a plurality of limit points of the machining
steps, wherein each specific code is specified by a parameter including at least one of an arbitrary code specified by a user
and a tool change command;

an analysis/detection unit for analyzing an unexecuted block in the machining program and detecting at least one specific
code of the plurality of specific codes at a preset timing before and during the execution of the machining program;

a data acquisition/saving unit for acquiring and saving a location in a memory where a block of the at least one specific
code detected by the analysis/detection unit is stored;

a first display unit for displaying the at least one specific code, as a list, by using a plurality of locations in the memory
that are acquired and saved by the data acquisition/saving unit;

a specification unit for specifying, among the at least one specific code displayed as the list by the first display unit,
a selected specific code; and

a program restart unit for executing, by using a location in the memory of the specific code that is specified by the specification
unit, a restart operation of the machining program from the machining step including the specific code that is specified after
the detection by the analysis/detection unit has been completed.

US Pat. No. 9,899,954

MOTOR DRIVE APPARATUS HAVING FUNCTION OF DETECTING FAILURE OF ELECTRIC SHUNT

FANUC CORPORATION, Yaman...

1. A motor drive apparatus comprising:
an electric shunt configured to shunt a current flowing through a power line connected to a motor;
a first current detection unit and a second detection unit, each disposed on either side of a node shunted by the electric
shunt, configured to detect the current flowing through the power line;

a shunt commanding unit configured to give a shunt command to the electric shunt to effect shunting of the current; and
a determining unit configured to determine the presence or absence of a fault in the electric shunt, based on the shunt command
and on current values detected by the first current detection unit and the second detection unit.

US Pat. No. 9,885,898

FRONT PANEL WITH DESIGN SHEET AND MANUFACTURING METHOD OF FRONT PANEL WITH DESIGN SHEET

FANUC CORPORATION, Yaman...

1. A front panel, comprising:
a design sheet;
a touch panel or a transparent plate for protecting a liquid crystal display panel; and
a metal sheet; wherein
the metal sheet has a frame shape to surround a periphery of the touch panel or the transparent plate and to have an outer
shape which is identical to an outer shape of the design sheet,

the touch panel or the transparent plate is bonded to a back face of the design sheet which includes a transparent display
region, with an optical transparent double-sided tape or an optical transparent adhesive,

the metal sheet having the frame shape is bonded to the back face of the design sheet with an adhesive or a double-sided tape,
in a thickness direction of the design sheet, the metal sheet is at least partially co-elevational with the touch panel or
the transparent plate, and

the design sheet, the touch panel or the transparent plate, and the metal sheet are integrated.

US Pat. No. 9,887,513

LASER APPARATUS HAVING CONDENSATION PREVENTION FUNCTION

FANUC CORPORATION, Yaman...

1. A laser apparatus which includes a laser oscillator and a power supply unit for supplying a driving current to the laser
oscillator, and which is configured so that cooling water for cooling a heat-generating component contained in the laser apparatus
is supplied from a cooling water supply apparatus provided outside the laser apparatus, wherein
the laser apparatus comprises:
a cabinet having hermeticity to reduce the amount of air infiltrating from outside the laser apparatus into an interior of
the laser apparatus to a level not higher than a predetermined value;

a dehumidifier which dehumidifies air inside the laser apparatus;
a humidity detector which detects humidity of the air inside the laser apparatus;
a first temperature detector which detects temperature of the air inside the laser apparatus;
a second temperature detector which detects temperature of the cooling water supplied from outside the laser apparatus;
a computing unit which computes dew point of the air inside the laser apparatus from detection results supplied from the humidity
detector and the first temperature detector;

a decision unit which makes a decision, based on the detection result from the second temperature detector and the dew point
computed by the computing unit, as to whether a flow start condition for starting to flow the cooling water into the interior
of the laser apparatus or an oscillation start condition for causing the laser oscillator to start laser oscillation by supplying
the driving current from the power supply unit to the laser oscillator has been satisfied or not; and

a control unit which, based on the result of the decision made by the decision unit, controls the opening and closing of a
shutoff valve provided in a pipe through which the cooling water supplied from the cooling water supply apparatus flows, or
controls the supply of the driving current from the power supply unit to the laser oscillator, and wherein

the control unit is configured so that when it is decided by the decision unit that a relation (dew point)+(first predetermined
temperature difference)?(cooling water temperature) and a relation (first limit of cooling water temperature during laser
oscillation)?(cooling water temperature)?(second limit of cooling water temperature during laser oscillation) are both satisfied
as a result of a comparison between the dew point computed by the computing unit and the cooling water temperature detected
by the second temperature detector, the shutoff valve provided in the pipe is opened to start to flow the cooling water into
the interior of the laser apparatus and, after that the driving current is supplied to the laser oscillator to start laser
oscillation, and

the cooling water supply apparatus is configured to continue to supply the cooling water during the laser oscillation, the
cooling water being controlled within a first predetermined temperature range defined between the first limit of the cooling
water temperature during the laser oscillation and the second limit of the cooling water temperature during the laser oscillation,
while the dehumidifier is configured to continue to dehumidify the air during the laser oscillation so that the relation of
(dew point)+(first predetermined temperature difference)?(cooling water temperature) is maintained.

US Pat. No. 9,884,276

FILTRATION FILTER OF ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A filtration filter of an electric discharge machine,
the electric discharge machine configured to:
collect and store a machining liquid in a sewage tank from a machining tank having therein an electric discharge machining
unit configured to perform electric discharge machining of a workpiece through an electrode;

allow the filtration filter to filter out machining chips of the workpiece and of the electrode, said chips produced as a
result of electric discharge machining, from the machining liquid collected and stored in the sewage tank; and

supply the filtered machining liquid into a clean-water tank,
the filtration filter comprising:
a filter medium configured to filter the machining liquid; and
an outer cylinder container containing the filter medium, and having, on an outer circumference of the outer cylinder container,
fluid passage holes through which the filtered machining liquid-is passable, wherein

the fluid passage holes are provided only in an upper portion of the outer cylinder container,
wherein the outer cylinder container of the filtration filter has a machining liquid discharge hole through which the machining
liquid stored in the outer cylinder container is dischargeable to an outside of the outer cylinder container, and

wherein the machining liquid discharge hole comprises a valve, and the valve is configured to be opened and closed in conjunction
with

a filter flow volume of the filtration filter, wherein the valve is configured to open in response to the filter flow volume
being less than a predetermined flow volume after a filter pressure of the filtration filter is increased to reach a predetermined
pressure, so as to drain the machining liquid stored in the outer cylinder container,

a filter flow velocity of the filtration filter, wherein the valve is configured to open in response to the filter flow velocity
being less than a predetermined flow velocity after the filter pressure of the filtration filter is increased to reach the
predetermined pressure, so as to drain the machining liquid stored in the outer cylinder container, or

an alarm generated corresponding to a detection signal of
the filter flow volume of the filtration filter,
the filter flow velocity of the filtration filter, or
the filter pressure of the filtration filter.

US Pat. No. 9,882,339

LASER OSCILLATION DEVICE HAVING LASER MEDIUM CIRCULATING TUBE

FANUC CORPORATION, Yaman...

1. A laser oscillation device comprising:
a resonator part including an introduction port, through which a laser medium is introduced, and a discharge port, from which
the laser medium is discharged, the resonator part generating a laser beam;

a laser medium-circulating pipe, one end of which is connected to the introduction port, and the other end of which is connected
to the discharge port;

a blower arranged in the laser medium-circulating pipe, and configured to flow the laser medium so that the laser medium is
introduced into the resonator part through the introduction port and that the laser medium introduced into the resonator part
is discharged from the discharge port; and

a heat-insulating mechanism provided in the laser medium-circulating pipe, and configure to block heat conduction between
the laser medium flowing through the laser medium-circulating pipe and the laser medium-circulating pipe.

US Pat. No. 9,871,342

AIR-COOLED LASER DEVICE HAVING HEAT-TRANSFER MEMBER WITH HEAT RADIATING FINS

FANUC CORPORATION, Yaman...

1. An air-cooled laser device, the air-cooled laser device comprises:
a housing including:
a laser diode module,
a plurality of heat radiating fins attached to a common heat-transferring member thermally connected to the laser diode module
via a heat-receiving member, the plurality of heat radiating fins including a first fin set and a second fin set adjacent
to the first fin set, and

at least one of a first fan adjacent to the first fin set for sending air through the plurality of heat radiating fins of
the first fin set in a first flow direction, and a second fan adjacent to the second fin set for sending air through the plurality
of heat radiating fins of the second fin set in a second flow direction generally opposite the first direction,

wherein the heat transferring member, the first and second fin sets, and the first and second fans are positioned in the housing,
and

wherein at least 50 volume percent, among the air flowing through the heat radiating fins of the first fin set, flows through
the heat radiating fins of the second fin set prior to flowing through the heat radiating fins of the first fin set again;
and

a cooling unit for cooling the air heated by the laser diode module, and
wherein the housing and the cooling unit are a closed system with a substantially sealed structure, and are connected to each
other through an inlet port for transferring the air heated by the laser diode module to the cooling unit, and an outlet port
for discharging the cooled air into the housing.

US Pat. No. 9,869,995

NUMERICAL CONTROLLER WITH AN I/O CONTROL UNIT THAT GENERATES CONTROL INFORMATION USING A PROCESSOR OF THE I/O CONTROL UNIT

FANUC CORPORATION, Yaman...

1. An I/O control system, comprising:
at least one motor configured to drive moving parts of a machine including a peripheral device;
at least one amplifier configured to drive the motor;
a numerical controller configured to instruct the amplifier so as to control the motor;
an I/O control unit connected to the peripheral device; and
communication lines to which the numerical controller, the amplifier, and the I/O control unit are connected, wherein
the I/O control unit includes
a communication interface configured to perform communication through the communication lines,
an I/O interface configured to carry out input and output of signals to and from the peripheral device,
a processor configured to
generate control information for control over the peripheral device based on (i) servo control information received through
the communication interface and (ii) input data received from the peripheral device through the I/O interface, and

output the generated control information to the peripheral device through the I/O interface, and
a timer referable to from the processor, wherein
the I/O control unit is configured to output the generated control information to the I/O interface with a time resolution
shorter than a control cycle for communication through the communication lines,

the numerical controller includes a further processor different from the processor of the I/O control unit, and
the further processor is configured to generate a part of the servo control information.

US Pat. No. 9,821,459

MULTI-JOINT ROBOT HAVING FUNCTION FOR REPOSITIONING ARM

FANUC CORPORATION, Yaman...

1. A multi-joint robot, comprising:
a first axis having a first vector in an axial direction of the first axis;
a second axis having a second vector in an axial direction of the second axis, an inner product of the first and second vectors
being equal to zero without depending on a posture of the multi-joint robot;

a controller which controls the multi-joint robot; and
a single sensor or a sensor positioned at one site of the robot having a torque detecting part which detects a first torque
about the first axis and a second torque about the second axis,

wherein the controller:
calculates a first disturbance torque about the first axis and a second disturbance torque about the second axis second, by
subtracting a torque generated by a mass and motion of the multi-joint robot from the first torque and the second torque detected
by the torque detecting part, respectively;

compares the first disturbance torque to a first torque threshold;
controls the multi-joint robot to rotate along the first axis in a direction so that the first disturbance torque is reduced,
when the comparison indicates that the first disturbance torque exceeds the first torque threshold;

compares the second disturbance torque to a second torque threshold; and
controls the multi-joint robot to rotate along the second axis in a direction so that the second disturbance torque is reduced,
when the comparison indicates that the second disturbance torque exceeds the second torque threshold.

US Pat. No. 9,823,643

CONTROLLER FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A controller for a machine tool, the machine tool comprising an additional-axis table including a tilting table and a rotary
table, the controller comprising:
an option storage section configured to store a plurality of options to be selected by an operator to set control parameters
for the tilting table and the rotary table in a manner such that, for each of the plurality of options, (i) an explanatory
diagram illustrating the tilting table and the rotary table according to the option, (ii) a control parameter item to be set
when the option is selected, and (iii) a set value of the control parameter item are associated with the option;

a selection section configured to select a specific one of the plurality of options;
a display section configured to read the explanatory diagram associated with the specific option selected in the selection
section from the option storage section and display the explanatory diagram; and

a parameter setting section configured
to read the control parameter item associated with the specific option selected in the selection section and the set value
of the control parameter item, and

to assign the set value of the control parameter item to the read control parameter item,
wherein
the display section is configured to display the explanatory diagram associated with the selected specific option together
with the read control parameter item and the set value of the control parameter item, and

the display section is configured to change a display state of the tilting table or rotary table based on an assignment of
the tilting table or rotary table as an axis of the additional-axis table in accordance with the specific option selected
in the selection section.

US Pat. No. 9,806,878

CONTROL SYSTEM

FANUC CORPORATION, Minam...

1. A control system comprising:
a controller having a serial communication function; and
a plurality of input/output units having a re-clock function, the controller and the input/output units being daisy-chained,
wherein each input/output unit includes:

a phase detection circuit detecting a phase of a rising or falling edge of serial data received through serial communication
and outputting a phase difference between the phase of the rising or falling edge of the serial data and a phase of a reference
clock as phase difference data;

a phase determination circuit determining whether the phase difference data output from the phase detection circuit exceeds
a predetermined range and outputting a determination signal when determined that the phase difference data exceeds the predetermined
range; and

a first recording memory unit recording a frequency of the determination signal output by the phase determination circuit,
and

wherein the controller is configured to:
acquire the frequency of the determination signal of each of the input/output units recorded by the first recording memory
unit of the respective input/output unit by the serial communication function;

specify a noise mixture route based on the acquired frequency of the determination signal of each of the input/output units;
and

notify the specified noise mixture route.

US Pat. No. 9,770,803

COOLANT NOZZLE HAVING FUNCTION OF AUTOMATICALLY ELIMINATING CLOGGING BY FOREIGN MATTER

FANUC CORPORATION, Yaman...

1. A coolant nozzle through which a liquid coolant is discharged, the coolant nozzle comprising:
an outer tube with a discharge port at a lower end thereof;
a projecting member disposed inside the outer tube and set up upstream with respect to the coolant from the discharge port
of the outer tube;

an inner tube disposed inside the outer tube and comprising a nozzle opening in a position for insertion of the projecting
member; and

an elastic body disposed between the inner tube and the discharge port of the outer tube,
wherein the elastic body is compressed so that the inner tube moves toward the discharge port by a distance corresponding
to the compression when the inner tube is pushed by the coolant, whereby a distal end portion of the projecting member projects
out of the inner tube through the nozzle opening.

US Pat. No. 9,737,991

ROBOT CONTROL DEVICE CONTROLLING ROBOT BASED ON EXTERNAL FORCE APPLIED TO ROBOT AND ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot control device which controls an operation of a robot based on an output from a sensor which detects an external
force applied to the robot, the robot control device comprising:
a processor configured to
judge whether the robot has contacted an object based on the external force detected by the sensor;
stop the robot when the processor judges that the robot has contacted the object;
judge whether the robot continues to contact the object after stopping the robot; and
retract the robot in a direction away from the object when the processor judges that the robot continues to contact the object
after said stopping the robot.

US Pat. No. 9,764,504

INJECTION MOLDING MACHINE PROVIDED WITH ELEVATION TYPE SIGNAL LAMP

FANUC CORPORATION, Yaman...

1. An injection molding machine, comprising:
a signal lamp configured to display an operation state of the injection molding machine; and
an elevation unit configured to elevate the signal lamp,
wherein a height of the signal lamp is adjustable by an elevation operation of the elevation unit,
the elevation unit includes a wire, a wire winding portion, an elevation member, and a sliding support member,
one end of the wire is fixed to the wire winding portion and the other end of the wire is fixed to the elevation member,
the signal lamp is fixed to the elevation member,
the elevation member is attached to the sliding support member so as to be elevated while being guided by the sliding support
member, and

the elevation member is configured to be elevated while being guided by the sliding support member through a wire winding
operation of the wire winding portion.

US Pat. No. 9,768,660

PURGE SYSTEM CAPABLE OF CONTROLLING FLOW RATE OF AIR

FANUC CORPORATION, Yaman...

1. An air purges system comprising:
an electric motor having a housing, an output shaft rotatably supported inside the housing, and an air purge device provided
at an end portion of the housing to supply air to a space around an outer peripheral surface of the output shaft;

an information acquisition unit which acquires operation information of the electric motor; and
an air control unit which controls an amount of air supplied from the air purge device in response to the operation information
acquired by the information acquisition unit, wherein

the air control unit increases the amount of the air supplied from the air purge device when deceleration information corresponding
to a deceleration operation of the electric motor is acquired by the information acquisition unit.

US Pat. No. 9,751,181

DISTANCE MEASUREMENT HOLDER AND MACHINE TOOL HAVING INTERFERING OBJECT SENSING FUNCTION

FANUC CORPORATION, Yaman...

1. A machine tool having a function of sensing an interfering object when machining is performed by the machine tool, the
machine tool comprising:
a main shaft;
a laser emission device attached to the main shaft and configured to emit a laser beam;
a tapered sleeve supported to be rotatable relative to a holder main body and configured to be fit into the main shaft when
detachably attached to the main shaft;

a reflection mirror section coupled to the tapered sleeve and configured to reflect the laser beam emitted from the laser
emission device, wherein an angle of a side surface of the reflection mirror section changes in a circumferential direction
around a rotation axis L of the main shaft;

a light receiving section fixed to the holder main body and configured to sense the laser beam reflected by a measurement
target;

a positioning pin provided in the holder main body and configured to be inserted into the machine tool; and
a controller configured to
store therein a tangent value of an emission angle of the laser beam corresponding to a rotation angle of the main shaft at
a predetermined position in a vertical axis direction thereof,

analyze a block in a machining program to determine whether or not there is, in the block, an instruction to move the main
shaft in the vertical axis direction thereof,

when a determination is made that there is an instruction to move the main shaft in the vertical direction thereof with respect
to the position of the main shaft, calculate the rotation angle of the main shaft from the value stored by the controller
and a position to which the main shaft is instructed to move, for applying the laser beam to a position to which a position
control point of the main shaft is expected to come when the main shaft actually moves,

apply the laser beam at a predetermined rotation angle including the calculated rotation angle of the main shaft,
determine whether or not the light receiving section has received the reflected laser beam,
when a determination is made that the light receiving section has received the laser beam, calculate a distance Z from a machine
origin to the measurement target using the equation Z=tan ?·D+C+q, wherein tan ? is the tangent value of the emission angle
of the laser beam corresponding to the rotation angle of the main shaft as stored by the controller,

D is a distance from the rotation axis L of the main shaft to the light receiving section in a direction perpendicular to
the rotation axis L,

C is a distance from the position control point of the main shaft to the light receiving section in a direction parallel to
the rotation axis L, and

q is a distance from the machine origin to the position control point of the main shaft, and
determine, from the calculated distance Z, whether or not the measurement target and the machine tool interfere with each
other.

US Pat. No. 9,715,228

NUMERICAL CONTROLLER CAPABLE OF PREVENTING WRONG MACHINING AFTER MACHINING CONDITION CHANGE

FANUC Corporation, Minam...

5. The numerical controller according to claim 3, wherein the machining condition includes a parameter, a correction amount, and/or a machining state.

US Pat. No. 9,669,548

MOBILE COLLABORATIVE ROBOT

FANUC CORPORATION, Yaman...

1. A mobile collaborative robot which carries out tasks in cooperation with a human, comprising
a carriage which has a robot support and which is moved by driving a first actuator,
a robot main body which is supported by the robot support on the carriage and which is operated by driving a second actuator,
a force sensor which is provided on the robot support to detect an external force acting on the robot support,
a robot information acquisition unit which acquires robot information including posture information of the robot main body
and load information of a load acting on the robot main body,

a force calculation unit which calculates the external force acting on the robot support based on the robot information acquired
by the robot information acquisition unit, and

a judgment unit which judges that the mobile collaborative robot has made contact with a human when a difference between the
external force detected by the force sensor and the external force calculated by the force calculation unit is above a predetermined
value or when a difference between the amount of change in the external force detected by the force sensor and the amount
of change in the external force calculated by the force calculation unit is above a predetermined value.

US Pat. No. 9,618,558

MOTOR DRIVING APPARATUS INCLUDING LIFE DETERMINING UNIT OF DIRECT-CURRENT CAPACITOR

Fanuc Corporation, Yaman...

1. A motor driving apparatus comprising: a converter converting, into a direct-current power, an alternating-current power
supplied from an alternating-current power source side; at least two direct-current capacitors provided in a direct-current
link being a direct-current side of the converter and mutually connected in parallel; and at least two inverters respectively
connected in parallel with the direct-current capacitors, and converting a direct-current power in the direct-current link
into an alternating-current power being a driving power of a motor, the motor driving apparatus characterized by comprising:
a voltage detecting unit for detecting a voltage for each of the direct-current capacitors;
a current detecting unit for, for each of the inverters, detecting a current either inputted to or outputted from the inverter;
a commanding unit for outputting power-converting command to the inverters to command conversion of the direct-current power
in the direct-current link into an alternating-current power, after the direct-current capacitors are charged as well as supply
of direct-current power from the alternating-current power source side to the converter is shut off;

a current integrating unit for integrating a current of each of the inverters detected by the current detecting unit while
the commanding unit is outputting the power-converting commands, and outputting 30 the result as a current integration value
for each of the inverters;

a capacity estimating unit for calculating an estimated capacity for each of the direct-current capacitors, based on the current
integration value corresponding to the inverter corresponding to the direct-current capacitor and a voltage of the direct-current
capacitor detected by the voltage detecting unit after supply of the direct-current power to the converter is shut off and
before the commanding unit outputs the power-converting commands; and

a life determining unit for each of the direct-current capacitors, determining whether the direct-current capacitor is at
the end of its life based on an initial capacity value of the direct-current capacitor still unused measured in advance and
the estimated capacity of the direct-current capacitor calculated by the capacity estimating unit.

US Pat. No. 9,581,647

MOTOR DRIVE HAVING FUNCTION OF DETECTING WELDING OF ELECTROMAGNETIC CONNECTOR

Fanuc Corporation, Yaman...

1. A motor drive comprising:
an AC/DC conversion unit configured to convert alternating current (AC) voltage supplied from an AC power source to direct
current (DC) voltage;

an electromagnetic connector configured to perform switching to connect or disconnect the AC power source to or from said
AC/DC conversion unit;

a DC link unit configured to smooth the DC voltage outputted from said AC/DC conversion unit;
a DC/AC conversion unit configured to convert the DC voltage smoothed by said DC link unit to AC voltage for driving the motor;
a current detection unit configured for detecting current input from the AC power source to said AC/DC conversion unit, and
a control unit configured to output a command to connect or disconnect said electromagnetic connector and control said AC/DC
conversion unit,

wherein said control unit includes:
a time measurement unit configured to measure elapsed time since said electromagnetic connector performs the switching; and
a welding judgment unit configured to judge that said electromagnetic connector is welded, in a case where the current measured
by said current detection unit when said control unit outputs the command to connect the AC power source to said AC/DC conversion
unit, after the predetermined time has elapsed since said control unit outputs the command to disconnect the AC power source
from said AC/DC conversion unit, is less than a predetermined current level.

US Pat. No. 9,570,838

STRUCTURE OF HIGHLY WATERPROOF CONNECTOR FOR EASY CONDUCTION BETWEEN GROUND PIN AND BODY

FANUC CORPORATION, Yaman...

1. A structure of a connector for power or braking, the structure attached to an electric motor, the structure comprising
a resin molding around at least a ground pin and a power supply pin, wherein
an electrical junction between the ground pin and a body of the electric motor or a brake is disposed in a predetermined position
on an inner peripheral side of a sealing portion which seals an interior of the body of the electric motor or the brake from
the air,

the electrical junction comprises a convex connection structure,
the convex connection structure is arranged on the connector and projects in an axial direction of the connector toward the
body of the electric motor or the brake,

the axial direction is along a lengthwise direction of the ground pin and power supply pin,
at least two convex structures, similar to the convex connection structure and electrically connected to neither the ground
pin nor the power supply pin, are further provided on the connector and project in the axial direction of the connector toward
the body of the electric motor or the brake,

the connector has a lower flat surface facing a flat surface of the body of the electric motor or the brake, and
the convex connection structure and the at least two convex structures project in the axial direction beyond the lower flat
surface of the connector to be pressed against the flat surface of the body of the electric motor or the brake.

US Pat. No. 9,459,611

WIRE ELECTRIC DISCHARGE MACHINE HAVING PEAK CURRENT COMPENSATION FUNCTION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine for applying electric voltage between a wire electrode and a workpiece while changing
a relative position between the wire electrode and the workpiece, the wire electric discharge machine comprising:
a first detecting unit configured to detect an average electric current;
a second detecting unit configured to detect an electric discharge frequency;
a determining unit configured to determine, when starting a machining, whether or not the machining is a machining in an approach
up to a machined shape required as a product;

a computing unit configured to, when the determining unit determines that the machining is carried out in the approach,
set, in the approach, a measuring section for measuring the average electric current and the electric discharge frequency
when the machining is carried out in the measuring section, and

compute a peak current when the machining is under way, on the basis of the average electric current and the electric discharge
frequency detected when the machining is carried out in the set measuring section;

a memory unit configured to store a reference peak current;
a comparing unit configured to compare the peak current computed by the computing unit with the reference peak current stored
in the memory unit; and

a compensation voltage calculating unit configured to calculate an electric voltage of a machining power source for compensating
the peak current at a portion where machining of the machined shape is carried out, on the basis of a result of comparison
by the comparing unit.

US Pat. No. 9,438,158

MOTOR CONTROL DEVICE CONTROLLING SYNCHRONOUS MOTOR

FANUC CORPORATION, Yaman...

1. A motor control device that generates a q-axis current command and a d-axis current command, and uses the commands to control
a synchronous motor having saliency, the motor control device comprising:
a calculating unit calculating a speed reference value that takes an initial value when a torque command is zero, and that
decreases as the torque command increases;

a determining unit determining a magnitude relation between a speed command and the speed reference value calculated for the
torque command by the calculating unit;

a q-axis-current commanding unit that
generates, when the determining unit determines that the speed command is smaller than the speed reference value, the q-axis
current command of commanding a q-axis current to flow to the synchronous motor, on the basis of

the torque command, and
an inverse number of a torque constant of the synchronous motor, and
generates, when the determining unit determines that the speed command is equal to or larger than the speed reference value,
the q-axis current command of commanding the q-axis current to flow to the synchronous motor, on the basis of

a function of which an independent variable is the speed command,
the torque command, and
the inverse number of the torque constant of the synchronous motor;
a d-axis-current commanding unit generating the d-axis current command of commanding a d-axis current to flow to the synchronous
motor, on the basis of the q-axis current command generated by the q-axis-current commanding unit; and

an inverter configured to supply power to the synchronous motor in accordance with the q-axis-current command and the d-axis-current
command,

wherein
the speed reference value is ?n,

the initial value of the speed reference value when the torque command is zero is ?0,

a change ratio of the speed reference value is k,
the torque command is TCMD, and

the calculating unit calculates the speed reference value ?n on the basis of the equation:

?n=?0?k×TCMD.

US Pat. No. 9,308,612

MACHINE TOOL HAVING STOPPER FOR PREVENTING CHIPS FROM ENTERING MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:
a column erected on a bed;
a saddle supported by a guide mounted on the bed is configured to move in a direction toward or away from the column;
a protective cover secured to the saddle, moveable together with the saddle to enter or leave a cavity formed under the column,
and configured to protect the guide; and

a stopper attached to one of (i) the column, (ii) a member connected to the column, (iii) the bed, and (iv) a member connected
to the bed,

wherein
the stopper faces a surface of the protective cover that opposes the bed, and
the stopper is configured to inhibit chips from entering the cavity formed under the column.

US Pat. No. 10,973,130

PRINTED WIRING BOARD

FANUC CORPORATION, Yaman...

8. A printed wiring board comprising:a substrate;
a contact member arranged in contact with the substrate; and
a wear resistant member fixed at least in an area on the substrate that comes in contact with the contact member, the wear resistant member having a wear resistance higher than that of the substrate, to prevent the substrate from wearing due to the contact member contacting and rubbing against the substrate,
wherein the contact member is a support part configured to support an electronic component mounted on the substrate, and
the contact member contacts the wear resistant member in a manner that the contact member may rub against the wear resistant member.

US Pat. No. 10,739,231

DATA MEASURING DEVICE SWITCHING COMMUNICATION DESTINATION FOR MEASURING PHYSICAL DATA

FANUC CORPORATION, Yaman...

1. A data measuring device for measuring data of machining tools, the data measuring device comprising:a transceiver for communicating with a plurality of numerical control devices configured to control a plurality of machine tools through telecommunications lines;
a processor configured to:
measure, through the numerical control devices in communication with the processor, physical data relating to operations of respective drive shafts of the machine tools corresponding to the numerical control devices;
successively track, in a predetermined order, machining processes of a particular workpiece by the plurality of machine tools, the predetermined order indicating a predetermined machining sequence of the particular workpiece performed by each of the plurality of machine tools, the successive tracking performed by repeating the following steps for each of the plurality of machine tools:
in response to the transceiver receiving a trigger signal from at least one numerical control device indicating that the machine tool controlled by the at least one numerical control device has started processing the particular workpiece,
setting the at least one of the plurality of numerical control devices as a destination,
in response to setting the at least one of the plurality of numerical control devices as the destination, communicate with the at least one numerical control device through the transceiver, and measure the physical data of the machine tool;
a memory configured to store the physical data measured by the processor; and
a display configured to display the physical data stored by the memory,
wherein the display:
in response to a first machining process of the respective machining processes being performed, displays a first three-dimensional path of a first machine tool of the plurality of the machine tools, and
in response to subsequent machining processes of the respective machining processes being performed, sequentially superimposes and displays subsequent three-dimensional paths of subsequent machine tools of the plurality of the machine tools,
wherein each of the three-dimensional paths are displayed in a respective style unique to each of the three-dimensional paths, such that each of the three-dimensional paths can be visually compared to each other and one or more of the respective machining processes can be identified from the visual comparison as causing a defect in the workpiece.

US Pat. No. 10,710,248

ROBOT

FANUC CORPORATION, Yaman...

1. A robot comprising:a driving mechanism that drives a movable member with respect to a base; and
a cooling fan that cools the driving mechanism,
wherein the driving mechanism is provided with a motor and a reducer that is disposed between the base and the movable member and that moves the movable member with respect to the base by reducing the speed of the rotation of the motor,
the motor and the reducer are disposed on opposite sides of a securing plate that is secured to the base,
the cooling fan is disposed on an opposite side from the securing plate, with the motor interposed between the cooling fan and the securing plate, and generates an airflow that is circulated along a surface of the motor,
a mounting base secured to the base is provided with an accommodating space formed as a hole in the base with a circular lateral cross section, one end of the accommodating space is closed off by the securing plate, the reducer is disposed inside the accommodating space, and a space in which a surface of the reducer is exposed is formed between an outer circumferential surface of the reducer and an inner circumferential surface of the accommodating space, and
the securing plate is provided with a vent that is connected to the space by passing through the securing plate in a thickness direction thereof, and through which the airflow generated by the cooling fan passes into the accommodating space,
wherein an airflow-guiding portion is formed by strip-shaped plate members and is disposed so as to surround the motor and the vent at positions that are radially further outside than the vent, and blocks the airflow that is circulated along the surface of the motor and guides the airflow to the vent and into the accommodating space.

US Pat. No. 10,698,382

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller capable of determining whether or not an input numerical value of an operator is within a range of a limit value, the numerical controller comprising:an input receiving unit receiving various operations of the operator and input of numerical values for input items;
an input numerical value limiting unit determining whether or not the input numerical value is within the range of the limit value;
a limit value changing unit changing the limit value when the input receiving unit receives a specific operation; and
a limit value restoring unit restoring the limit value to a value before the change when the specific operation is completed.

US Pat. No. 10,688,699

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system comprising:a plurality of injection devices configured to inject a molding material into a mold having a corresponding plurality of cavities;
a controller for controlling the plurality of injection devices to mold a plurality of molded parts through injection of the molding material into each of the corresponding plurality of cavities in one cycle; wherein the controller includes: a determining unit configured to determine quality of the plurality of molded parts molded at the plurality of cavities; and
a control unit configured to allow, in a case where a molded part of the plurality of molded parts is judged to be defective, injection to a cavity of the plurality of cavities where the molded part is judged to be defective while preventing injection to a cavity of the plurality of cavities where a molded part of the plurality of molded parts is judged to be good.

US Pat. No. 10,693,353

METHOD OF MANUFACTURING A MAGNET PLATE FOR A LINEAR MOTOR

FANUC CORPORATION, Yaman...

1. A method for producing a magnet plate for a linear motor, the magnet plate comprising a base plate and a plurality of magnets juxtaposed to one another on a flat surface of the base plate, the method comprising:providing the plurality of magnets on the flat surface of the base plate at a certain interval,
placing the base plate into a mold,
supplying a resin material into the mold, so as to form a resin molding covering the plurality of magnets on the flat surface of the base plate by injection molding,
magnetizing the plurality of magnets, and
heating the base plate, prior to said supplying the resin material into the mold and the injection molding to form the resin molding on the flat surface of the base plate,
wherein the base plate is flat and includes a major side having the flat surface directly supporting a major side of the magnets, and
wherein a protruding part is positioned on the flat surface of the base plate in each gap between two adjacent magnets of the plurality of magnets,
the protruding part extending, in a longitudinal direction of each magnet of the two adjacent magnets, beyond both longitudinal ends of said each magnet.

US Pat. No. 10,684,604

NUMERICAL CONTROL APPARATUS ENABLING SPECIFICATION OF A CIRCULAR ARC SHAPE MOVEMENT TRAJECTORY

FANUC Corporation, Minam...

1. A numerical control apparatus for controlling a machine tool and which enables specification of a movement trajectory of a circular arc shape by a circular arc interpolation command which is included in a machining program, the numerical control apparatus comprising:a program analysis unit which analyzes the machining program so as to acquire command data;
a command argument determination unit which (i) analyzes a form of an argument of a circular arc interpolation command included in the command data and (ii) determines, based on the analyzed form of the argument, whether the circular arc interpolation command specifies a vector originating from a certain point along a straight line connecting a start point and an end point of a circular arc shape and leading to a point along the circular arc shape, the vector being specified by three coordinate values;
a circular arc shape forming unit which forms a circular arc shape based on the machining program, the start point of the circular arc shape, the end point of the circular arc shape, and a direction and length of the vector, the start point of the circular arc shape, the end point of the circular arc shape, and the vector being specified by the argument of the circular arc interpolation command, when the command argument determination unit determines that the circular arc interpolation command specifies the vector, wherein the circular arc shape forming unit is configured to:
obtain a start point of the vector based on (i) the start point of the circular arc shape, (ii) the end point of the circular arc shape, and (iii) a distance from the start point of the circular arc shape to the certain point along the line connecting the start point of the circular arc shape and the end point of the circular arc shape from which the vector originates,
obtain the point along the circular arc shape to which the vector leads based on (i) the start point of the vector, (ii) the direction of the vector, and (iii) the length of the vector, and
form the circular arc shape to pass through the (i) the start point of the circular arc shape, (ii) the end point of the circular arc shape, and (iii) the point along the circular arc shape to which the vector leads;
a tool trajectory forming unit which forms a tool trajectory of a machine based on the circular arc shape; and
a distribution processing execution unit which controls at least one motor of the machine tool based on the tool trajectory formed by the tool trajectory forming unit.

US Pat. No. 10,650,956

REACTOR HAVING IRON CORES AND COILS

FANUC CORPORATION, Yaman...

1. A reactor, comprising:a core body, the core body comprising:
an outer peripheral iron core composed of a plurality of outer peripheral iron core portions, at least three iron cores coupled to the plurality of outer peripheral iron core portions, and coils wound onto the at least three iron cores; wherein
gaps, which can be magnetically coupled, are formed between one of the at least three iron cores and another iron core adjacent thereto, wherein a point of intersection of the gaps is located at a center of the core body; the reactor further comprising:
cover parts which at least partially cover the iron cores and provide insulation from the coils, wherein the cover parts are arranged between the outer peripheral iron core portions and the coils, and
additional cover parts which at least partially cover the inner surfaces of the outer peripheral iron core portions and provide insulation from the coils, the additional cover parts having shapes corresponding to an inner surface of the outer peripheral iron core, wherein the additional cover parts are attached to an edge portion of the side surfaces of the cover parts.

US Pat. No. 10,639,799

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot that is movable according to an external force applied thereto by a worker;
a force detecting unit that is provided in the robot and that detects the magnitude of an external force acting on the robot;
a warning part that vibrates the robot when an external force having a magnitude equal to or greater than a first predetermined threshold is detected by the force detecting unit; and
a stop part that stops the robot when an external force having a magnitude equal to or greater than a second predetermined threshold that is greater than the first predetermined threshold is detected by the force detecting unit,
wherein the warning part changes the vibration according to the magnitude of the external force.

US Pat. No. 10,627,256

ROTATION ANGLE DETECTING DEVICE

FANUC CORPORATION, Yaman...

1. A rotation angle detecting device for detecting a rotation angle of a rotating shaft, comprising:a magnetic rotor rotating integrally with the rotating shaft and including a detected portion used for detecting the rotation angle;
a first detector arranged to oppose the detected portion and configured to detect change of a magnetic flux density caused by rotation of the magnetic rotor in a first detection field over the detected portion and output a first detection signal representing the rotation angle of the magnetic rotor; and
a second detector arranged to oppose the detected portion and configured to detect change of the magnetic flux density caused by rotation of the magnetic rotor in a second detection field located over the detected portion at a position different from the first detection field with respect to the rotating direction of the magnetic rotor and output a second detection signal that is out of phase with the first detection signal but represents the rotation angle of the magnetic rotor,
wherein the second detection field is shorter than the first detection field with respect to a direction perpendicular to the rotating direction of the magnetic rotor.

US Pat. No. 10,619,676

COUPLING AND METHOD FOR FIXING THE SAME

FANUC CORPORATION, Yaman...

1. A method for fixing a coupling comprising the steps of:fitting an end of a spline shaft including a plurality of spline grooves into a fitting hole of a body member, the plurality of spline grooves linearly extending in an axial direction at an interval in a circumferential direction;
pressing a pressing part having a circular cross section, provided in a tip of a screw member, against the spline groove by fastening the screw member into a screw hole provided in the body member so as to penetrate from an outer surface of the body member to an inner surface of the fitting hole along a radial direction, and positioning the body member in the circumferential direction of the spline shaft; and
fixing the body member in a state of being positioned to the spline shaft.

US Pat. No. 10,584,733

RELOCATING MECHANISM OF INDUSTRIAL MACHINE

Fanuc Corporation, Yaman...

1. A relocating mechanism of an industrial machine, the relocating mechanism comprising:a bracket including a first through hole vertically passing through the bracket and configured to be attachable, through the first through hole, to a second through hole provided in a member of the industrial machine using a fastener, the bracket being arranged adjacent to the member in a state in which the bracket and the member are in contact with each other;
a friction reducing member attached to the bracket; and
wherein a vertical force applied between the member and the bracket by the fastener received in the second through hole causes the member to be lifted relative to, and supported at least in part by, the friction reducing member.

US Pat. No. 10,580,565

REACTOR INCLUDING FIRST END PLATE AND SECOND END PLATE

FANUC CORPORATION, Yaman...

1. A reactor comprising:a core body;
a first end plate and a second end plate which sandwich and fasten the core body; and
a plurality of axis portions disposed in the vicinity of an outer edge portion of the core body and supported by the first end plate and the second end plate, wherein
the core body comprises:
an outer circumference portion iron core,
at least three iron cores which contact or are coupled to an inner surface of the outer circumference portion iron core, and
coils which are wound around the at least three iron cores,
gaps are formed between two adjacent iron cores of the at least three iron cores or between the at least three iron cores and a center iron core arranged in a center of the core body, through which gaps the iron cores are magnetically connectable, and
the plurality of axis portions pass through an interior of the outer circumference portion iron core.