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.

US Pat. No. 10,581,349

MAGNETIC POLE POSITION DETECTING DEVICE FOR SYNCHRONOUS MOTOR AND MAGNETIC POLE POSITION DETECTING METHOD FOR SYNCHRONOUS MOTOR

FANUC CORPORATION, Yaman...

1. A magnetic pole position detecting device for a synchronous motor, comprising:a position detector provided for the synchronous motor and configured to detect a rotational position of the synchronous motor,
a magnetic pole position detector configured to detect a magnetic pole position of the synchronous motor based on the rotational position detected by the position detector when a predetermined condition is satisfied;
a storage unit configured to store, as a reference magnetic pole position of the synchronous motor, a magnetic pole position that is detected where there is no error in a mounting position of the position detector;
and
a determination unit configured to compare the reference magnetic pole position stored in the storage unit with the magnetic pole position detected by the magnetic pole position detector and determine that detection of the magnetic pole position is abnormal when a difference between the reference magnetic pole position and the detected magnetic pole position falls out of a predetermined range.

US Pat. No. 10,572,643

OPERATOR IDENTIFICATION SYSTEM

Fanuc Corporation, Yaman...

1. An operator identification system including one or more manufacturing cells including one or more manufacturing machines operated by an operator and a cell controller connected to each of the manufacturing machines communicatively,wherein the cell controller includes:
a first operator identification information acquisition unit for acquiring operator identification information for identifying the operator;
a first operation permission/inhibition information storage unit for storing operation permission/inhibition information indicating an operation executable on the manufacturing machine by the operator; and
a first operator identification unit for determining an operation executable on the manufacturing machine by the operator based on the operator identification information and the operation permission/inhibition information,
wherein the manufacturing machine includes:
a second operator identification information acquisition unit for acquiring operator identification information for identifying the operator;
a second operation permission/inhibition information storage unit for storing operation permission/inhibition information indicating the operation executable on the manufacturing machine by the operator;
a second operator identification unit for determining an operation executable on the manufacturing machine by the operator based on the operator identification information and the operation permission/inhibition information; and
an operation unit for accepting the operation by the operator, and
wherein the operation unit executes the operation when the operation by the operator is an operation determined to be executable by the first operator identification unit or the second operator identification unit, and
wherein the second operation permission/inhibition information storage unit acquires the operation permission/inhibition information from the first operation permission/inhibition information storage unit in the case where the second operation permission/inhibition information storage unit does not have the operation permission/inhibition information that is necessary for the second operator identification unit to make a determination.

US Pat. No. 10,562,141

TOOL SWITCHING/HOLDING DEVICE AND ROBOT SYSTEM

Fanuc Corporation, Yaman...

1. A tool switching/holding device comprising:a base;
a first member that is provided so as to be movable along a first-axis direction with respect to the base;
a first actuator that moves the first member in the first-axis direction with respect to the base;
a plurality of second members that are provided on the first member and that are each supported so as to be movable in a second-axis direction perpendicular to the first-axis direction;
a plurality of tool mounting members that are provided on the respective second members and on each of which a tool is mounted;
a second actuator that selectively holds one of the tool mounting members, which are provided on the plurality of second members, respectively, and that moves the held tool mounting member in the second-axis direction; and
a plurality of retreating/locking sections that cause, of the plurality of tool mounting members, the tool mounting member or members other than the tool mounting member that is selectively held by the second actuator, to retreat to a position away from the second actuator in the first-axis direction or the second-axis direction and that each lock the retreating tool mounting member.

US Pat. No. 10,551,825

NUMERICAL CONTROLLER FOR CONTROLLING CORNER SPEED OF A MACHINE

Fanuc Corporation, Yaman...

1. A numerical controller comprising:a corner deceleration control unit that executes corner deceleration control based on a speed difference between cutting feed speeds in a leading block and a following block of code executed in a machining program across a corner between the leading block and the following block, and an allowable speed difference which is predetermined; and
a determination unit that analyzes the machining program so as to determine which machining is to be performed between machining placing emphasis on accuracy and machining placing emphasis on speed,
wherein the corner deceleration control unit varies the allowable speed difference in accordance with a determination result of the determination unit, and
wherein the determination unit determines which machining is to be performed between machining placing emphasis on accuracy and machining placing emphasis on speed, based on a comparison between an ON/OFF state of a beam as indicated in the leading block and the ON/OFF state of the beam in the following block.

US Pat. No. 10,554,165

MOTOR DRIVE APPARATUS INCLUDING SHORT-CIRCUIT JUDGMENT UNIT FOR CAPACITOR OF DC LINK UNIT

FANUC CORPORATION, Yaman...

1. A motor drive apparatus comprising:a converter configured to convert AC power input from an AC power supply into DC power and outputs the DC power;
a DC link unit comprising a plurality of capacitors connected in parallel with a DC output of the converter and connected in series with each other;
an inverter connected in parallel with the DC link unit, and configured to convert the DC power in the DC link unit into AC power for driving a motor, and outputs the AC power; and
a short-circuit judgment unit configured to compare a value of a voltage applied to a positive and negative bipolar terminal of the DC link unit with a predefined first threshold, further compare a value of an input current flowing from the AC power supply into the DC link unit via the converter with a predefined second threshold, and judge that at least one of the plurality of capacitors in the DC link unit has shorted in a case where, when, as a result of comparison, the value of the voltage applied to the positive and negative bipolar terminal of the DC link unit is smaller than the first threshold, the value of the input current flowing from the AC power supply into the DC link unit via the converter is larger than the second threshold.

US Pat. No. 10,532,505

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

6. An injection molding machine comprising:a stationary platen to which a stationary mold is attached; and
a movable platen to which a movable mold is attached;
the injection molding machine opening and closing the movable mold relative to the stationary mold by moving a crosshead backward and forward to moving the movable platen backward and forward relative to the stationary platen through a toggle link;
the injection molding machine further comprising:
a reciprocating mechanism configured to receive a counterforce exerted on the crosshead in a back-and-forth direction when the movable mold and the stationary mold are closed; and
a load acquisition unit configured to acquire a load exerted on the reciprocating mechanism in a direction perpendicular to the back-and-forth direction of the crosshead,
wherein:
the load acquisition unit is provided on an arm of the crosshead, the arm being formed between the reciprocating mechanism and the toggle link,
the load acquisition unit is provided on the arm of the crosshead extending upward and is also provided on the arm of the crosshead extending downward,
the load acquisition unit has two load cells arranged separately in a horizontal direction when the load acquisition unit is viewed in the back-and-forth direction of the crosshead.

US Pat. No. 10,503,151

MACHINING TOOL EQUIPPED WITH DEVICE FOR MONITORING AND CONTROLLING ATMOSPHERE INSIDE MACHINING TOOL CONTROL PANEL

FANUC CORPORATION, Yaman...

1. A machining tool, comprising:a control panel housing an electronic device including a machining tool controller; and
a user interface operating the machining tool,
wherein the control panel includes
a temperature sensor measuring an atmosphere temperature inside the control panel;
a temperature adjustment unit adjusting the atmosphere temperature inside the control panel,
a humidity sensor measuring an atmosphere humidity inside the control panel,
a humidity adjustment unit adjusting the atmosphere humidity inside the control panel,
an atmosphere controller controlling an atmosphere inside the control panel, and
an atmosphere-controlling power supply supplying electric power to the temperature sensor, the humidity sensor, the temperature adjustment unit, the humidity adjustment unit, and the atmosphere controller, independently from a power supply of the machining tool,
wherein the atmosphere controller is connected to the machining tool controller to communicate with the machining tool controller,
wherein the atmosphere controller includes
a storage storing a temperature command and a humidity command respectively correlated with a temperature and a humidity, and
a command output unit extracting the temperature command and the humidity command stored in the storage based on the temperature and the humidity respectively measured by the temperature sensor and the humidity sensor to output the extracted temperature command and the extracted humidity command, and
wherein the user interface is connected to the machining tool controller via a first communication line to check the measured temperature and the measured humidity and to change the temperature command and the humidity command of the atmosphere controller.

US Pat. No. 10,502,555

LASER PROCESSING SYSTEM HAVING MEASUREMENT FUNCTION

FANUC CORPORATION, Yaman...

1. A laser processing system, comprising:a processing head including a processing-use optical system and configured to irradiate an object with a processing-use laser beam in a scanning manner via the processing-use optical system so as to perform laser processing on the object, wherein the laser processing includes cutting, welding, or heat treating the object;
an illumination-light emitting section provided in the processing head and configured to cause light generated by a light source to be emitted from the processing head toward the object, the illumination-light emitting section including an illumination-use optical system and configured to cause illumination light, different from the processing-use laser beam, to be emitted via the illumination-use optical system along an optical axis of the processing-use optical system so as to irradiate and illuminate the object with the illumination light;
a light receiving section located in a predetermined positional relationship with the illumination-light emitting section, and configured to receive a reflection of the illumination light reflected at an irradiated point on the object; and
a measurement section configured to process the reflection received by the light receiving section and obtain three-dimensional measurement data of the irradiated point.

US Pat. No. 10,493,632

ROBOT CONTROL DEVICE FOR CONTROLLING ROBOT AND METHOD FOR ESTIMATING DISTURBANCE VALUE APPLIED TO ROBOT

FANUC CORPORATION, Yaman...

9. A method of estimating a disturbance value applied to a robot which lifts a workpiece supported by an environment, the method comprising:acquiring measurement data of a workpiece support force measured by a force sensor provided at the environment on which the workpiece is supported, wherein the workpiece support force varies during the robot lifts the workpiece;
transmitting the acquired measurement data to a robot control device configured to control the robot;
estimating, by the robot control device, a disturbance value applied to the robot using state information of the robot; and
correcting, by the robot control device, the estimated disturbance value or the state information, using the acquired measurement data.

US Pat. No. 10,488,840

PRODUCTION CONTROL APPARATUS FOR CONTROLLING ACTUAL PRODUCTION INFORMATION IN PRODUCTION LINE AND PRODUCTION SYSTEM

FANUC CORPORATION, Yaman...

1. A production control apparatus for controlling actual production information of a production line in which a plurality of manufacturing machines are arranged, comprising:a processor which
detects a manufacturing machine in which each workpiece supplied to the production line is positioned, among the plurality of manufacturing machines,
generates an identifier unique to the workpiece when detecting that the workpiece is positioned in any of the plurality of manufacturing machines,
notifies the manufacturing machine in which the workpiece for which the identifier has been generated is positioned, of the generated identifier, and
receives the generated identifier and the actual production information from the manufacturing machine when the workpiece assigned with the generated identifier is processed by the manufacturing machine to which the generated identifier has been notified; and
a memory in which (a) the received identifier and (b) the received actual production information are recorded in association with each other,
wherein
the memory further records
(i) a plurality of identifiers for each of workpieces, an identifier among the plurality of identifiers being generated each time the workpiece is successively moved to a corresponding manufacturing machine among the plurality of manufacturing machines, and
(ii) an identifier of a product made of the workpieces for each of which the plurality of identifiers have been generated, and
the number of the plurality of identifiers of each workpiece recorded by the memory corresponds to the number of the plurality of manufacturing machines to which the workpiece is successively moved.

US Pat. No. 10,486,307

ROBOT CONTROL DEVICE AND COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. A robot control device that controls a robot that executes operations in the same area as an operator, the robot control device comprising:an information acquisition unit that acquires information indicating a control state of the robot, information indicating an attitude of the operator, and information indicating a position of an operating target object in the operations;
an estimating unit that estimates an operation in execution on a basis of respective pieces of information acquired by the information acquisition unit;
a required time calculating unit that calculates a required time required until the operation in execution ends on a basis of the estimated operation in execution;
an operation plan creating unit that creates an operation plan of the robot on a basis of the required time; and
a control unit that controls the robot so as to execute operations according to the operation plan.

US Pat. No. 10,491,290

CONTROLLER IN WIRELESS COMMUNICATION WITH OPERATION PANEL, WIRELESS MODULE, AND WIRELESS REPEATER

FANUC CORPORATION, Yaman...

1. A controller for controlling a machine, the controller comprising a wireless signal transceiver configured to wirelessly communicate with a wireless operation panel configured to operate the machine,wherein, in a teaching mode of the machine, the wireless signal transceiver is configured to receive a multiplexed signal generated by multiplexing
a first wireless signal for teaching the machine directly from the wireless operation panel, and
a second wireless signal for teaching the machine from the wireless operation panel via at least one wireless repeater,
wherein the at least one wireless repeater comprises a further controller controlling a further machine in a non-teaching mode,
wherein, in the teaching mode of the machine, the machine is controlled by the multiplexed signal, and
wherein, in the non-teaching mode of the further machine, the further machine is not controlled by the second wireless signal from the wireless operation panel.

US Pat. No. 10,478,964

ROBOT FIXING SYSTEM AND ROBOT

FANUC CORPORATION, Yaman...

1. A robot fixing system comprising:a base member having a front surface in which an insertion hole is formed;
a power transmission member configured to supply a rotational driving force to a movable part, which is supported on the base member in a rotatable manner about a first axis of rotation, by rotating about a second axis of rotation while opposing the front surface, a through hole being formed in the power transmission member to extend parallel to the second axis of rotation in a penetrating manner at a position separated from the second axis of rotation by a distance equal to a distance from the second axis of rotation to the insertion hole; and
a fixing pin configured to be simultaneously inserted into the through hole and the insertion hole.

US Pat. No. 10,456,921

INDUSTRIAL-ROBOT CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. An industrial-robot control device comprising:a microphone attached to an industrial robot; and
a processor comprising a controller and a specific sound detector, the processor configured to:
detect, by the specific sound detector, a specific sound from a sound picked up by the microphone; and
activate the industrial robot from a stopped state to an operation state when the specific sound is detected by the specific-sound detector and changing the industrial robot from the operation state to a stopped state when the specific sound is not detected.

US Pat. No. 10,442,022

NUMERICAL CONTROL APPARATUS OF A WIREELECTRICAL DISCHARGE MACHINE FOR MACHINING A WORKPIECE BY A WIRE ELECTRODE LINE ALONG MACHINING PATH INCLUDING AN OFFSET

FANUC CORPORATION, Yaman...

1. A numerical control apparatus of a wire-electrical discharge machine for electrical discharge machining a workpiece by a wire electrode line along a machining path including an offset, the numerical control apparatus comprising:a unit configured to,
when an offset value of the offset of the machining path along which the workpiece is machined instructed in a first front block in two successive contact machining path blocks is different from an offset value instructed in a second rear block in the two successive contact machining path blocks,
automatically add a block that divides the first front block and the second rear block, wherein the added block is
from a first point by a first distance in front of a connecting point of the first front block and the second rear block,
to a second point by a second distance behind the connecting point, and
gradually change the offset value, from the offset value instructed in the first front block to the offset value instructed in the second rear block, in the added block between the first and second points,
wherein the numerical control apparatus is configured to control the wire-electrical discharge machine to perform electrical discharge machining along the machining path in accordance with the first front block, the added block and the second rear block.

US Pat. No. 10,444,738

INFORMATION PROCESSOR

FANUC CORPORATION, Yaman...

1. An information processor for managing at least one numerical controller, the information processor comprising:a program storage unit configured to automatically store one or more programs executable by the numerical controller;
an execution history storage unit configured to store execution history information of a program executed by the numerical controller;
a favorite storage unit configured to automatically store, as favorite information, information about a program corresponding to a predetermined favorite condition among the programs;
a program management unit configured to create the execution history information according to information about the program executed by the numerical controller and store the created execution history information in the execution history storage unit;
a favorite recording unit configured to record, in the favorite storage unit, the information about the program corresponding to the favorite condition, as the favorite information, according to the execution history information stored in the execution history storage unit; and
a favorite classifying unit configured to automatically classify the favorite information stored in the favorite storage unit according to the information about the program corresponding to the favorite information, wherein
the program management unit transfers the favorite information stored in the favorite storage unit to the numerical controller in response to a request of the numerical controller.

US Pat. No. 10,427,343

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:an injection molding machine, which comprises a mold and molds a molded article by means of the mold, and
a molded article transport device, which takes out the molded article from the mold and transports the molded article, and configured so that the molded article transport device and an operator share an area in common and perform cooperative work, the injection molding system comprising:
a holding force changing means for changing a holding force of the molded article transport device to hold the molded article; and
an external load detection means for detecting an external load applied to the molded article held by the molded article transport device,
wherein the holding force changing means is configured to reduce the holding force to a predetermined level or less in response to a detection of a predetermined or higher load by the external load detection means after the molded article is transported to the work area of the operator by the molded article transport device.

US Pat. No. 10,427,232

WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine for performing electrical discharge machining on a workpiece to be machined in a working fluid of deionized water, comprising:a filter configured to remove machined swarf produced by electrical discharge machining from the working fluid;
a heating device configured to heat the working fluid stored inside the filter, wherein the heating device is configured to heat the working fluid up to, at least, a predetermined temperature at which magnesium contained in the machined swarf in the working fluid changes to magnesium hydroxide;
a storage tank configured to accommodate the filter;
a work tank configured to store the working fluid to perform electrical discharge machining;
a dirty fluid tank configured to temporarily store the working fluid containing the machined swarf discharged from the work tank; and
a duct configured to connect the dirty fluid tank and the filter in order to flow the working fluid from the dirty fluid tank to the filter,
wherein the heating device is configured to heat the working fluid stored in the storage tank,
the heating device is configured to further heat the working fluid in the duct.

US Pat. No. 10,427,265

ROTATING TABLE DEVICE

Fanuc Corporation, Yaman...

1. A rotating table device comprising:a base member;
a rotating member supported by the base member so as to be rotatable about a predetermined axis;
a brake disk that is secured to the rotating member; and
a clamping mechanism that clamps the brake disk and maintains the rotating member in a stationary state with respect to the base member;
wherein the clamping mechanism is provided with a piston that is attached so as to be movable, in a direction along the predetermined axis with respect to the base member, between a clamped position at which the clamping mechanism presses the brake disk in a plate-thickness direction via a working fluid and an unclamped position at which the clamping mechanism is separated from the brake disk;
a plate spring that is secured to the piston and the base member and that is formed to bias the piston toward the clamped position via only a restoring force generated by elastic deformation of the plate spring when a pressure of the working fluid is not acting; and
a coil spring that is disposed between the piston and the base member and that is configured to interpose the piston between the plate spring and the coil spring, and that constantly biases the piston toward the clamped position via a restoring force generated by elastic deformation of the coil spring.

US Pat. No. 10,427,301

ROBOT SYSTEM AND ROBOT CONTROLLER

FANUC CORPORATION, Yaman...

4. A robot system comprising:a robot configured to perform an operation with respect to a conveying device having a rotating body rotatable about a first rotation axis, and at least one shelf configured to rotate about a second rotation axis parallel to the first rotation axis so that the shelf is kept in a constant orientation; and
a robot controller configured to control the robot,
wherein the robot controller comprises:
a rotation angle obtaining section configured to obtain a rotation angle of the first rotation axis;
a coordinate system calculating section configured to, based on a first coordinate system having an origin on the first rotation axis and rotatable about the first rotation axis, calculate a second coordinate system and set the second coordinate system to the shelf, the second coordinate system having a constant orientation and three axes orthogonal to each other, one of which being parallel to the first rotation axis;
a position/orientation calculating section configured to calculate a position and orientation of the robot on a reference coordinate system, based on the rotation angle of the first rotation axis obtained by the rotation angle obtaining section and the position of the robot on the second coordinate system; and
a motion command generating section configured to generate a motion command for controlling a motion of the operation of the robot, based on the position and orientation of the robot calculated by the position/orientation calculating section.

US Pat. No. 10,428,840

BLOWER PROVIDED WITH STRUCTURE SUPPRESSING DAMAGE TO SHAFT SEAL

FANUC CORPORATION, Yaman...

1. A blower comprising:a gas blowing part which is configured to hold an impeller blowing a gas,
a motor part which is configured to hold a rotor extending in an axial direction which makes the impeller rotate, and
a partition wall part which partitions the gas blowing part from the motor part, wherein
one end part of the rotor passes through the partition wall part in the axial direction to support a center of rotation part of the impeller present inside the gas blowing part,
a noncontact type shaft seal is arranged at a through hole of the partition wall part through which the one end part of the rotor passes, and
a surface of the partition wall part facing in the axial direction that extends a length from the noncontact type shaft seal to an outer perimeter of the impeller forming a clearance between the surface of the partition wall part and a bottom surface of the impeller, and
wherein the surface of the partition wall part facing in the axial direction is formed with a plurality of concentric grooves separate from the shaft seal, the plurality of concentric grooves surround the shaft seal, and each of the plurality of concentric grooves are formed with:
1) a bottom surface that extends below the surface of the partition wall part in the axial direction to face a back surface of the impeller,
2) a first side surface positioned at a first distance from the shaft seal and extending from the surface of the partition wall part to the bottom surface in the axial direction, and
3) a second side surface positioned at a second distance from the shaft seal and extending from the surface of the partition wall part to the bottom surface in the axial direction,
wherein the second distance is smaller than the first distance, and
wherein the first side surface and the second side surface surround the bottom surface to trap foreign matter to prevent the foreign matter from contacting the shaft seal and the rotor.

US Pat. No. 10,422,668

METHOD AND PROGRAM FOR ANGLE CALIBRATION OF ROTARY SHAFT

Fanuc Corporation, Yaman...

1. A method for angle calibration of a rotary shaft, the method comprising:attaching a calibrating angular sensor to a first rotary shaft of an industrial machine including a plurality of rotary shafts and a control unit configured to control the rotary shafts based on an angle detected by a controlling angular sensor provided for each rotary shaft, wherein each controlling angular sensor is connected to the control unit, the calibrating angular sensor being more precise than the controlling angular sensor and outputting the same type of data as the controlling angular sensor:
connecting the calibrating angular sensor to the control unit in place of the controlling angular sensor of a second rotary shaft that is different from the first rotary shaft;
rotating the first rotary shaft;
calculating, by the control unit, a difference between a first angle of the first rotary shaft detected by the controlling angular sensor and a second angle of the first rotary shaft detected by the calibrating angular sensor; and
storing the calculated difference as a calibration value for an angle of rotation of the first rotary shaft.

US Pat. No. 10,416,071

CORROSION DETECTION CIRCUIT FOR CIRCUIT BOARD AND MOTOR DRIVE HAVING THE SAME

FANUC CORPORATION, Yaman...

1. A corrosion detection circuit comprising:an insulating board;
a first test chip having a corrodible metal mounted on the surface of the insulating board;
at least a first resistor and a second resistor, and a divided voltage output located between the first and second resistor, the divided voltage output having a high side and a low side, each of the first and second resistors having a higher resistance value than the first test chip after a change due to an environmental factor including contact with the test chip and an adhesion of dust to the first test chip; and
a voltage detection circuit for detecting the output voltage of the divided voltage output point, when a voltage is applied to the corrosion detection circuit,wherein the first and second resistors are connected in series with the first test chip, andwherein, if the first test chip is located on the high voltage side of the divided voltage output point of the divided voltage circuit, the voltage detection circuit detects a break in the first test chip by corrosion when the voltage of the divided voltage output point decreases from a voltage depending on the plurality of resistors and falls below a first threshold; and
wherein, if the first test chip is located on the low voltage side of the divided voltage output point of the divided voltage circuit, the voltage detection circuit detects a break in the first test chip by corrosion when the voltage of the divided voltage output point increases from the voltage depending on the plurality of resistors and exceeds a second threshold.

US Pat. No. 10,417,242

MOTOR SELECTION METHOD AND MOTOR SELECTION PROGRAM

FANUC CORPORATION, Yaman...

1. A motor selection method comprising:referring to a database containing data pertaining to rated speeds, continuous rated torques, and upper limit values of load inertia moment of a plurality of motors;
automatically dividing the data contained in the database into a plurality of groups, based on the upper limit values of load inertia moment;
obtaining, from a user, information pertaining to a rotation speed, a continuous rated torque, and a load inertia moment required of a necessary motor;
selecting, by the user, one group from the plurality of groups; and
automatically searching, by using the data included in the selected group, at least one matching motor meeting conditions:
rotation speed of the at least one matching motor?rated speed of the necessary motor;
continuous torque of the at least one matching motor?continuous rated torque of the necessary motor; and
load inertia moment of the at least one matching motor required of motor?upper limit value of load inertia moment of the necessary motor;
in response to a search result comprising the at least one matching motor meeting the conditions, returning the at least one matching motor to the user; and
in response to the search result comprising no motor meeting the conditions, notifying the user of the no matching result.

US Pat. No. 10,413,982

NUMERICAL CONTROL APPARATUS OF A MACHINE TOOL FOR MACHINING A WORKPIECE BY A CUTTING TOOL ALONG MACHINING PATH INCLUDING AN OFFSET

FANUC CORPORATION, Yaman...

1. A numerical control apparatus of a machine tool for machining a workpiece by a cutting tool along a machining path including an offset, the numerical control apparatus comprising:a unit configured to, when an offset value of the offset of the machining path along which the workpiece is machined instructed in a first front block in two successive contact machining path blocks is different from an offset value instructed in a second rear block in the two successive contact machining path blocks,
automatically add a block that divides the first front block and the second rear block, wherein the added block is
(i) from a first point by a first distance in front of a connecting point of the first front block and the second rear block,
(ii) to a second point by a second distance behind the connecting point, and
gradually change the offset value, from the offset value instructed in the first front block to the offset value instructed in the second rear block, in the added block between the first and second points,
wherein the numerical control apparatus is configured to control the machine tool to cut the workpiece along the machining path in accordance with the first front block, the added block, and the second rear block.

US Pat. No. 10,411,577

MAGNET ASSEMBLY FOR LINEAR MOTOR HAVING COVER MEMBER COVERING MAGNET PLATE

FANUC CORPORATION, Yaman...

1. A magnet assembly for a linear motor, comprising:a plurality of magnet plates formed by sequentially arranging a plurality of permanent magnets on a substrate in a direction, the magnet plates being arranged opposite to an armature as a moving body of the linear motor so as to align in the direction;
a cover member of weak magnetic properties configured to cover one or more of the magnet plates; and
a fixing mechanism configured to position an end part of the cover member above the permanent magnet in a first direction parallel to the substrate, and detachably fix the cover member to the magnet plates,
wherein the cover member includes:
a first surface part configured to cover a surface of the magnet plate facing the moving body; and
a second surface part extending from the first surface part such that the second surface part is perpendicular to the first surface part, and configured to cover a side part of the magnet plate,
wherein the fixing mechanism is provided on the second surface part.

US Pat. No. 10,408,878

CONTROLLER OF ROTARY SWITCH

FANUC CORPORATION, Yaman...

1. A controller for a rotary switch, the controller configured to (i) receive, via a contact receiver, signals from a plurality of fixed contacts of the rotary switch that is configured to rotate a movable contact to connect the movable contact to any of the plurality of fixed contacts, and (ii) output a command based on an output code of the rotary switch formed of the received signals, the controller comprising:a failure detector configured to monitor a transition of the output code received from the contact receiver, and determine that a failure has occurred in the rotary switch in response to the failure detector detecting the transition that does not match a transition pattern of the output code of a case where the rotary switch operates normally;
a timer configured to measure a time during which a voltage of an output signal of the contact receiver is in a predetermined voltage range;
a failure portent detector configured to output a signal indicating a portent of the failure when a time value measured by the timer reaches a predetermined time; and
a chattering removal circuit configured to
remove a chattering from the output code of the rotary switch by neglecting the output code that continues for a time period shorter than a maximum value of a chattering time of the rotary switch, and
output the output code having the chattering removed for the failure detector to monitor the transition of the output code,
wherein the failure detector is configured to
monitor the transition of the output code from which the chattering has been removed, and
determine that the failure has occurred when the failure detector detects the transition that does not match the transition pattern of the output code from which the chattering has been removed of the case where the rotary switch operates normally, and
the predetermined voltage range is between
a first voltage higher than a first threshold voltage for a failure detection and lower than an off-voltage with which each of the plurality of fixed contacts is in OFF state, and
a second voltage lower than a second threshold voltage, lower than the first threshold voltage, for the failure detection and higher than an on-voltage with which said each of the plurality of fixed contacts is in ON state.

US Pat. No. 10,404,127

MOTOR HAVING INTERPHASE INSULATION PAPER AT COIL END, AND METHOD FOR PRODUCING MOTOR

FANUC CORPORATION, Yaman...

1. A motor comprising:a stator core laminated with an electromagnetic steel sheet, and having a plurality of slots; and
windings that are inserted in a winding distribution of three phases into the slots, wherein
interphase insulation papers are inserted into respective ones of coil ends,
the interphase insulation papers each have at least one parting strip in at least one respective end portion, the parting strip partitioning a boundary between windings that are adjacent in a circumferential direction of the stator core when inserted into the respective coil end,
the interphase insulation papers each have a surface that separates respective ones of the windings when viewed from an end surface of the stator core and a sloped surface capable of separating the windings along an axial direction of the stator core,
the parting strips are sandwiched between the windings that are adjacent in a circumferential direction of the stator core, and
the interphase insulation papers are each separated into a respective one of the three phases.

US Pat. No. 10,391,571

WIRE ELECTRIC DISCHARGE MACHINE CONTROLLER HAVING WIRE ELECTRODE REPLACEMENT FUNCTION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine, comprising:a wire electrode with predetermined weight, length, and wound diameter;
a wire electrode cutting unit;
a wire electrode replacement unit;
a wire connection unit; and
a controller configured to create a machining path based on an axis movement command from a machining program and control the wire electric discharge machine to perform a program operation according to the machining program to move the wire electrode and a workpiece relative to each other along the created machining path,
wherein the controller is configured to
execute the machining program;
monitor the remaining lifetime of the wire electrode based on physical values of the wire electrode wire;
analyze the machining program and calculate, before a start of electric discharge between the wire electrode and the workpiece in accordance with the machining program, an electric discharge machining time in a machining interval from (i) the start of the electric discharge to (ii) a stop of the electric discharge, wherein the machining program includes, in the machining interval, a plurality of commands controlling the wire electrode to cut the workpiece;
compare the remaining lifetime and the electric discharge machining time, determined based on physical values of the wire electrode wire and determine that the timing of replacement of the wire electrode is reached when the remaining lifetime of the wire electrode is shorter than the electric discharge machining time;
output a stop command for the program operation to a program operation control unit when the timing of replacement for the wire electrode is reached;
output a cutting command for the wire electrode to the wire electrode cutting unit and monitor the completion of cutting of the wire electrode;
output a replacement command for the wire electrode to the wire electrode replacement unit that automatically replaces the wire electrode on receiving the replacement command and monitor the completion of replacement of the wire electrode;
output a connection command for the wire electrode to the wire connection unit and monitor the completion of connection of the wire electrode by the wire connection unit when the replacement of the wire electrode is completed; and
output a restart command for the program operation to the program operation control unit when the connection of the wire electrode is completed,
wherein the comparison of the remaining lifetime of the wire electrode and the electric discharge machining time is performed during execution of the machining interval, which is an interval occurring prior in time to the start of the machining interval during which the end of the remaining lifetime of the wire electrode is determined to occur.

US Pat. No. 10,395,430

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

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,386,813

COMBINED SYSTEM HAVING MACHINE TOOL AND ROBOT

FANUC CORPORATION, Yaman...

1. A combined system, comprising:a machine tool having
a numerical controller,
a table movable under control of the numerical controller, and
a workpiece fixing jig arranged on the table and integrally movable with the table;
a robot system separated from the machine tool and having
a robot with a robot hand configured to grip a workpiece, and
a robot controller for controlling the robot, the robot being configured to supply or take out the workpiece to or from the workpiece fixing jig;
a network for information transmission at least between the numerical controller and the robot controller;
an interference judging part which, when the workpiece is supplied to or taken out from the workpiece fixing jig, judges occurrence of interference between the workpiece fixing jig and the workpiece due to a positional misalignment between the workpiece fixing jig and the workpiece, based on a disturbance value of each axis of the robot; and
an interference avoiding part which, when the interference judging part judges the interference occurs, stops a motion of the robot and moves the table in a direction of at least one axis based on the disturbance value of each axis of the robot, so as to avoid the interference.

US Pat. No. 10,379,511

PROGRAM GENERATION DEVICE GENERATING PROGRAM FOR GROOVE MACHINING BY DRILLING

FANUC CORPORATION, Yaman...

1. A program generation device, implemented as a numerical controller, which generates a program for controlling machining of a groove which is performed by machining a plurality of holes on a workpiece, the program generation device comprising:a specified value input unit which receives specified values including at least a tool radius, a groove shape including a length of the groove, and a cusp height;
a hole machining set value calculation unit which calculates at least positions of the plurality of holes based on the specified values;
a hole machining order calculation unit which calculates a machining order of the plurality of holes based on the specified values and respective values calculated by the hole machining set value calculation unit so that a bias is not generated in a removal stock for a tool, with the tool radius, in machining,
wherein
the plurality of holes along the length of the groove are allocated to at least one higher priority group and at least one lower priority group,
the holes allocated to the higher priority group are machined, in the machining order, by the tool earlier than the holes allocated to the lower priority group, and
at least one of the holes allocated to the higher priority group is located, along the length of the groove, between two of the holes allocated to the lower priority group; and
a control unit configured to cause the tool to move back and forth along the length of the groove while machining the plurality of holes in accordance with the machining order.

US Pat. No. 10,363,641

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool configured to machine a target workpiece by using a tool detachably attached to a spindle, the machine tool comprising:a revolving-type turret including a plurality of grips provided along a circumferential direction thereof, each of the plurality of grips being configured to hold the tool attached to the spindle;
a first rotary shaft configured to rotate about a swing axis of the turret;
a second rotary shaft having a longitudinal axis extending in a direction substantially perpendicular to a longitudinal axis of the first rotary shaft, and configured to rotate the turret about a revolving axis;
a motor configured to rotate the first rotary shaft;
a power transmission unit including a first gear arrangement connected to the first rotary shaft and a second gear connected to the second rotary shaft, the second gear being configured to be meshed with the first gear arrangement; and
a rotation prohibition unit configured to, when the turret is swung about the swing axis, prohibit rotation of the second rotary shaft about the revolving axis in order to swing the second rotary shaft about the first rotary shaft, wherein:
the first gear arrangement of the power transmission unit comprises two first gears;
the two first gears are disposed away from each other so as to be face-to-face with each other, one first gear of the two first gears is unrotatably connected to the first rotary shaft, and another first gear of the two first gears is rotatably connected to the first rotary shaft;
the second gear is configured to be meshed with the two first gears between the two first gears;
the rotation prohibition unit is a power switching member connected to the first rotary shaft unrotatably but movably in an axial direction of the first rotary shaft, the rotation prohibition unit being configured to, when the turret is swung about the swing axis, be moved in the axial direction and come into abutment against the another first gear to thereby enable rotation of the two first gears in a same direction and prohibit rotation of the second rotary shaft about the revolving axis, and when the turret is revolved about the revolving axis, be moved away from the another first gear to thereby enable rotation of the second rotary shaft about the revolving axis.

US Pat. No. 10,328,522

LASER PROCESSING APPARATUS CAPABLE OF RETRACTING PROCESSING NOZZLE UPON DETECTION OF POWER OUTAGE

FANUC CORPORATION, Yaman...

1. A laser processing apparatus configured to process a workpiece, wherein the apparatus comprises:a processing nozzle configured to irradiate a workpiece with laser beam;
an actuator that moves said processing nozzle relative to the workpiece;
a distance detector that detects a distance between said processing nozzle and the workpiece;
a power supply unit;
a power abnormality detector that detects an abnormality in electric power supplied from said power supply unit; and
a control unit including a processor configured to:
control said actuator to perform a gap control for adjusting said distance between said processing nozzle and a part to be processed on the workpiece to a predetermined value based on a detected value obtained by said distance detector, during execution of laser processing;
control said actuator to perform a position control for changing a position of said processing nozzle relative to the workpiece in accordance with a processing program;
enable said gap control when a power abnormality is not detected during execution of laser processing by said power abnormality detector; and
disable said gap control and enable said position control when a power abnormality is detected during execution of laser processing by said power abnormality detector, so as to perform at least one of:
i) stopping said actuator based on the processing program not including a moving command for said actuator;
ii) stopping said actuator based on a stop command in the processing program;
iii) controlling said actuator to retract said processing nozzle based on a move command in the processing program; or
iv) controlling said actuator to retract said processing nozzle based on a retract command different from a move command in the processing program.

US Pat. No. 10,317,851

NUMERICAL CONTROL DEVICE AND CAUSE ANALYZING METHOD

FANUC CORPORATION, Yaman...

1. A numerical control device for controlling driving of a motor, the numerical control device comprising:a processor programmed to
calculate a command speed of the motor by analyzing a machining program or according to an operation of an operator,
compute a control speed and a control acceleration of the motor, based on the command speed and a plurality of speed compensation functions for compensating the command speed of the motor, the plurality of the speed compensation functions being actually activated, wherein
the plurality of speed compensation functions includes (i) a first speed compensation function to be activated and deactivated by the operation of the operator, and (ii) a second speed compensation function set in advance to activate, and
the processor is programmed to sequentially execute the first speed compensation function and the second speed compensation function to compute the control speed and the control acceleration from the command speed;
a motor control unit configured to control the motor according to the control speed and the control acceleration;
a data storage unit configured to cyclically associate and store the command speed and an actual speed of the motor in a chronological order;
a difference pattern table configured to associate and store
the plurality of the speed compensation functions that causes a difference between the command speed and the actual speed, and
a plurality of difference patterns each being a pattern of the difference between the command speed and the actual speed caused by a corresponding speed compensation function of the plurality of speed compensation functions,
wherein the processor is further programmed to perform an analysis to identify the speed compensation functions that cause the difference between the command speed and the actual speed, by comparing the command speed and the actual speed stored in the chronological order in the data storage unit, with the plurality of difference patterns stored in the difference pattern table; and
a display unit configured to display a result of the analysis performed by the processor to show to the operator which speed compensation function among the plurality of speed compensation functions has caused the difference between the command speed and the actual speed.

US Pat. No. 10,303,129

MACHINING TIME PREDICTION DEVICE

FANUC CORPORATION, Yaman...

1. A machining time prediction device predicting a time taken for machining by a wire discharge machining device based on a program, comprising:a processor;
a memory for storing the program;
a display device; and
a predicted machining speed table where predicted machining speeds are registered in association with a plurality of shape groups used for classification based on at least a shape of a machining path,
wherein the processor is configured to
execute a machining path generation process for generating machining path data including the machining path based on the program,
execute a shape group determination process for determining which shape groups among the plurality of shape groups partial machining paths included in the machining paths of the machining path data generated by the machining path generation process belong to,
execute a path length addition process for adding and summarizing path lengths of the partial machining paths for the respective shape groups on the basis of a result of determination by the shape group determination process for,
execute a predicted machining time calculation process for calculating predicted machining times of the respective shape groups on the basis of the predicted machining speed table and the path lengths of the respective shape groups summarized by the path length addition process,
execute a predicted machining time summation process for calculating the predicted machining time of the machining path by summing the predicted machining times of the respective shape groups calculated by the predicted machining time calculation process, and
a display process for displaying, on the display device, the predicted machining time of the machining path calculated by the predicted machining time summation process, so that a workpiece, which has been machined by the wire discharge machining device along the machining path based on the program, is removed from the wire discharge machining device at the end of the predicted machining time.

US Pat. No. 10,259,118

ROBOT SYSTEM HAVING FUNCTION OF SIMPLIFYING TEACHING OPERATION AND IMPROVING OPERATING PERFORMANCE BY LEARNING

FANUC CORPORATION, Yaman...

1. A robot system, comprising:a detector for detecting the position and posture of a workpiece to be operated present in a predetermined operation area;
a robot for performing a predetermined operation on the workpiece based on information about the detected position and posture; and
a robot control device for controlling the robot,
wherein the robot control device includes:
an area divider for dividing the operation area into a plurality of areas of a predetermined size;
an area determiner for determining in which area of the plurality of areas the workpiece is present;
a learning controller for learning an operation speedup ratio to speed up the operation by varying speed or acceleration on an area-by-area basis for the plurality of areas;
a memory for storing the position and the operation speedup ratio of the area, among the plurality of areas, in which the workpiece is present; and
a controller for determining whether or not the operation has already been learned in an area, among the plurality of areas, in which a new workpiece is present, and when the operation has already been learned, the controller controls the robot to perform the operation on the new workpiece using the learned operation speedup ratio, and when the operation has not been learned, the controller makes the learning controller learn the operation speedup ratio, and
wherein the learning controller changes a priority of operation of each of the plurality of areas in accordance with a state of learning.

US Pat. No. 10,248,100

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller that controls a machine which performs turning on a workpiece based on a program, the numerical controller comprising:a motor controller for controlling movement of a tool of the machine and rotation of spindle connected to the workpiece;
a processor configured to:
designate a machining condition of turning;
designate a machining condition of nicking;
generate an instruction sequence of a turning cycle operation based on the turning machining condition to continuously cut the workpiece to a predetermined cut depth along a predetermined cut length in an axial direction;
generate an instruction sequence of a nicking cycle operation based on the turning machining condition and the nicking machining condition to cut a nick to a predetermined nick depth into the workpiece at a predetermined nick location along the axial direction; and
instruct the motor controller to execute the instruction sequence of the nicking cycle operation by rotating the spindle and moving the tool in s first movement pattern prior to instructing the motor controller to execute the instruction sequence the turning cycle operation by rotating the spindle and moving the tool in a second movement pattern.

US Pat. No. 10,234,509

CONTROLLER AND ANOMALY DIAGNOSTIC DEVICE

FANUC CORPORATION, Yaman...

1. A controller comprising:a detection signal acquiring unit adapted to acquire a detection signal from a sensor that detects a physical quantity caused by vibrations generated at a detected location due to rotation of an electric motor;
a phase information acquiring unit adapted to acquire phase information of the electric motor;
a time width determining unit adapted to determine, on basis of the phase information, a time width, which coincides with a period of a phenomenon occurring at the detected location due to rotation of the electric motor;
a signal dividing unit adapted to divide the detection signal based on the determined time width; and
an adding and averaging unit adapted to add and average a plurality of divided signals divided by the signal dividing unit.

US Pat. No. 10,216,169

AUTOMATIC PARAMETER ADJUSTMENT DEVICE FOR ADJUSTING PARAMETER CORRESPONDING TO PROCESSING CONDITION

FANUC CORPORATION, Yaman...

1. An automatic parameter adjustment device for automatically adjusting a control parameter of each of at least one drive axis of a machine tool, the control parameter being set to a numerical controller for controlling the machine tool, the automatic parameter adjustment device comprising:a processor configured to
determine a weighting coefficient of a processing time and a weighting coefficient of a processing accuracy of the machine tool, as evaluation criteria for automatically adjusting the control parameter,
change the control parameter,
transmit a test program used in automatically adjusting the control parameter to the numerical controller for executing the test program by the numerical controller,
obtain an execution result of said executing the test program, the execution result including a commanded trajectory and an actual trajectory of a representative point of the machine tool and an execution time of the test program,
store the execution result and a control parameter corresponding to the execution result,
evaluate the execution result based on the two weighted evaluation criteria, and
extract an optimum control parameter based on the evaluated execution result,
wherein the test program is executed multiple times while changing the control parameter, and the extracted control parameter corresponds to an execution result satisfying a predetermined condition among a plurality of execution results obtained by executing the test program multiple times.

US Pat. No. 10,216,173

MOTOR CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A motor control device comprising:a force command unit that designates a force to be applied to a workpiece to be machined by a machining device having a motor as a driving source;
a force detecting unit that detects the force applied to the workpiece;
a velocity-command calculating unit that calculates a velocity command based on the designated force and the detected force;
a torque-command calculating unit that calculates a torque command based on the velocity command and a velocity of the motor;
a motor control unit that controls the motor based on the torque command;
a determining unit that determines the state of plastic deformation of the workpiece; and
a gain changing unit that changes at least one of gains individually provided in the velocity-command calculating unit and the torque-command calculating unit in accordance with the determined state,
wherein the determining unit determines the state of plastic deformation in accordance with whether an input signal has a positive sign or a negative sign.

US Pat. No. 10,209,703

COMMUNICATION SYSTEM AND MOBILE TERMINAL

FANUC CORPORATION, Yaman...

1. A communication system equipped with a mobile terminal and a controller of an industrial machine that is configured to form a shaped product, wherein the communication system carries out mutual communications between the mobile terminal and the controller;the mobile terminal comprising:
an image capturing unit configured to capture an image of an object to be imaged;
an image conversion unit configured to convert captured image data captured by the image capturing unit, and generate converted image data according to an image format rule corresponding to the controller;
a setting data creation unit configured to create setting data for the converted image data, so that the converted image data can be used by the controller; and
a terminal side data transmission and reception unit configured to carry out communications with the controller and transmit the converted image data and the setting data to the controller;
and the controller comprising:
a control side data transmission and reception unit configured to carry out communications with the mobile terminal, and receive the converted image data and the setting data from the mobile terminal;
a setting data storage unit configured to store the setting data;
an image storage unit configured to store the converted image data; and
a control side display unit configured to display an image of the converted image data, which is read out from the image storage unit with reference to the setting data.

US Pat. No. 10,196,849

DOOR OPENING/CLOSING SYSTEM WITH DOOR OPERATED BY ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A door opening and closing system comprising:an electric motor which drives opening and closing operation of a door,
an opening and closing mechanism which transmits a rotational drive force of the electric motor to the door;
a detection part which detects a load torque which is applied to said electric motor while said electric motor is driving the opening and closing operation of said door,
a judgment part which judges if the detected load torque exceeds a preset reference value, and
a stop control part which stops said electric motor by controlling said electric motor so as to generate a drive torque in the same direction as the detected load torque when the detected load torque exceeds said preset reference value,
wherein the load torque includes both a torque due to a frictional force and a torque due to an external force which are applied to either or both of the door and the opening and closing mechanism, and the drive torque is a torque generated by the drive force of the electric motor,
wherein the reference value is set such that from when the door starts to move from an open position or a closed position until when the door reaches a constant speed the reference value is first increased in a first direction corresponding to a direction of movement of the door and is then decreased in the first direction, and
wherein the reference value is set, in a period right before the door is stopped, such that right after the door starts to be decelerated the reference value is increased in a second direction opposite the first direction, and is then gradually decreased to nearly zero as the speed of movement of the door is decreased,and wherein said judgement part performs said judgement repeatedly with a predetermined period while the opening and closing operation of said door is driven by said electric motor.

US Pat. No. 10,195,706

OBJECT FASTENING DEVICE FOR FASTENING OBJECT TO RECEIVING PART, MACHINE TOOL, ROBOT, AND METHOD OF FASTENING OBJECT TO RECEIVING PART

FANUC CORPORATION, Yaman...

2. A robot comprisinga robot arm;
a receiving part positioned to physically contact an object;
a first pushing part positioned to physically contact the object;
a first drive part connected to the first pushing part, the first drive part, in response to a control signal from a controller, applying a first force to the first pushing part moving the first pushing part to push the object against the receiving part;
a second pushing part attached to the robot arm and positioned to physically contact the object;
a second drive part independently controllable from the first drive part and in response to a control signal from the controller, applying a second force to the second pushing part moving the second pushing part to push the object against the receiving part,
wherein the second drive part includes a spring and a servo motor generating the second force, and a movement mechanism movable in a direction approaching and moving away from the receiving part by the servo motor, the second pushing part is connected to the movement mechanism; and
a foreign matter detecting part detecting a foreign matter interposed between the object and the receiving part while the second pushing part pushes the object against the receiving part by the second force generated by the second drive part, wherein the controller is configured to:
control the second drive part to drive the robot arm so as to move the second pushing part to push the object against the receiving part by the second force to detect foreign matter;
control the second drive part to drive the robot arm so as to move the second pushing part away from the object when no foreign matter is detected; and
control the first drive part to move the first pushing part to push the object against the receiving part when no foreign matter is detected.

US Pat. No. 10,189,161

CALIBRATION SYSTEM AND CALIBRATION METHOD CALIBRATING MECHANICAL PARAMETERS OF WRIST PART OF ROBOT

FANUC CORPORATION, Yaman...

1. A calibration system calibrating parameters of a mechanical model representing a wrist part of a robot utilizing a target fastened at a hand of the robot at a predetermined position with respect to a joint closest to the hand, the target being able to be changed in position and posture by the robot, and an imaging device set around the robot, the calibration system comprising:a preliminary position generating part using a position of the robot when the target is arranged at a position where the target is included in a field of vision of the imaging device as an initial position and changing the posture of the target without changing the position of the target to generate a plurality of positions of the robot as a plurality of preliminary positions,
a target detecting part using an image of the target at the image acquired by the imaging device as the basis to acquire information on the position of the target on the image and the distance between the target and the imaging device,
an end point position storing part using the plurality of preliminary positions as starting points, making the robot move translationally so that the positions of the target detected by the target detecting part become predetermined positions and the distances become predetermined distance, and storing the positions of the robot after the translational movement as end points, and
a parameter calculating part using the positions of the end points stored by the end point position storing part as the basis to calculate the parameters of the mechanical model.

US Pat. No. 10,184,966

SIGNAL INSPECTION APPARATUS, SIGNAL INSPECTION SYSTEM, SIGNAL INSPECTION METHOD, AND NON-TRANSITORY COMPUTER-READABLE MEDIUM ENCODED WITH SIGNAL INSPECTION PROGRAM

Fanuc Corporation, Yaman...

1. A signal inspection apparatus, comprising:an acquisition unit that acquires values of at least two signals among multiplexed signals in a predetermined cycle;
a count unit that counts respective changes in the at least two signals in a predetermined time frame;
a calculation unit that sequentially calculates a difference between one signal and an other signal, in the counts of changes in the at least two signals; and
an output unit that performs an output indicating discrepancy between the one signal and the other signal, if the difference between the counts of changes exceeds an allowable value.

US Pat. No. 10,185,300

NUMERICAL CONTROLLER REESTABLISHING MACHINE COORDINATE VALUE BY USING ABSOLUTE POSITION DETECTOR

FANUC Corporation, Minam...

1. A numerical controller for controlling a machine including a movable part driven by a servo motor having a position detector, the numerical controller comprising:an axis stop unit configured to output an instruction to stop the servo motor upon receiving an instruction to reestablish a machine coordinate value of the movable part;
a machine coordinate value updating unit configured to acquire, when the axis stop unit stops the servo motor, position information of the servo motor detected by the position detector and update, based on the acquired position information, the machine coordinate value of the movable part; and
an absolute coordinate value updating unit configured to update, based on the machine coordinate value updated by the machine coordinate value updating unit, an absolute coordinate value of the movable part,
wherein the servo motor is stopped until the absolute coordinate value of the movable part is updated.

US Pat. No. 10,179,385

CLAMPING MECHANISM OF ROTATION TABLE DEVICE

FANUC CORPORATION, Yaman...

1. A clamping mechanism of a rotation table device, whereinthe rotation table device comprises:
a shaft which is rotatably provided inside a casing and an end portion of which a workpiece or a jig is fixed to, and
a brake disk provided on the shaft in a manner such that the brake disk cannot rotate with respect to the shaft,
the clamping mechanism is configured to
clamp the brake disk so that the shaft is not rotatable, and
unclamp the brake disk so that the shaft is rotatable,
the clamping mechanism comprises:
a piston that is driven by a working fluid in a direction in which the brake disk is clamped or unclamped; and
a plate spring which is fixed to (i) the piston and (ii) a rear plate fixed to the casing, and which urges the piston in the clamping or unclamping direction at all times by an elastic deformation restoring force, wherein
the plate spring is fixed to any one of or both the rear plate and the piston through an annular plate.

US Pat. No. 10,162,335

NUMERICAL CONTROLLER CAPABLE OF NEIGHBORING POINT SEARCH WITH CONSIDERATION FOR TOOL ATTITUDE

FANUC Corporation, Minam...

1. A numerical controller which controls movement of at least one moving axis and at least one rotation axis of a machine tool based on a machining program, the numerical controller comprising:a current tool center point position acquisition unit that acquires, based on a feedback signal from a position detector associated with the at least one moving axis and the at least one rotation axis, a current tool center point position of the tool;
a current tool attitude acquisition unit that acquires a current tool attitude of the tool;
a machining program analysis unit that reads a block from the machining program and analyzes the read block;
a block execution start time tool center point position acquisition unit that acquires a tool center point position at the execution start time of the block based on an analysis result of the machining program analysis unit;
a distance neighborhood determination unit that determines whether the tool center point position at the execution start time of the block is (i) present in a preset neighboring point distance from the current tool center point position of the tool and (ii) on a machining path directed by the machining program;
a block execution start time tool attitude acquisition unit that acquires a tool attitude of the tool at the execution start time of the block based on the analysis result of the machining program analysis unit when the distance neighborhood determination unit determines that the tool center point position at the execution start time of the block is present in the neighboring point distance;
an attitude neighborhood determination unit that determines whether the difference between the tool attitude of the tool at the execution start time of the block and the current tool attitude of the tool is equal to or smaller than a preset value; and
a neighboring point output unit that outputs the tool center point position at the execution start time of the block as a neighboring point when the attitude neighborhood determination unit determines that the difference is equal to or smaller than the preset value, wherein
the numerical controller controls the at least one moving axis and the at least one rotation axis to move the tool to the output neighboring point, and restarts the machining program from the output neighboring point.

US Pat. No. 10,133,249

SERVOMOTOR CONTROLLER FOR REDUCING POWER PEAK

FANUC CORPORATION, Yaman...

1. A servomotor controller comprising:at least one first converter circuit that performs power conversion between AC power on a side of an AC power supply and DC power on a DC side;
at least one first inverter circuit that performs power conversion between the DC power on the DC side of the first converter circuit and one of AC power supplied to a first servomotor and AC power regenerated from the first servomotor;
at least one second converter circuit that performs power conversion between the AC power on the side of the AC power supply and DC power on a DC side;
at least one second inverter circuit that performs power conversion between the DC power on the DC side of the second converter circuit and one of AC power supplied to a second servomotor and AC power regenerated from the second servomotor; and
a power calculation unit that calculates an amount of power consumed or regenerated in the first servomotor,
wherein the power conversion by the second converter circuit and the second inverter circuit is controlled so that the power regenerated from the first servomotor is supplied to the second servomotor through the AC power supply or the power regenerated from the second servomotor is supplied to the first servomotor through the AC power supply, on the basis of the amount of power calculated by the power calculation unit.

US Pat. No. 10,128,629

LASER OSCILLATOR PROVIDED WITH DISCHARGE TUBE AND LASER PROCESSING MACHINE

FANUC CORPORATION, Yaman...

1. A laser oscillator comprising:an output mirror and a rear mirror arranged opposite to each other; and
a discharge tube arranged between the output mirror and the rear mirror, and configured to generate an electric discharge to excite a laser medium in the discharge tube,
the discharge tube including:
a first end in an axial direction, the first end being closest to the output mirror in the discharge tube,
a second end in the axial direction, the second end being closest to the rear mirror in the discharge tube, and
a largest inner diameter portion, which is arranged between the first end and the second end, and at which the inner diameter of the discharge tube is largest,
wherein the inner diameter of the discharge tube varies in the axial direction so that:
the inner diameter gets larger in a stepwise manner over an entire section in the axial direction between the first end and the largest inner diameter portion, as travelling from the first end to the largest inner diameter portion, and
the inner diameter gets larger in a stepwise manner over an entire section in the axial direction between the second end and the largest inner diameter portion, as travelling from the second end to the largest inner diameter portion,
wherein the discharge tube includes:
a first discharge tube including the first end and having a first inner diameter which is constant in the axial direction, the first discharge tube being configured to generate electric discharge inside thereof by an electric voltage applied to the first discharge tube; and
a second discharge tube arranged to adjoin the first discharge tube at the opposite side to the output mirror, and having a second inner diameter which is constant in the axial direction, the second inner diameter being larger than the first inner diameter, the second discharge tube being configured to generate electric discharge inside thereof by the electric voltage applied to the second discharge tube.

US Pat. No. 10,101,729

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

FANUC CORPORATION, Yaman...

1. A motor control device for a motor coupled with a driven part of a machine via an elastically deformable element, comprising:a velocity command part configured to generate a velocity command;
a first velocity detector configured to detect a motor velocity of the motor;
a second velocity detector configured to detect a velocity of the driven part;
a velocity controller configured to calculate a torque command from the velocity command and the motor velocity;
a compensation torque calculation unit configured to calculate a compensation torque command by multiplying an error between the motor velocity and the velocity of the driven part by a compensation gain and compensation filter;
a torque control unit configured to control torque of the motor based on a value arrived at by adding the torque command and the compensation torque command; and
a setting change part configured to change a gain of the velocity controller according to an operating condition of the motor control device, and change at least one of the compensation gain and the compensation filter in accordance with a change in the gain of the velocity controller.

US Pat. No. 10,029,340

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:a spindle head to/from which a tool is attachable/detachable;
a spindle motor configured to rotate the spindle head;
a spindle head drive motor configured to move the spindle head in a vertical direction;
a ball screw/nut mechanism coupled between the spindle head and the spindle head drive motor, wherein the spindle head drive motor is configured to move the spindle head in the vertical direction via the ball screw/nut mechanism;
a load torque detection unit configured to detect a load torque applied to the spindle head drive motor;
a data storage unit configured to
obtain beforehand a relationship between a weight of a tool installed in the spindle head and a load torque that is applied to the spindle head drive motor under a predetermined drive condition, with respect to a plurality of objects of different weights, and
store the relationship as relational data between weights of installed objects and load torques; and
a processor configured to
detect a load torque of the spindle head drive motor under the predetermined driving condition when the tool is installed in the spindle head using the load torque detection unit, and
estimate the weight of the tool installed in the spindle head based on the detected load torque and the relational data between weights of installed objects and load torques which are stored in the data storage unit,
wherein an operation of the spindle head is changed in accordance with the estimated weight of the tool.

US Pat. No. 9,995,078

REBOUND SUPPRESSION SYSTEM FOR SLIDING DOOR

FANUC CORPORATION, Yaman...

1. A sliding door rebound suppression system, comprising:an outer frame;
a sliding door movable relative to the outer frame, in opening and closing motions between a closed position and an open position;
a rail provided on a first one of the sliding door and the outer frame;
a movable support portion secured to a second one of the sliding door and the outer frame and configured to move relative to and along the rail in accordance with the opening and closing motions of the sliding door;
a fitting portion on the rail,
wherein, in a width direction transverse to a movement direction of the sliding door in the opening and closing motions, the fitting portion has a width smaller than a width of the movable support portion;
a rebound preventing unit on the second one of the sliding door and the outer frame,
wherein, in the width direction, the rebound preventing unit has a width smaller than the width of the fitting portion; and
a pressing mechanism configured to press the rebound preventing unit against the rail or the fitting portion,
wherein the rebound preventing unit is fit in the fitting portion when the sliding door is at one of the closed position and the open position.

US Pat. No. 9,954,406

MOTOR HAVING FIGURE 8-SHAPED LINKED COILS AND METHOD FOR MANUFACTURING THE SAME

FANUC CORPORATION, Yaman...

1. A three-phase alternating current motor comprising:a rotor having a plurality of pairs of magnetic poles;
a stator being formed in a direction of a rotation axis of the rotor, having a plurality of circumferentially arrayed slots and being arranged radially facing the rotor; and
a plurality of windings being inserted into the slots and being wound around the stator,
wherein when a number of poles of the rotor is denoted by 2P and a number of slots in which windings of the stator are inserted is denoted by 6N, the number of slots 6N divided by a number of pole pairs P is an irreducible fraction and a relation 2N>P stands, and
wherein in the stator of the three-phase alternating current motor,
when a quotient obtained by dividing the number of slots 6N by the number of poles 2P is denoted by X, 2N coils per phase of a predetermined number of windings are arranged in the slots of the stator,
one of the coils and another one of the coils connected in series thereto are arranged overlapping in one center slot while sharing one side with current directions thereof being aligned,
opposite sides of the two coils not sharing the slot are each arranged in other ones of the slots at a distance by X from the center slot, so that the two coils are arranged while being linked in a figure 8-shape straddling over the three slots, and
N sets per phase of the figure 8-shaped linked coils are arranged at not completely overlapping positions in the slots of the stator and are connected in series.

US Pat. No. 9,937,594

METHOD OF MACHINING WORKPIECE BY COOPERATION OF MACHINE TOOL AND ROBOT

FANUC CORPORATION, Yaman...

1. A method of machining a workpiece by cooperation of a machine tool including a workpiece receiving part on which the workpiece is placed and a clamp part which presses the workpiece against the workpiece receiving part, and a robot including a robot hand capable of gripping the workpiece, the method comprising:operating the robot to grip the workpiece by the robot hand and place the workpiece on the workpiece receiving part;
pressing the clamp part against a first portion of the workpiece and clamping the workpiece between the clamp part and the workpiece receiving part;
moving the clamp part so as to separate away from the first portion and release the workpiece from the clamp part without changing the posture of the workpiece;
operating the robot so as to grip a second portion of the workpiece different from the first portion by the robot hand and restrict a movement of the workpiece relative to the workpiece receiving part without changing a posture of the workpiece; and
operating the machine tool so as to machine the first portion when restricting the movement of the workpiece relative to the workpiece receiving part.

US Pat. No. 9,925,664

ROBOT SIMULATION DEVICE FOR GENERATION MOTION PATH OF ROBOT

FANUC CORPORATION, Yaman...

1. A robot simulation device for simulating motion of a robot by positioning three-dimensional models of the robot and a peripheral object arranged about the robot in a same virtual space, the robot simulation device comprising:a processor configured to:
obtain a first motion path of the robot by executing a simulation of a motion program of the robot;
detect whether interference between the robot and the peripheral object occurs when the robot is moved along the first motion path, and specify a first teaching point corresponding to a teaching point immediately before the interference occurs and a second teaching point corresponding to a teaching point immediately after the interference occurs;
add at least one third teaching point between the first and second teaching points and generates different second motion paths by which the interference between the robot and the peripheral object does not occur, the at least one third teaching point being separated from the first or second teaching point in a search direction determined by a first random number and a search distance determined by a second random number;
evaluate each of the second motion paths based on at least one previously determined parameter including a motion time of the robot and a minimum distance between the robot and the peripheral object;
select an optimum motion path of the robot from the different second motion paths based on an evaluation result; and
control the robot to move along the selected optimum motion path, the robot simulation device being separated from a controller for controlling the robot based on the simulation carried out by the robot simulation device.

US Pat. No. 9,878,451

AUTOMATED ROBOTIC ASSEMBLY SYSTEM

FANUC CORPORATION, Yaman...

1. An automated robotic assembly system configured to assemble a device by fitting a component made of a material liable to
deformation by external force with another component by means of a robot, the automated robotic assembly system comprising:
a robot controller configured to control the robot;
a distortion detection unit provided on the component made of the material liable to deformation and configured to detect
distortion thereof; and

a distortion determining unit configured to receive a distortion signal detected by the distortion detection unit and output
an abnormal signal when a size of the distortion signal exceeds a predetermined threshold,

wherein the robot controller is configured to stop an automated assembly operation by the robot when the abnormal signal is
output by the distortion determining unit.

US Pat. No. 9,869,989

NUMERICAL CONTROLLER

FANUC CORPORATION, Minam...

1. A numerical controller configured to rotate a workpiece about a rotation axis, move a tool along the rotation axis in synchronism
with the rotation about the rotation axis, and control a machine tool for performing thread cutting in the workpiece, the
numerical controller comprising:
a cutting amount variation setting unit for previously setting the size of a variation of a cutting amount during the thread
cutting,

the numerical controller configured to continue the thread cutting with the cutting amount changed based on the set variation
when the change of the cutting amount is ordered by the cutting amount variation setting unit during the thread cutting, move
the tool with acceleration of a predetermined value or higher along the rotation axis from a predetermined position to a start
point in a position along the rotation axis near a position along the rotation axis in which the cutting amount is changed
and deviated from a start point of the thread cutting by a distance equal to an integral multiple of a lead after the thread
cutting with the changed cutting amount is performed, and perform the thread cutting with the unchanged cutting amount, starting
at the deviated start point.

US Pat. No. 9,849,551

TOOL GRIPPING MECHANISM

FANUC CORPORATION, Yaman...

1. A tool gripping mechanism, comprising:
a tool holder to which a tool can be attached; and
a shaft to which the tool holder is attached, the shaft being fixed to a rotary shaft of a spindle device,
wherein the tool holder and the shaft include a first surface and a second surface, respectively, the first and second surfaces
facing each other,

at least two magnets are disposed in the first surface of the tool holder, and at least one of the at least two magnets has
pole directions different from those of the other of the at least two magnets,

magnets are disposed in the second surface of the shaft to be located at positions corresponding to the magnets disposed in
the first surface and to generate magnetic forces in directions in which the magnets disposed in the first surface are attracted,

less than half of the magnets disposed in the second surface of the shaft have a first magnetic pole facing the first surface
of the tool holder, and

more than half of the magnets disposed in the second surface of the shaft have a second magnetic pole facing the first surface
of the tool holder, the second magnetic pole opposite to the first magnetic pole.

US Pat. No. 9,837,789

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

FANUC CORPORATION, Yaman...

1. An air-cooled laser device having a laser diode module as a light emitting source or an excitation light source, the air-cooled
laser device comprises:
a heat-receiving plate substantially horizontally-arranged, on which the laser diode module is mounted so as to be thermally
connected to the heat-receiving plate;

at least one L-shaped heat-transferring member attached to an inside or a surface of the heat-receiving plate, the L-shaped
heat-transferring member extending in a surface direction of the heat-receiving plate and bending at a substantially right
angle outside the heat-receiving plate so as to extend in a substantially upward vertical direction;

a plurality of heat radiating fins attached to a substantially vertical portion of the L-shaped heat-transferring member so
that each of the plurality of heat radiating fins extends in a substantially horizontal direction; and

an axial fan for sending air to an upper space of the heat-receiving plate through between the plurality of heat radiating
fins,

wherein air after flowing through the plurality of heat radiating fins cools a separate heating component that is positioned
separate from the laser diode module and separate from the heat-receiving plate such that the separate heating component does
not contact the laser diode module and does not contact the heat-receiving plate, the separate heating component being positioned
in front of the axial fan such that the air flowing through the heat radiating fins flows straight from the axial fan toward
the heating component.

US Pat. No. 9,796,083

SIMULATION APPARATUS FOR ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A simulation apparatus for performing, based on an output from a detection unit that detects a workpiece transported along
a transport device, a simulation of a robot system including a robot configured to perform a follow-up operation with respect
to the workpiece, the simulation apparatus comprising a processor configured to:
arrange a three-dimensional robot model of the robot in a virtual space,
store configuration information of the robot system, which is formed based on the robot system,
calculate a transport device arrangement position of the transport device in the virtual space based on a follow-up operation
reference coordinate system, which is arranged at a predetermined position from the robot origin in the virtual space, related
to the follow-up operation of the robot, and included in the configuration information,

calculate a detection unit arrangement position of the detection unit in the virtual space based on the follow-up operation
reference coordinate system, wherein the robot system includes at least one additional robot that performs a follow-up operation
with respect to the workpiece, and the configuration information includes an additional follow-up operation reference coordinate
system related to the follow-up operation of the additional robot,

calculate an additional robot arrangement position of the additional robot in the virtual space based on the additional follow-up
operation reference coordinate system and the follow-up operation reference coordinate system, and

arrange a three-dimensional additional robot model of the additional robot in the virtual space based on the additional robot,
wherein an operation of the robot system is modified based upon the arrangements of the three dimensional robot models.

US Pat. No. 9,783,371

ARTICLE ALIGNMENT APPARATUS FOR ALIGNING ARTICLE ON CONVEYOR

Fanuc Corporation, Yaman...

1. An article alignment apparatus, comprising:
a conveyor which includes a placement portion on which an article is placed, and a detector for detecting a movement amount
of the placement portion;

a robot which includes a tool capable of holding an article and is configured to successively place an article or a group
of articles having a predetermined positional relationship relative to each other, in alignment on the placement portion along
a movement direction of the conveyor;

an interval setting unit configured to set a distance between articles or a distance between groups of articles to be placed
in alignment along the movement direction of the conveyor;

a movement amount acquisition unit configured to acquire a movement amount of the placement portion from the detector;
a virtual target generation unit configured to successively generate, before the robot executes a placement operation of an
article or a group of articles, virtual targets which serve as a reference in positioning the article on the placement portion
directly on the conveyor, the virtual targets each having a plurality of placement positions within a predefined area and
being separated from each other by a distance which is determined according to the distance between the articles or the distance
between the groups of articles specified by the interval setting unit, each of the plurality of placement positions set at
any position within the predefined area of the virtual target; and

a placement operation execution unit configured to place the article or the group of articles directly on the conveyor at
least one of the placement locations selected within the predefined area of the virtual target by tracking the virtual target
moving together with the placement portion based on information detected by the detector.

US Pat. No. 9,782,863

SCREW TIGHTENING APPARATUS

FANUC CORPORATION, Yaman...

1. A screw tightening apparatus which screws a bolt in a screw hole of an object to be screwed, the apparatus comprising:
a magazine plate including a first face, a second face opposite to the first face, a through hole formed in a first direction
extending from the first face to the second face, and a bolt setting part provided at an opening edge of the through hole
on a side of the first face and configured to set the bolt coaxially with the through hole, with a head of the bolt disposed
so as to cover the through hole;

a rotary rod device including a rotary part extending parallel to the first direction with a tip portion opposed to the second
face of the magazine plate, and a rotary drive unit which rotates the tip portion;

a first moving unit which moves the magazine plate relative to the rotary rod device in a second direction perpendicular to
the first direction;

a second moving unit which moves the rotary rod device in the first direction; and
a screw tightening control unit which controls the first moving unit so as to locate the tip portion of the rotary rod device
coaxially with the through hole, and controls the second moving unit so as to cause the tip portion of the rotary rod device
to pass the through hole and abut on the head of the bolt in the state where the tip portion of the rotary rod device is located
coaxially with the through hole.

US Pat. No. 9,787,049

LASER OSCILLATOR HAVING FOLDING MIRROR

Fanuc Corporation, Yaman...

1. A laser oscillator comprising an optical resonator having an output coupler and a rear mirror positioned on an optical
axis, the optical resonator having at least one folding mirror positioned between the output coupler and the rear mirror,
wherein at least one folding mirror has a toric surface shape, a saddle surface shape or a cylindrical shape,
and wherein at least one of the toric surface shape, the saddle surface shape or the cylindrical shape is configured to rotate
about a straight line as a rotation axis which extends through one point on a reflecting surface of the folding mirror and
is perpendicular to the reflecting surface of the folding mirror.

US Pat. No. 9,766,614

MOTOR CONTROLLING APPARATUS FOR SUPPRESSING VIBRATIONS

FANUC CORPORATION, Yaman...

1. A motor control apparatus for controlling a servo motor, comprising:
a position command generator configured to generate a position command of the motor;
a compensation filter configured to compensate the position command generated by the position command generator; and,
a servo control unit configured to control the movement of the motor based on a position command after compensation which
is the compensated position command by the compensation filter,

wherein the compensation filter includes a filter F(s) having an inertia Jr of a driven part, a stiffness coefficient K of
an elastically deformable part and a damping coefficient C of the elastically deformable part as the elements of filter coefficients,

wherein the filter F(s) included in the compensation filter is represented by F(s)=(JL×s2+C×s+K)/(C×s+K) wherein the position command after compensation is determined by adding a differential compensation amount
for implementation of a filter, F(s)?1=(JL×s2)/(C×s+K), on the position command, to the position command,

wherein the compensation filter includes:
an acceleration command operator configured to calculate an acceleration command from the position command;
a first compensation amount operator configured to multiply the acceleration command output from the acceleration command
operator by a gain JL/K, determined by the inertia JL of the driven part and the stiffness constant K of an elastically deformable part; and,

a second compensation amount operator configured to implement a first order low-pass filter with a time constant of C/K, determined
by the damping constant C of the elastically deformable part and the stiffness constant K of the elastically deformable part,
on a first compensation amount output from the first compensation amount operator,

wherein the filter F(s) is realized by adding a second compensation amount output from the second compensation amount operator,
to the position command,

wherein the gain JL/K is determined by the inertia JL of the driven part and the stiffness constant K of the elastically deformable part,

wherein the time constant C/K is determined by the damping constant C of the elastically deformable part and the stiffness
constant K of the elastically deformable part, and

wherein the gain JL/K and the time constant C/K are input to realize the filter F(s) after being determined by the following equations using
the frequency ? and the vibration attenuation coefficient ?

JL/K=1/?2
C/K<=2?/?.

US Pat. No. 9,768,716

MOTOR CONTROL APPARATUS PROVIDED WITH MAGNETIC FLUX CONTROL UNIT, AND MACHINE LEARNING APPARATUS AND METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A machine learning apparatus configured to learn conditions that are associated with an excitation current command for
magnetic flux control of a motor performed by a motor control apparatus and excitation start timing, which corresponds to
timing to start increasing a magnetic flux by the magnetic flux control comprising:
a state observation unit that observes a state variable including at least one of data relating to magnetic flux increase
lead time that may be required from timing when a start command is issued for a predetermined operation mode until the magnetic
flux of the motor reaches the maximum magnetic flux corresponding to the predetermined operation mode and data relating to
whether an overheat alarm indicating that the motor has overheated has been triggered or not; and

a learning unit that learns conditions that are associated with an excitation current command increment to be added to the
excitation current command for the motor, which is preset for an operation mode before execution of the predetermined operation
mode, and an excitation start timing adjusting amount for adjusting the excitation start timing, which is preset for the predetermined
operation mode, in accordance with a training data set including the state variables.

US Pat. No. 9,768,723

MOTOR DRIVE USING CAPACITOR

FANUC CORPORATION, Yaman...

1. A motor drive comprising:
a PWM converter configured to convert AC power inputted from a low voltage AC power source into DC power by PWM control;
an inverter configured to receive the DC power and converting the DC power into AC power to drive a motor;
a capacitor connected between the PWM converter and the inverter;
an input voltage detector configured to detect an AC voltage supplied from the low voltage AC power source to the PWM converter;
an input current detector configured to detect a current to be inputted from the low voltage AC power source to the PWM converter;
and

an output voltage detector configured to detect a DC voltage converted by the PWM converter,
wherein the PWM converter is operated so as to limit input and output currents detected by the input current detector or input
and output power detected by the input voltage detector, the input current detector and the output voltage detector to predetermined
values,

wherein the PWM converter is supplied from the low voltage AC power source with a minimum voltage within a voltage range required
to drive the motor or an AC voltage having peak value lower than the minimum voltage, and

wherein the PWM converter boosts a DC link voltage, which is an output voltage, to the voltage able to drive the motor, to
reduce the capacitance of the capacitor.

US Pat. No. 9,753,688

MOTOR CONTROL SYSTEM FOR CONTROL OF A MOTOR AND A DISPLAY DEVICE

FANUC Corporation, Minam...

1. A motor control system comprising:
a numerical controller;
at least one amplifier which drives a motor based on a motor command from the numerical controller;
at least one display device which carries out screen display; and
a single serial bus which connects the numerical controller, the at least one amplifier, and the at least one display device,
the numerical controller communicating with both the amplifier and the display device, and the display device in communication
with both a first of the at least one amplifier and a second of the at least one amplifier via the single serial bus;

wherein the numerical controller includes a first transmission buffer, a second transmission buffer, and a serial bus control
circuit, wherein the first transmission buffer and the second transmission buffer are separate and independent of one another,
and wherein the numerical controller does not include the display device and the at least one amplifier, and

the numerical controller calculates the motor command for motor control, stores the calculated motor command in the first
transmission buffer, and stores the display data in the second transmission buffer, wherein

the serial bus control circuit outputs the motor command stored in the first transmission buffer and the display data stored
in the second transmission buffer to the serial bus, depending on the amplifier or the display device connected to the serial
bus,

the amplifier drives the motor based on the motor command received from the numerical controller via the serial bus, and
the display device carries out screen display based on the display data received from the numerical controller via the serial
bus, and wherein

a data length of the motor command per motor output from the numerical controller is fixed, and
a data length of the display data transmitted to the display device is an integer multiple of the data length of the motor
command.

US Pat. No. 9,753,450

TIME SERIES DATA DISPLAY DEVICE CONVERTING POINT SEQUENCE DATA TO TIME SERIES DATA REGARDING DRIVE AXES TO BE DISPLAYED

FANUC CORPORATION, Yaman...

1. A time series data display device, comprising:
a position feedback data acquisition unit which acquires position feedback data, which are position feedback data of drive
axes driven by servo motors and obtained by first measuring instruments, with a predetermined sampling period;

a command data acquisition unit which acquires position command data to a machine end, which moves driven by the drive axes,
from a numerical control device;

a position data acquisition unit which acquires actual position data of the machine end, which are obtained by a second measuring
instrument, with a predetermined sampling period;

a drive axis position calculation unit which, based on the position feedback data acquired by the position feedback data acquisition
unit, calculates position data in time-series of a movement point on the drive axes;

a command trajectory generation unit which, based on the position command data in time-series to the machine end acquired
by the command data acquisition unit, generates a command movement trajectory of the machine end;

an actual trajectory generation unit which, based on the actual position data in time-series of the machine end acquired by
the position data acquisition unit, generates an actual movement trajectory of the machine end;

a machine end position calculation unit which calculates position data of the machine end which are intersection points between
straight lines, which are perpendicular to the command movement trajectory generated by the command trajectory generation
unit and pass through the movement point expressed by the position data calculated by the drive axis position calculation
unit, and the actual movement trajectory generated by the actual trajectory generation unit;

a position data conversion unit which converts the position data of the machine end calculated by the machine end position
calculation unit to position data with respect to the drive axes; and

a display unit which displays the position feedback data in time-series acquired by the position feedback data acquisition
unit and the position data in time-series converted by the position data conversion unit in the same display style as each
other.

US Pat. No. 9,720,225

PROCESSING SYSTEM WITH GALVANO SCANNER CAPABLE OF HIGH SPEED LASER SCANNING

Fanuc Corporation, Yaman...

1. A processing system comprising: a laser beam source which generates a laser beam, a galvano scanner which comprises a mirror
for reflecting said laser beam and a servo motor for rotating said mirror and which emits said laser beam to a workpiece,
an operation control device which controls the operation of said servo motor in accordance with a sinusoidal drive command,
a detector which detects an actual operation of said servo motor exclusive of the laser beam output, by detecting a position
of a rotary encoder attached to the servo motor, an error calculation part which calculates an error between said drive command
and the actual operation of said servo motor detected by said detector, a learning control part which generates a correction
amount for correcting said error based on the error and a previous error calculated by the error calculation part, and a servo
control part which controls operation of said servo motor based on said error after correction by said correction amount.

US Pat. No. 9,696,708

MACHINING CURVE CREATING APPARATUS AND MACHINING CURVE CREATING METHOD THEREOF

FANUC Corporation, Minam...

1. A machining curve creating apparatus for creating a machining curve of a tool used to machine a workpiece by repeating
taking, as a partial point sequence, a part of a point sequence expressing a tool path and generating a partial curve, the
machining curve creating apparatus comprising:
a segmented curve information storage unit configured to store, for each segmented curve of a plurality of segmented curves
that are individual curve sections providing the tool path, segmented curve information comprising a number of the generated
partial curves included in the segmented curve, a tangential direction at an end point of the segmented curve, and partial
curve information in association with the segmented curve, wherein the partial curve information includes at least one of
(i) a partial curve length of each of the generated partial curves and (ii) a number of points of the partial point sequence
and information that mathematically defines the partial curve;

a curve information utilization determining unit configured to compare a characterizing value with the segmented curve information
of each segmented curve upon which the partial curve is generated, the characterizing value including at least one of (i)
a direction of the point sequence from which the curve is to be generated and (ii) a folding line length, check whether the
segmented curve to which the partial curve is to be conformed has already been generated and the corresponding segmented curve
information is stored, and when the corresponding segmented curve information is stored, determine to use the stored segmented
curve information when the partial curve is generated; and

a stored-information-utilized curve generating unit configured to generate a partial curve utilizing the segmented curve information,
wherein the partial curve is generated based on the segmented curve information of the stored information utilized curve generating
unit to which the partial curve is to be conformed and the information on the partial curve defining the segmented curve,
when the curve information utilization determining unit determines to utilize the stored segmented curve information.

US Pat. No. 9,694,458

INTERIOR CLEANING DEVICE FOR MACHINE TOOL, AND CLEANING PIPE USED BY INTERIOR CLEANING DEVICE FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. An interior cleaning device for a machine tool, said interior cleaning device comprising:
a pipe arranged inside a cover covering at least a periphery of a machining section of the machine tool, and
a pump for supplying liquid into the pipe,
wherein the pipe includes:
a first pipe provided with a first ejection section for ejecting the liquid or air into the cover;
a second pipe installed inside the first pipe and provided with a second ejection section at a part facing other than downward
in a vertical direction, and

wherein
the interior cleaning device is configured to eject the liquid, which is supplied by the pump into the second pipe, through
the second ejection section and the first ejection section to clean accumulated substances accumulated inside the cover, and

the first pipe further includes a hole for supplying air between the first pipe and the second pipe.

US Pat. No. 9,694,499

ARTICLE PICKUP APPARATUS FOR PICKING UP RANDOMLY PILED ARTICLES

Fanuc Corporation, Yaman...

1. An article pickup apparatus configured to detect randomly piled articles by a visual sensor and pick up the articles by
a robot one by one based on visual information acquired by the visual sensor, the article pickup apparatus comprising:
a robot including:
a hand provided at a tip end of an arm and configured to hold an article,
a force sensor configured to detect a force acting on the hand with respect to individual components of the respective coordinate
axes of a hand coordinate system, a position and posture of which are fixed relative to the hand;

a robot controller including:
a visual information processing unit configured to acquire a position and a posture of the hand in which the hand can hold
the article, as a holding position and posture, based on visual information acquired by the visual sensor;

a force target value setting unit configured to set a target value of an external force acting on the hand with respect to
individual components of the respective coordinate axes of the hand coordinate system when the article is held; and

a holding operation unit configured to control the robot to move the hand to the holding position and posture and control
the hand to hold the article,

wherein the holding operation unit is configured to execute a profile control, the profile control including controlling the
robot or the hand so that an external force detected by the force sensor becomes closer to the target value of the external
force set by the force target value setting unit.

US Pat. No. 9,581,991

DNC OPERATION SYSTEM

FANUC CORPORATION, Yaman...

1. A direct numerical control (DNC) operation system, comprising:
a host apparatus comprising a storage device;
a numerical controller comprising a storage device; and
a communication line connecting the numerical controller to the host apparatus, the communication line being configured to
perform bidirectional communication and to successively transmit numerical control (NC) data stored in the storage device
of the host apparatus to the numerical controller to perform a DNC operation,

wherein
the numerical controller is configured to perform operation using the NC data received from the host apparatus via the communication
line, and the numerical controller comprises a processor configured as:

a determination unit configured to determine whether the NC data received from the host apparatus includes any of a sub program,
a repeat instruction and a branch instruction; and

a search information write processing unit configured to write, in the storage device in the numerical controller, search
information for searching the NC data stored in the storage device in the host apparatus and to discard the received NC data,
in response to a determination by the determination unit that the received NC data includes any of the sub program, the repeat
instruction and the branch instruction,

the host apparatus comprises a processor configured as:
a search information read processing unit configured to read the written search information;
an NC data search processing unit configured to search the NC data stored in the storage device in the host apparatus on the
basis of the read search information; and

an NC data transmission processing unit configured to transmit the searched NC data to the numerical controller,
the numerical controller is further configured to
determine whether the NC data received after the search information is written is the searched NC data that has been searched
by the host apparatus, and

in response to a determination that the NC data received after the search information is written is the searched NC data,
perform the operation on the basis of the NC data received after the search information is written,

the numerical controller is further configured to perform a prefetch antecedent to the operation of the NC data received from
the host apparatus via the communication line, analyze the received NC data, and then store the analyzed NC data in the storage
device of the numerical controller; and

in response to a determination that the analyzed NC data includes any of the sub program call, the repeat instruction and
the branch instruction, the search information write processing unit is configured to write, in the storage device in the
numerical controller, search information that is required for searching for the NC data which is required by the host apparatus
to execute the relevant instruction.

US Pat. No. 9,569,568

ROBOT SIMULATION SYSTEM WHICH SIMULATES TAKEOUT PROCESS OF WORKPIECE

FANUC CORPORATION, Yaman...

1. A robot simulation system for simulating a takeout process of successively taking out, by a robot, a plurality of workpieces
which are bulk stacked in a container in a work space,
the robot simulation system comprising a processor including:
a virtual space creation part configured to create a virtual space which expresses the work space three-dimensionally;
a model creation part configured to
create a container model which expresses the container three-dimensionally, and
create a plurality of the workpiece models which express the plurality of the workpieces three-dimensionally;
a model placement part configured to
place the container model in the virtual space, and
place the workpiece models which have any postures at initial positions above the container model, wherein the workpiece models
do not interfere with each other and wherein the workpiece models drop into an inside of the container model;

a drop operation simulation part configured to perform a simulation of a drop operation in which
the workpiece models drop from the initial positions into the inside of the container model by action of gravity, and
at least one of the workpiece models, while being dropped into the container model by action of gravity, is rotated in response
to interference of said at least one workpiece model with another workpiece model or with the container model; and

a bulk stacked state creation part configured to create a bulk stacked state of the workpiece models, based on positions and
postures of the workpiece models which are obtained as a result of the simulation of the drop operation.

US Pat. No. 9,561,588

ROBOT SYSTEM INCLUDING PLURALITY OF ROBOT CONTROL DEVICES

FANUC CORPORATION, Yaman...

1. A robot system for controlling drive power supplied to at least two robots, the robot system comprising:
at least two robot control devices which respectively control said at least two robots;
a network which connects said at least two robot control devices;
a teaching control panel which is connected with said network and is used for teaching operations of said at least two robots;
an enable device which is provided at said teaching control panel and which has
a first state permitting said teaching operations of said at least two robots, and
a second state prohibiting said teaching operations of said at least two robots;
a mode changing device which is connected to said network and which selects either an automatic operation mode by which said
at least two robots are automatically operated or a teaching mode by which said teaching control panel is used to teach said
at least two robots;

wherein when said mode changing device selects said automatic operation mode, regardless of whether said enable device is
in the first state or the second state, drive power to all of said at least two robots is supplied,

wherein when said mode changing device selects said teaching mode and said enable device is in the second state, drive power
to all of said at least two robots is cut off, and

wherein when said teaching control panel is disconnected from said network and said mode changing device selects said teaching
mode, drive power to all of said at least two robots is cut off.

US Pat. No. 9,535,417

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

FANUC Corporation, Minam...

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

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

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

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

where said processing machine is a solvent coating processing machine and where said fed energy or material is a paint, adhesive,
or sealant,

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

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

US Pat. No. 9,523,975

SERVO CONTROLLER FOR REDUCING SYNCHRONOUS ERROR IN SYNCHRONOUS MACHINING

FANUC CORPORATION, Yaman...

1. A servo controller for use in a machine tool, the machine tool configured for machining a workpiece by driving first and
second shafts in synchronization with a synchronous ratio by means of electric motors, the servo controller comprising:
a first position feedback acquisition unit for acquiring a position feedback of the first shaft;
a second position feedback acquisition unit for acquiring a position feedback of the second shaft;
a converter for converting the acquired position feedback of the first shaft to a converted position feedback corresponding
to the position feedback of the second shaft by use of the synchronous ratio;

a synchronous error calculator for calculating a synchronous error which is a difference between the converted position feedback
of the first shaft and the position feedback of the second shaft;

a positional deviation calculator for calculating a positional deviation of the second shaft which is a difference between
a position command for the second shaft and the position feedback of the second shaft;

a filtering processor for extracting components in a predetermined frequency range from a difference between the synchronous
error and the positional deviation of the second shaft; and

a positional deviation corrector for correcting the positional deviation of the second shaft by use of the components extracted
and output from the filtering processor.

US Pat. No. 9,511,464

ADJUSTMENT MECHANISM FOR ROTATION RUNOUT AND DYNAMIC BALANCE OF ROTATING TOOL

FANUC CORPORATION, Yaman...

1. An adjustment mechanism for rotation runout and dynamic balance of a rotating tool that is attached to a spindle and is
held by a tool holder, the adjustment mechanism comprising:
a chuck which sucks the tool holder in a direction of a rotational axis of the spindle and which sucks the tool holder in
a direction perpendicular to the direction of the rotational axis of the spindle;

a first projection provided on an outer peripheral surface of the tool holder;
a second projection provided on a plane formed by a trajectory of the first projection when the spindle is rotated; and
a distance change element that enables any change in a distance from the rotational axis of the spindle to the second projection
until the first projection and the second projection collide against each other, wherein

the position of the tool holder is displaced if the first projection and the second projection collide with each other by
an external force applied to the first projection,

a plurality of the first projections are disposed on the outer peripheral surface of the tool holder so as to have different
phases in a rotation direction,

a plurality of rotation planes formed by the trajectories of the first projections is arranged so as not to overlap one another
with the spindle kept rotating, and

changing a relative position between the spindle and the second projection enables a position to be set where any one of the
first projections and the second projection collide against each other.

US Pat. No. 9,503,704

APPARATUS AND METHOD FOR PICKING UP ARTICLE DISPOSED IN THREE-DIMENSIONAL SPACE USING ROBOT

FANUC CORPORATION, Yaman...

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

a camera imaging an area including the plurality of articles to acquire image data;
a connected set calculation part determining a connected set made by connecting three-dimensional points present in the vicinity
of each other among the plurality of three-dimensional points, based on the position information of the plurality of three-dimensional
points acquired by the three-dimensional measurement instrument and the image data acquired by the camera;

an article identification part identifying a position and posture of the article, based on the position information of the
three-dimensional points belonging to the connected set;

a hand position posture calculation part determining a hand position posture as a position and posture of the hand capable
of picking up the article identified by the article identification part; and

a robot control part controlling the robot so as to move the hand to the hand position posture determined by the hand position
posture calculation part to pick up the article,

wherein the connected set calculation part comprises:
a three-dimensional point selection part selecting a first three-dimensional point and a second three-dimensional point present
in the vicinity of each other among the plurality of three-dimensional points acquired by the three-dimensional measurement
instrument;

a gradient information acquisition part acquiring an image gradient information indicating a gradient state of a surface of
the article in a partial image region including points on an image corresponding to respective the first three-dimensional
point and the second three-dimensional point, based on the image data acquired by the camera; and

a judgment part judging whether the first three-dimensional point and the second three-dimensional point are present on the
same article, based on a position information of the first three-dimensional point, a position information of the second three-dimensional
point, and the image gradient information acquired by the gradient information acquisition part, and

wherein the connected set calculation part prepares a list including one three-dimensional point, sets the one three-dimensional
point as a reference three-dimensional point, selects one or more three-dimensional points in the vicinity of the reference
three-dimensional point by the three-dimensional point selection part, judges whether selected three-dimensional points and
the reference three-dimensional point are present on the same article by the judgment part, and performs a control in which
the three-dimensional point which is present on the same article is included in the list,

the connected set calculation part sets a three-dimensional point, which is not selected as the reference three-dimensional
point among the three-dimensional points included in the list, as the reference three-dimensional point, selects one or more
three-dimensional points in the vicinity of the reference three-dimensional point by the three-dimensional point selection
part, judges whether selected three-dimensional points and the reference three-dimensional point are present on the same article
by the judgment part, and performs a control in which the three-dimensional point which is present on the same article is
added in the list, and

the connected set calculation part repeats the control in which the three-dimensional point is added until all three-dimensional
points included in the list are set as the reference three-dimensional point, determines all three-dimensional points included
in the final list as the connected set.

US Pat. No. 9,436,178

PARAMETER ADJUSTMENT SUPPORT DEVICE HAVING FUNCTION FOR SUPPORTING PARAMETER ADJUSTMENT

Fanuc Corporation, Yaman...

1. A parameter adjustment support device for supporting adjustment of an acceleration/deceleration parameter, used with a
numerical controller which generates a movement command for a drive axis by using a commanded acceleration/deceleration characteristic
curve previously given by the acceleration/deceleration parameter, the parameter adjustment support device comprising:
an actual acceleration/deceleration characteristic obtaining part which obtains an actual acceleration/deceleration characteristic
curve relating to a velocity and an acceleration of the drive axis, from the numerical controller or an external storing device;

a parameter setting part which sets or changes the acceleration/deceleration parameter based on an external input;
an acceleration/deceleration characteristic displaying part which generates the commanded acceleration/deceleration characteristic
curve relating to the velocity and the acceleration of the drive axis based on the acceleration/deceleration parameter which
is set or updated by the parameter setting part, and contrastively displays the actual acceleration/deceleration characteristic
curve and the commanded acceleration/deceleration characteristic curve; and

a setting information outputting part which outputs the acceleration/deceleration parameter which is set or updated by the
parameter setting part, to the numerical controller.

US Pat. No. 9,416,664

METHOD OF FORMATION OF IMPELLER WITH SHAPE DEFINED BY PLURALITY OF LINES AND SUCH IMPELLER

FANUC CORPORATION, Yaman...

1. A method of formation of an impeller comprised of a hub on a hub surface of which a plurality of blades are provided,
the method of formation of an impeller comprising
a step of preparing the hub,
a first curve defining step which defines a first hub surface curve which extends along a hub surface of said hub and a first
shroud surface curve which extends along a shroud surface of a blade to be formed, at a base end side of said hub, wherein
a straight line segment which connects a top end of the first hub surface curve and a top end of the first shroud surface
curve is in a plane that is perpendicular to an axis of rotation of the hub;

a first dividing step in which each of the first hub surface curve and the first shroud surface curve is divided into a predetermined
number of equal intervals at divided locations of equal intervals,

a first part forming step which connects each of the divided locations of equal intervals of the first hub surface curve and
first shroud surface curve by a first group of the straight line segments to form a first part of the blade, whereby each
divided location is coextensive with adjacent straight line segments of the first group of the straight line segments,

a second curve defining step which defines a second hub surface curve which extends along a hub surface of said hub and connects
with said first hub surface curve and a second shroud surface curve which extends along said shroud surface and connects with
said first shroud surface curve, at a distal end side of said hub, wherein a straight line segment of the second curve which
connects a bottom end of the second hub surface curve and a bottom end of the second shroud surface curve is parallel to the
plane that passes through the axis of rotation of the hub;

a second dividing step in which each of the second hub surface curve and the second shroud surface curve is divided into a
predetermined number of equal intervals at divided locations of equal intervals,

a second part forming step which connects each of the divided locations of equal intervals of the second hub surface curve
and second shroud surface curve by a second group of the straight line segments of the second curve to form a second part
of said blade, whereby each divided location of the second curve is coextensive with adjacent straight line segments of the
second group of the straight line segments,

a single blade forming step which couples said first part and said second part to form a single blade,
a multiple blade forming step which repeats said first curve defining step to said blade forming step to arrange a plurality
of blades to a hub surface of said hub, and

a short blade forming step which provides a plurality of short blades which are shorter in height than said blade at a hub
surface of said hub, and wherein said first part of said blade has a height that is substantially equal to a height of said
short blades.

US Pat. No. 9,310,799

NUMERICAL CONTROLLER HAVING FUNCTION OF OPERATION BASED ON TABLE FORMAT DATA

FANUC Corporation, Minam...

1. A numerical controller configured to operate based on table format data, the numerical controller comprising:
a memory which stores table format data, in which time or a position of a spindle or feed shaft serving as a reference is
arranged so as to correspond to a position of a spindle or feed shaft other than the spindle or feed shaft of which position
serves as a reference and an output of an auxiliary function, for each of the spindle or feed shaft other than the spindle
or feed shaft of which position serves as a reference and the auxiliary function; and

a reference value counter which inputs the time or the position of the spindle or feed shaft serving as a reference,
wherein, sequentially reading the position of the spindle or feed shaft other than the spindle or feed shaft of which position
serves as a reference and the output of the auxiliary function in synchronization with the value of the reference value counter,
the position of the spindle or feed shaft other than the spindle or feed shaft of which position serves as a reference and
the output of the auxiliary function is controlled,

the reference value counter is provided for each spindle or feed shaft other than the spindle or feed shaft of which position
serves as a reference and for each auxiliary function,

each of the table format data is executed based on each value of the reference value counter, and
the table format data for each spindle, the table format data for each feed shaft, and the table format data for each auxiliary
function includes a waiting code that waits for operation using another table format data, and after a waiting command is
executed based on the waiting code, an operation among each spindle, each feed shaft, and the auxiliary function are synchronized.

US Pat. No. 9,085,038

WIRE ELECTRIC DISCHARGE MACHINE WITH WIRE ELECTRODE CUTTING MECHANISM

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine with a wire electrode cutting mechanism, comprising:
an automatic wire-connection pipe disposed upstream relative to an upper guide, having a nozzle on a distal end thereof, and
movable between an automatic wire connection position near the upper guide and a retracted position;

first and second wire cutting electrodes disposed on the inlet and outlet sides, respectively, of the automatic wire-connection
pipe;

a pickup unit disposed below the second wire cutting electrode and configured to clamp a wire electrode to be cut thereby;
and

a stopper mechanism configured to regulate a movement of the automatic wire-connection pipe so that the distal end of the
nozzle of the automatic wire-connection pipe is located between the second wire cutting electrode and the pickup unit when
the wire electrode is cut,

wherein the stopper mechanism comprises:
a notch portion on a mounting base on which the automatic wire-connection pipe is mounted, and
a cylinder mechanism moveable toward and away from the notch portion.

US Pat. No. 9,050,961

BRAKE DRIVE AND CONTROL DEVICE FOR DETECTING SHORT CIRCUIT FAILURE OF SWITCHING ELEMENT

FANUC CORPORATION, Yaman...

1. A brake drive and control device for driving and controlling a brake in order to change a state of the brake from a disengaged
state into an engaged state by stopping a brake drive current flowing through the brake that brakes a driven object driven
in a gravity axis direction by a motor, comprising:
a first switching element connected to one end of the brake and configured to switch from the off state to the on state when
a switch command is input to cause a brake drive current to flow through the brake;

a second switching element connected to the other end of the brake and configured to switch from the off state to the on state
when the switch command is input to cause a brake drive current to flow through the brake;

a voltage detection unit configured to detect a brake voltage being applied to the brake;
a switch command delay unit configured to delay the switch command input to the first switching element; and
a short circuit failure determination unit configured to determine whether or not a short circuit failure has occurred in
the first switching element based on the brake voltage and the switch command delayed by the switch command delay unit.

US Pat. No. 9,054,617

CONTROL DEVICE OF PERMANENT MAGNET SYNCHRONOUS MOTOR FOR PREVENTING IRREVERSIBLE DEMAGNETIZATION OF PERMANENT MAGNET AND CONTROL SYSTEM INCLUDING THE SAME

FANUC CORPORATION, Yaman...

1. A control device of a permanent magnet synchronous motor, comprising:
a short circuit control unit configured to cause a short-circuiting device to short-circuit three phases of power lines of
a permanent magnet synchronous motor in order to safely stop the permanent magnet synchronous motor at emergency of the permanent
magnet synchronous motor;

a permanent magnet temperature acquisition unit configured to acquire permanent magnet temperature of a permanent magnet of
the permanent magnet synchronous motor;

a maximum current value determination unit configured to determine the maximum current value of a permanent magnet synchronous
motor for each rotation speed of the permanent magnet synchronous motor determined to prevent irreversible demagnetization
of a permanent magnet of the permanent magnet synchronous motor from occurring due to transient current occurring at the time
of short-circuiting of three phases, based on one of a set of irreversible demagnetization causing current value corresponding
to the permanent magnet temperature and the transient current occurring at the time of the short-circuiting of three phases,
and a set of irreversible demagnetization causing magnetic field intensity corresponding to the permanent magnet temperature
and demagnetization field intensity of the permanent magnet of the permanent magnet synchronous motor occurring at the time
of the short-circuiting of three phases; and

a current control unit configured to control the current of the permanent magnet synchronous motor so that the current value
of the permanent magnet synchronous motor becomes less than the maximum current value.

US Pat. No. 10,761,512

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller capable of providing an interface that performs a safe task control for addition of an original function, the numerical controller comprising:a processor configured to:
develop, on a memory, a program executed by a task, analyze the program, and acquire information on the program;
calculate an execution time of the task based on the information;
monitor an execution state of an arithmetic unit;
measure an idle time within an execution cycle of the arithmetic unit;
determine the arithmetic unit to which the task is assigned based on the idle time within the execution cycle; and
register and start the task in the arithmetic unit to which the task has been assigned.

US Pat. No. 10,744,637

ROBOT

FANUC CORPORATION, Yaman...

1. A robot comprising:a robot main body including a first member, a second member, and a joint provided between the first member and the second member, the joint coupling the first member and the second member together so as to be relatively rotatable around a prescribed axis;
a fixed stopper fixed to the first member;
an adaptor that is capable of being detachably attached to the second member; and
a movable stopper that is capable of being detachably attached to the adaptor when the adaptor is attached to the second member, and capable of being detachably attached to the second member without the adaptor when the adaptor is not attached to the second member, wherein
the second member has a main-body-side attachment part to which either one of the adaptor and the movable stopper is selectively attached,
the adaptor has at least one adaptor-side attachment part to which the movable stopper is attached, said at least one adaptor-side attachment part is arranged in a position different from that of the main-body-side attachment part in a circumferential direction around the axis, while the adaptor is in a state of being attached to the main-body-side attachment part, and
a relative rotation angle range of the first member and the second member is restricted as a result of the fixed stopper and the movable stopper abutting against each other around the axis, the movable stopper being attached to either one of the main-body-side attachment part and the adaptor-side attachment part of the adaptor attached to the main-body-side attachment part.

US Pat. No. 10,744,693

CONTROL DEVICE FOR INJECTION MOLDING MACHINE AND CONTROL METHOD FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A control device of an injection molding machine, for controlling operations of multiple elements that operate during a period of mold closing of a mold or during a period of mold opening of the mold in an injection molding machine, the control device comprising:an operation starting condition setting unit configured to set an operation starting condition of each of the elements that operates during either the period of the mold closing or the mold opening, each operation starting condition based on an input selected by an operator operating an operation unit;
a group setting unit configured to analyze each operation starting condition selected by the operator to create data based on each analyzed operation starting condition, the group setting unit configured to make settings with the created data to classify the multiple elements based on the set operation starting condition of each of the elements so that a first element and a second element that operates in conjunction with the first element belong to a first group and a third element that does not operate in conjunction with the first element belongs to a second group that is different from the first group;
an operation sequence setting unit configured to set order of the operations of the first and second elements of the first group; and
a drive command generator configured to generate drive commands for driving the injection molding machine so as to cause the first and second elements of the first group to operate in the set order while causing the third element of the second group to operate independently from the first and second elements of the first group.

US Pat. No. 10,742,081

ROTOR AND MOTOR

FANUC CORPORATION, Yaman...

1. A rotor comprising: a plurality of cylindrical rotor core blocks disposed to be adjacent in an axial direction of a rotary axis and fixed to the rotary axis, the rotor core blocks including insertion portions disposed at intervals in an end surface in the axial direction of the rotor core blocks so as to extend in the axial direction, and slots disposed at intervals in a circumferential direction so as to extend in the axial direction, the insertion portions of the adjacent rotor core blocks facing each other and being successive to each other, and the slots of the adjacent rotor core blocks facing each other and being successive to each other;a plurality of fixing pins having elasticity in an orthogonal planar direction orthogonal to the axial direction, the fixing pins being inserted to the both insertion portions facing each other in the axial direction to fix the rotor core blocks that are adjacent to each other in the axial direction; and
a plurality of magnets disposed in the slots to extend across the plurality of rotor core blocks, wherein
when seen in the axial direction, the fixing pins are disposed between a center of the rotary axis and the magnets in a radial direction.

US Pat. No. 10,705,506

REINFORCEMENT LEARNING TO ALLOCATE PROCESSES TO A MACHINE TOOL CONTROLLER

FANUC CORPORATION, Yaman...

1. A machine learning device that performs reinforcement learning on a controller that performs multiple processes in parallel at multiple operation units for controlling a machine tool, the controller including a first multi-core control unit exerting asymmetrical multi-processing (AMP) control of fixing an operation unit to perform a process and a second multi-core control unit exerting symmetrical multi-processing (SMP) control of not fixing an operation unit to perform a process, the machine learning device comprising:a memory configured to store a program; and
a processor configured to execute the program and control the machine learning device to:
output behavior information containing allocation of arithmetic units that perform the multiple processes to the controller;
acquire state information containing a machining condition as a condition for machining set at the machine tool and determination information generated by monitoring an implementation of the multiple processes by the multiple operation units based on the allocation in the behavior information;
calculate a value of a reward to be given by the reinforcement learning based on the determination information in the state information; and
update a behavior value function based on the value of a reward, the state information, and the behavior information.

US Pat. No. 10,702,848

REACTOR INCLUDING END PLATE INCLUDING END PLATE FORMED OF A PLURALITY OF END PLATE PARTS

Fanuc Corporation, Yaman...

1. A reactor comprising:a core body; and
an end plate fastened to at least one end of the core body, wherein the end plate is formed from a plurality of end plate parts;
wherein the core body comprises an outer peripheral iron core composed of a plurality of outer peripheral iron core parts, wherein one of the end plate parts straddle two mutually adjacent outer peripheral iron core parts at the one end of the core body, at least three iron cores in contact with or connected to an inner surface of the outer peripheral iron core, and coils wound onto the at least three iron cores, and wherein air gaps are formed between two adjacent iron cores from among the at least three iron cores at radially inner ends of the iron cores, wherein the inner ends of the iron cores converge towards a center of the outer peripheral iron core and are separated by the air gaps, or between the at least three iron cores at radially inner ends of the iron cores and a central iron core disposed at the center of the core body, through which gaps the iron cores are magnetically connectable,
wherein a contour of the outer peripheral iron core parts forms an apex at a mating side of the outer peripheral iron core parts located between the coils of the two adjacent iron cores, and
wherein the air gaps between the two adjacent iron cores extend radially to a space between the coils of the two adjacent iron cores and the apex.

US Pat. No. 10,699,838

REACTOR AND METHOD FOR PRODUCTION OF CORE BODY

FANUC CORPORATION, Yaman...

1. A reactor, comprising an outer peripheral iron core composed of a plurality of outer peripheral iron core portions and at least three iron core coils arranged inside the outer peripheral iron core, whereinthe at least three iron core coils comprise iron cores coupled to the plurality of iron core portions and coils wound onto the iron cores, respectively, and
gaps, which can be magnetically coupled, are formed between one of the at least three iron cores and another iron core adjacent thereto, wherein radial inner ends of the iron cores are located near a center of the outer peripheral iron core and converge towards the center of the outer peripheral iron core, and
wherein the radial inner end of each iron core is separate from the radial inner ends of the adjacent iron cores;
the reactor further comprising:
connection parts for connecting the plurality of outer peripheral core portions to each other; wherein
the connection parts include connection members fitted between the plurality of outer peripheral iron core portions to connect the plurality of outer peripheral iron core portions to each other; and
the connection members, the plurality of outer peripheral iron core portions, and the iron cores are formed from a plurality of plates of a same material stacked in a stacking direction.

US Pat. No. 10,698,872

DATA COLLECTION MANAGEMENT SYSTEM, METHOD, AND RECORDING MEDIUM ENCODED WITH A PROGRAM FOR MANAGING COLLECTION OF DATA OF PLURALITY OF MACHINES

FANUC CORPORATION, Yaman...

1. A data collection management system including a data collection management device that manages acquisition of measurement data of a plurality of machine tools, whereinthe data collection management device, which is connected communicably to the plurality of machine tools via a network or by a communication cable, includes:
a setting storage unit that stores connection settings for connecting communicably to the plurality of machine tools and setting of types of measurement data measured in each of the machine tools, the measurement data being data representing physical machine tool characteristics;
a setting unit that sets the connection settings and the types of the measurement data to a measurement tool corresponding to each of the machine tools; and
an execution management unit that controls the machine tools by activating the measurement tool and starts to execute measurement of each of the machine tools according to the settings performed by the setting unit so that the execution management unit acquires the measurement data from the respective machine tools,
wherein the connection between the data collection management device and the plurality of machine tools is configured so that the measurement data is transmitted from the respective machine tools back to the data collection management device.

US Pat. No. 10,698,380

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller including:a processor configured to perform machine learning to calculate and adjust tailstock pressing force applied to a workpiece by a lathe tailstock to stabilize behavior of the workpiece during lathe machining, the processor configured to:
acquire preconditions including a current shape of the workpiece,
acquire, as state information, a current tailstock pressing force,
acquire, as determination data, a current vibration of the workpiece and at least one of a displacement of the workpiece, and a power consumption by tailstock pressing force,
compute a reward that is increased when current vibration or the current power consumption is less than a first respective threshold, and is decreased when current vibration or the current power consumption is greater than a second respective threshold,
update a value function indicating a value of the state information, based on the determination data and the reward,
calculate an adjustment value of the state information based on the value function in an attempt to maximize the reward, and
control an actuator of the lathe tailstock based on the adjustment value to adjust the tailstock pressing force of the lathe tailstock during lathe machining.

US Pat. No. 10,695,871

COMBINED MACHINING METHOD AND COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. A combined machining method performed by an apparatus including laser machining means and mechanical machining means, the method comprising:a first step of performing mechanical machining with respect to a laser machining target region which is a target of laser machining on a machining target so that the laser machining target region has a surface shape having a predetermined absorptivity of a laser beam; and
a second step of radiating a laser beam to the laser machining target region to heat the machining target after the first step ends.

US Pat. No. 10,675,759

INTERFERENCE REGION SETTING APPARATUS FOR MOBILE ROBOT

FANUC CORPORATION, Yaman...

1. An interference region setting apparatus that sets an interference region for a mobile robot mounted on a traveling unit and configured to move within a work region, an articulated portion, extending from a base of the mobile robot and having a plurality of axes, and an image capturing apparatus configured to obtain an image of a periphery of the articulated portion, the interference region setting apparatus comprising:a processor configured to:
store a shape, a position, and an orientation of an obstruction by a peripheral object present in the work region of the mobile robot as an obstruction shape model, the shape, position, and orientation of the peripheral object being represented in a reference coordinate system serving as a reference for the work region, wherein the obstruction by the peripheral object interferes with travel of the mobile robot on the traveling unit in the work region;
analyze an image, captured by the image capturing apparatus, of a marker in a fixed position of the reference coordinate system within the work region to determine a position and orientation of the marker in a robot coordination system serving as a reference for the mobile robot, and calculate a position and orientation of the obstruction shaped model, stored in the reference coordinate system, in the robot coordination system relative to the analyzed position and orientation of the marker in the robot coordination system;
automatically set an interference region on the basis of the position and orientation of the obstruction shaped model stored in the reference coordinate system and converted into the robot coordinate system relative to the marker, the interference region being a region represented in the robot coordinate system where the obstruction by the peripheral object in the work region of the mobile robot is present and interferes with the travel of the mobile robot on the traveling unit in the work region; and
command the mobile robot to operate so as to avoid the set interference region,
wherein the reference coordinate system of the work region is a fixed coordinate system with respect to the peripheral object in the work region, and
wherein the robot coordinate system for the mobile robot is fixed relative to the traveling unit.

US Pat. No. 10,675,767

ROBOT SYSTEM AND ROBOT CONTROLLER

FANUC CORPORATION, Yaman...

1. A robot system, comprising:a robot having a movable part;
a sensor arranged on a surface of the movable part, the sensor being configured to measure a three-dimensional position of an article when the article contacts or is close to the sensor;
a mode change section configured to shift the robot into a following mode when the article reaches a reference position where is on or close to the sensor; and
a motion control section configured to, when the three-dimensional position of the article is moved from the reference position, control the robot so that the robot performs a following motion in which the movable part follows the article corresponding to a direction of movement of the article,
wherein the robot has a cover member configured to cover the movable part, and the sensor is positioned inside the cover member.

US Pat. No. 10,679,409

THREE-DIMENSIONAL MODEL CREATING DEVICE

FANUC CORPORATION, Yaman...

1. A three-dimensional model creating device configured to create an individual model indicating an individual shape of an object from an integrated model created based on data obtained by capturing images of or measuring at least two or more objects together, the three-dimensional model creating device comprising a processor configured to:create a plurality of divided models obtained by dividing the integrated model by an extension plane extended from each plane configured to form the integrated model;
present the divided models to a user;
allow the user to put a tag on each of the divided models indicating what object each of the divided models belongs to;
receive tagging of each of the divided models; and
create the individual model of the object based on the tagging of each of the divided models,
wherein the processor is configured to divide the integrated model by extending a plane connected to a ridgeline decided as a recess ridgeline, to a position intersecting another ridgeline in a direction of a binormal line.

US Pat. No. 10,680,480

MOTOR

FANUC CORPORATION, Yaman...

1. A motor comprising:a cylindrical stator that includes: a cylindrical first internal space; and a plurality of winding portions which are arranged so as to form an outer circumference of the first internal space;
a rotor that includes: a rotary axis portion which can be rotated about a rotary axis and which is arranged along the rotary axis; and a rotary main body portion at least part of which is arranged in the first internal space of the stator; and
a housing portion that is arranged on one end side of the stator in a rotary axis direction in which the rotary axis is extended, wherein
the housing portion includes:
an end surface portion that is arranged on the one end side in the rotary axis direction perpendicularly to the rotary axis;
an inside surface portion that is formed so as to be extended from the end surface portion to the other end side in the rotary axis direction and that is arranged about the rotary axis in an annular direction either continuously or intermittently;
an opening portion that is arranged so as to be aligned with part of the inside surface portion in the annular direction and that makes a second internal space formed with the end surface portion and the inside surface portion and an external space communicate with each other;
a first protrusion portion that is formed so as to be protruded from the inside surface portion toward a side of the rotary axis and that is formed so as to be inclined to one side in the annular direction with respect to a radial direction perpendicular to the rotary axis direction;
a second protrusion portion that is formed so as to be protruded from the inside surface portion toward the side of the rotary axis and that is formed so as to be inclined to the other side in the annular direction with respect to the radial direction; and
each of the first protrusion portion and the second protrusion includes a surface that extends along the axial direction of the rotor and extends along the annular direction of the rotor, such that the end surface portion extends further, in the radial direction, towards a center of the rotary axis than the surface of the first protrusion portion and second protrusion portion.

US Pat. No. 10,673,298

ELECTRIC MOTOR PROVIDED WITH STATOR-INTEGRATED HOUSING

FANUC CORPORATION, Yaman...

1. An electric motor comprising:a rotor;
a stator disposed on an outer peripheral side of the rotor;
a front-side housing disposed on one side of the stator and provided with an opening housing a part of the rotor;
a rear-side housing disposed on another side of the stator, the stator is clamped between the rear-side housing and the front-side housing;
a plurality of fastening members fastening the stator, the front-side housing, and the rear-side housing together; and
an annular portion formed on a surface of the front-side housing directly adjacent a facing and contacting inner surface of the stator, and the annular portion having an annular shape that surrounds the opening of the front-side housing, wherein the annular portion comprises a continuous undulated surface, and wherein
respective heights from the undulated surface facing the stator of a plurality of first sections of the annular portion that are in a vicinity of insertion holes of the plurality of fastening members are lower than respective heights from the undulated surface facing the stator of a plurality of second sections of the annular portion, wherein each second section of the plurality of second sections is positioned at a middle point between an adjacent pair of the first sections.

US Pat. No. 10,661,361

MILLING/CUTTING TOOL AND PROCESSING APPARATUS

Fanuc Corporation, Yaman...

1. A milling/cutting tool comprising:a tool main unit that is rotated about an axis;
a plurality of tips that are disposed with spacings therebetween in a circumferential direction about the axis of the tool main unit;
wherein all of the plurality of tips are disposed so that turning rake surfaces thereof face an axial direction;
wherein the milling/cutting tool is configured to perform turning and milling; and
wherein all of the plurality of tips are circular tips, the plurality of circular tips being disposed at a distal-end surface of the tool main unit, and wherein each circular tip of the plurality of circular tips has a truncated-conical shape having a large-diameter surface on a distal-end side and a small-diameter surface on a proximal-end side, the large-diameter surface of each of the circular tips disposed facing a center axis of the tool main unit.

US Pat. No. 10,649,441

ACCELERATION AND DECELERATION CONTROLLER

FANUC CORPORATION, Yaman...

1. An acceleration and deceleration controller for controlling a machine tool configured to machine a workpiece, the acceleration and deceleration controller comprising:a machine learning apparatus configured to learn an Nth-order time-derivative component (N is a natural number) of a speed of each axis of the machine tool, wherein
the machine learning apparatus includes
a state observation section configured to observe first state data representing the Nth-order time-derivative component of the speed of each axis as a state variable representing a current state of an environment,
a determination data acquisition section configured to acquire determination data representing a properness determination result of surface quality and machining time of a machined workpiece, and
a learning section configured to learn the Nth-order time-derivative component of the speed of each axis in relation to the surface quality and the machining time of the machined workpiece using the state variable and the determination data.

US Pat. No. 10,649,434

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller comprising:a spindle load measurement unit that measures a spindle load;
a speed calculation unit that performs PID control to adjust a feeding speed based on the spindle load; and
a spindle load correction unit that calculates a value based on a ratio between the spindle load and a cutting volume as a feedback value,
wherein the speed calculation unit is configured to perform the PID control using the feedback value.

US Pat. No. 10,649,435

TOOL LIFE ESTIMATING DEVICE

FANUC CORPORATION, Yaman...

1. A tool life estimating device for estimating a life of a tool used by a machine tool for machining a workpiece, the device comprising:a state observation unit configured to observe log data that has been recorded during the operation of the machine tool so as to find as input data machining information indicative of a status of the machining that has been recorded in a state where the life of the tool remains sufficiently;
a learning unit configured to construct a learning model in which clusters of the machining information are created, the learning model being constructed by unsupervised learning using the input data created by the state observation unit; and
a learning model storage unit configured to store the learning model,
wherein the machining information includes a portion corresponding to a period of time between a predetermined time and an end of the tool life, and a remaining portion, the clusters being created from the remaining portion defining the state where the life of the tool remains sufficiently, and
the learning unit is configured to exclude the portion of the machining information corresponding to the period of time between (i) the predetermined time preceding tool replacement and (ii) a time point where it is determined that the tool has reached the end of the tool life and is to be replaced by another tool, and extract the remaining portion for creating the clusters.

US Pat. No. 10,642,254

NUMERICAL CONTROLLER AND METHOD OF CONTROLLING A NUMERICAL CONTROLLER

FANUC CORPORATION, Yaman...

1. A numerical controller in which a plurality of software packages using same type of parameters are installed, comprising:a parameter storage unit having a plurality of storage areas configured to store the parameters, for each of parameter types;
a storage unit configured to store, for each of the software packages, a parameter information file in which information of the storage areas used by each of the software packages is described for each of the parameter types, wherein an external storage device is connected to the numerical controller when a software package is to be installed in the numerical controller, the external storage device storing a parameter information file in which information of the storage areas used by the software package to be installed in the numerical controller is described for each of the parameter types, and a program file in which programs that define processing performed by the software package to be installed are described;
a comparison judgment unit configured to determine whether or not the storage areas used by the software package to be installed overlap with the storage areas used by the already installed software packages, for each of the parameter types; and
an installation control unit configured to prohibit installation of the software package when the comparison judgment unit determines that the storage areas used by the software package to be installed overlap with the storage areas used by the already installed software packages.

US Pat. No. 10,644,628

MOTOR DRIVE DEVICE INCLUDING CURRENT DETECTOR

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:a power conversion unit configured to supply a drive current to a motor;
a current detector configured to detect a current flowing from the power conversion unit into the motor;
an A/D converter configured to convert the current detected by the current detector into digital data and outputs the digital data;
a motor control unit configured to control the drive current supplied from the power conversion unit to the motor, using the digital data output from the A/D converter; and
a sampling adjustment unit configured to adjust a sampling operation of the A/D converter performed for the current detected by the current detector, in accordance with a response time taken after the current detector detects the current until the A/D converter outputs the digital data of the current,
wherein the A/D converter comprises a successive approximation A/D converter, and
the sampling adjustment unit performs adjustment to change a period in which a sampling timing of the successive approximation A/D converter is set for the current detected by the current detector, in accordance with the response time.

US Pat. No. 10,641,817

MOTOR DRIVING DEVICE AND MEASURING METHOD

FANUC CORPORATION, Yaman...

1. A motor driving device for driving a plurality of motors, comprising:a rectifier circuit configured to rectify an AC voltage supplied from an AC power supply via a first switch to thereby obtain a DC voltage;
a capacitor configured to smooth the DC voltage obtained by the rectifier circuit;
a plurality of inverter units each including upper arm semiconductor switching elements configured to connect a positive-side terminal of the capacitor with motor coils of a corresponding one of the motors, and lower arm semiconductor switching elements configured to connect a negative-side terminal of the capacitor with the motor coils, the inverter units being configured to drive the motors by converting a capacitor voltage across the capacitor into an AC voltage by switching operation of the upper arm semiconductor switching elements and the lower arm semiconductor switching elements;
a second switch configured to connect one terminal of the positive-side terminal and the negative-side terminal of the capacitor to ground;
a first detector configured to detect a ground-referenced current flowing between the one terminal of the capacitor and the ground, or a ground-referenced voltage between the one terminal of the capacitor and the ground;
a second detector configured to detect the capacitor voltage across the capacitor;
a switch control unit configured to establish a measurement state for enabling measurement of an insulation resistance of a measurement target motor of the motors by turning off the upper arm semiconductor switching elements and the lower arm semiconductor switching elements of all the inverter units to thereby stop operation of every motor while turning off the first switch and turning on the second switch, then turning on a semiconductor switching element that is connected to another terminal of the capacitor, among the upper arm and lower arm semiconductor switching elements to which the motor coils of the measurement target motor are connected, and turning on a semiconductor switching element that is connected to the one terminal of the capacitor, among the upper arm and lower arm semiconductor switching elements to which the motor coils of each of the motors other than the measurement target motor are connected;
a convergence determination unit configured to, in the measurement state, calculate a change amount in a waveform of the ground-referenced current or the ground-referenced voltage detected by the first detector, and determine that the ground-referenced current or the ground-referenced voltage has converged if the change amount becomes equal to or lower than a threshold; and
an insulation resistance calculator configured to, when the convergence determination unit determines that the ground-referenced current or the ground-referenced voltage has converged, calculate the insulation resistance of the measurement target motor, based on the ground-referenced current or the ground-referenced voltage detected by the first detector and the capacitor voltage detected by the second detector,
wherein
the convergence determination unit uses, as the change amount, an absolute value ?C of an amount of change in the ground-referenced current or the ground-referenced voltage during a predetermined time ?t, and
the convergence determination unit gradually lengthens the predetermined time ?t with lapse of time.

US Pat. No. 10,639,788

PARALLEL LINK ROBOT

Fanuc Corporation, Yaman...

1. A parallel link robot comprising:a base portion;
a movable portion disposed below the base portion;
a plurality of arms disposed at intervals in a circumferential direction about a centered vertical axis of the base portion and that link the base portion and the movable portion so as to be parallel to each other;
a wrist shaft that is supported by the movable portion so as to be rotatable about a rotation axis in a substantially vertical direction; and
wherein a pair of marks that indicate a relative phase between the movable portion and the wrist shaft about the rotation axis are provided on the movable portion and the wrist shaft, at positions visible from the upper side or the lateral side.

US Pat. No. 10,639,791

DYNAMIC LASER TOUCH-SENSING WITH MULTIPLE ROBOT DYNAMIC USER FRAME

FANUC CORPORATION, Roche...

1. A method for touch-sensing to provide an updated user frame, the method comprising:providing a user frame;
touch-sensing a workpiece, the touch-sensing including a laser touch-sensing event, where touch-sensing the workpiece includes using a robot having a robot arm, the robot arm including a laser touch sensor and a wire touch sensor;
determining an offset of the workpiece relative to the user frame based on the touch-sensing of the workpiece; and
applying the offset to the user frame to provide the updated user frame.

US Pat. No. 10,620,596

MAINTENANCE COMPONENT MANAGEMENT DEVICE, MAINTENANCE COMPONENT MANAGEMENT METHOD AND COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. A maintenance component management device comprising:a memory configured to store a program; and
a processor configured to execute the program and control the maintenance component management device to:
acquire by signals, for each of a plurality of maintenance target devices requiring maintenance using a maintenance component, statistical information compiling an average value of operating information of a first time period and an average value of operating information of a second time period, the first time period being a time period prior to the second time period, and a number of the plurality of maintenance target devices, the number indicating how many operating maintenance target devices are present in each of the first time period and the second time period, respectively,
each of the plurality of maintenance target devices including sensors and each of the plurality of maintenance target devices generating operating information describing its own operating conditions based on measured values of these sensors, and
each of the plurality of maintenance target devices including one or more of an industrial robot, a machine tool, and a numerical control device controlling an industrial robot or a machine tool; and
extract, for each of the first time period and the second time period, information representing a factor of a cause associated with maintenance from the statistical information thus acquired for the first time period and the second time period, respectively, and the number of the plurality of maintenance target devices thus acquired for the first time period and the second time period, respectively,
quantify a value of contents of variation between the first time period and the second time period of the information representing the factor thus extracted, and
calculate a number of the maintenance components estimated as being necessary to maintain the plurality of maintenance target devices in a future time period, based on the value thus quantified and the number of maintenance components being necessary in the first time period.

US Pat. No. 10,622,137

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 of a first coil, a second coil, and a third coil which are arranged neither in parallel with each other nor in a linear manner,
a housing in which the first coil, the second coil, and the third coil are housed,
an input and output terminal block having an input and output unit having a parallel and linear arrangement, and
an external connection position change unit disposed between a coil end of each of the three-phase coils of the first coil, the second coil, and the third coil and the input and output terminal block to connect each of the coil ends to the input and output terminal block, wherein
the external connection position change unit comprises a first output terminal bus bar, a first input terminal bus bar, a second output terminal bus bar, a second input terminal bus bar, a third output terminal bus bar, and a third input terminal bus bar,
the first, second, and third output terminal bus bars and the first, second, and third input terminal bus bars include coil terminals that connect to each of the coil ends, and block terminals that connects to the input and output terminal block,
the first, second, and third output terminal bus bars and the first, second, and third input terminal bus bars are arranged so that the block terminals are arranged in a straight line, and
the first, second, and third output terminal bus bars and the first, second, and third input terminal bus bars are arranged in corresponding positions on an inside of the housing.

US Pat. No. 10,621,545

INVENTORY MANAGEMENT SYSTEM HAVING FUNCTIONS OF PERFORMING INVENTORY MANAGEMENT AND PREVENTIVE MAINTENANCE

FANUC CORPORATION, Yaman...

1. An inventory management system, comprising:a plurality of apparatuses;
an information management device configured to manage information to be supplied to or received from the apparatuses, the apparatuses each having replaceable common components shareable between the apparatuses, the common components having the same specifications used in the apparatuses being designated as components under inventory management; and
an information processor configured to
calculate the sum of cumulative failure rates that is the sum of the cumulative failure rates of all of the designated components having the same specifications used in the apparatuses at a certain point in time, in consideration of an acceleration depending on a driving condition with respect to a standard cumulative failure rate of each type of the designated components having the same specifications used in the apparatuses under a standard driving condition, and
calculate the appropriate inventory quantity of the designated components at the certain point in time based on the calculated sum of the cumulative failure rates,
wherein the information management device is further configured to
determine whether or not an actual inventory quantity of the designated components is less than the calculated appropriate inventory quantity, and
issue, to an external device, a notification recommending arrangements for a required inventory quantity of the designated components, in response to a determination that the actual inventory quantity is less than the calculated appropriate inventory quantity.

US Pat. No. 10,622,118

CABLE

FANUC CORPORATION, Yaman...

1. A cable, comprising:a linear conductor;
a plurality of hollow tubes made of resin and which are disposed around the conductor so that an air layer is formed around the conductor, the hollow tubes extending in a longitudinal direction of the conductor;
an insulating protective member configured to protect the conductor and the plurality of hollow tubes; and
a partitioning portion provided in at least one hollow tube among the plurality of hollow tubes, the partitioning portion being configured to partition an interior of the hollow tube.

US Pat. No. 10,611,032

MEASUREMENT SYSTEM

Fanuc Corporation, Yaman...

1. A measurement system comprising: a reflector mounted at a distal end portion of a robot; and a measuring apparatus including a laser head which emits a laser beam toward the reflector and receives a reflected light from the reflector, and a head driving device which changes a direction of the laser head, wherein a position of the reflector mounted at the distal end portion of the robot is measured by the measuring apparatus,wherein the measuring apparatus comprises a controller, the controller is configured to conduct:
a coordinate relationship acquisition process which acquires a position and a direction of a coordinate system of the measuring apparatus with respect to a robot coordinate system, by emitting the laser beam from the laser head toward a reference reflection portion provided in a base portion of the robot, and based on a reflected light from the reference reflection portion; and
a head drive control process which receives, from a control unit for the robot, coordinate data in the robot coordinate system of the reflector, which is recognized by the control unit, the reflector being mounted at the distal end portion of the robot, wherein the control unit transmits, to the head driving device, a control command to change the direction of the laser head using the coordinate data which is received and the position and the direction of the coordinate system of the measuring apparatus with respect to the robot coordinate system;
wherein the reference reflection portion is used for setting the robot coordinate system when installing the robot.

US Pat. No. 10,614,678

CONTROL DEVICE, ELECTRONIC DEVICE AND CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A control device configured to control at least one of a machine tool and a peripheral device of the machine tool, the control device comprising:a storage unit;
a control unit; and
a light emitting element,the storage unit storinga first information on at least one of the machine tool and the peripheral device of the machine tool,the control unit including:a generation unit configured to generate a first light emitting pattern recognizable to human eyes, the first light emitting pattern including a lighting-on state, a lighting-off state, or a lighting-on-and-off state of the light emitting element indicating an operating state of at least one of the machine tool and the peripheral device of the machine tool;
a modulation unit configured to modulate the first information into a light communication signal based on lighting-on-and-off of the light emitting element, the light communication signal being unrecognizable to human eyes but recognizable to an electronic device;
a superimposition unit configured to superimpose the light communication signal on the first light emitting pattern, to generate a second light emitting pattern including the light communication signal while maintaining the first light emitting pattern recognizable to human eyes; and
a light emitting element control unit configured to control the light emitting element on a basis of the second light emitting pattern generated by the superimposition unit, wherein
each of a lighting-on unit and a lighting-off unit of the light emitting element in the first light emitting pattern is configured with n pieces of light emission pulses, and the n is a predetermined integer of 8 or bigger, and whereinin the light communication signal,when the light emitting element is in the lighting-on state including at least one lighting-on unit in the first light emitting pattern, first m pieces and last m pieces of the light emission pulses are set to be on in the lighting-on unit, remaining light emission pulses except one light emission pulse are all set to be on, and only the excepted one light emission pulse is set to be off, wherein the m is an integer of 2 or bigger, and
when the light emitting element is in the lighting-off state including at least one lighting-off unit in the first light emitting pattern, the first m pieces and the last m pieces of the light emission pulses are set to be off in the lighting-off unit, the remaining light emission pulses except one light emission pulse are all set to be off, and only the excepted one light emission pulse is set to be on.

US Pat. No. 10,585,415

PORTABLE OPERATION PANEL HAVING VIBRATING FUNCTION AND VIBRATION-DETECTING FUNCTION

FANUC CORPORATION, Yaman...

1. A portable operation panel, configured to communicate with a controller for controlling a machine, and used to operate the machine, the portable operation panel comprising:a vibration generating unit, configured to generate vibration for providing predetermined information to an operator, and configured to be vibrated at a natural frequency of the portable operation panel;
a vibration detecting unit configured to detect the vibration of the portable operation panel; and
a controlling section configured to judge that the portable operation panel has an abnormality, when a vibrational amplitude of the portable operation panel detected by the vibration detecting unit, during the vibration generating unit vibrates at the natural frequency, falls below a predetermined threshold.

US Pat. No. 10,579,044

COMPUTER READABLE INFORMATION RECORDING MEDIUM, EVALUATION METHOD, AND CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A non-transitory computer readable information recording medium storing an evaluation program for operating first and second motor control units, for evaluating operation characteristics related to a control device including the first motor control unit for controlling a first motor driving a first axis of a machine tool, a robot, or an industrial machine, and the second motor control unit for controlling a second motor driving a second axis of a different direction from the first axis,the evaluation program causing a computer to execute processing of operating the first and second motor control units so that a shape of a movement path of a control target moved by the first and second axes driven by the first and second motors includes at least a cornered shape in which both rotation directions of the first and second motors do not invert, and an arc shape in which one of the first and second motors rotates in one direction, and a rotation direction of the other of the first and second motors inverts; and the shape of the movement path is an octagon in which the cornered shape and the arc shape are alternately arranged.

US Pat. No. 10,579,051

OIL MIST CONCENTRATION MANAGEMENT APPARATUS, OIL MIST MANAGEMENT SYSTEM, AND OIL MIST MANAGEMENT METHOD

FANUC CORPORATION, Yaman...

1. An oil mist concentration management apparatus, comprising:a processor configured to
acquire concentration of oil mist measured in a factory in which a plurality of machines are provided,
determine whether or not the concentration of the oil mist is larger than a threshold value, and
if the concentration of the oil mist is determined to be larger than the threshold value, issue a command to change operation content of at least one of the plurality of machines,
wherein the processor is configured to issue a command to decrease machining speed of the machine or stop operation of the machine as the operation content,
wherein the processor is configured to determine priority ranks of the plurality of machines, and
wherein, in a case where the concentration of the oil mist is larger than the threshold value, the processor is configured to issue a command to decrease the machining speed or stop the operation, in order from the machine having lower priority rank, until the concentration of the oil mist becomes less than or equal to the threshold value.

US Pat. No. 10,576,576

SPOT WELDING SYSTEM

FANUC CORPORATION, Yaman...

1. A spot welding system comprising a spot welding robot, a robot controller and a welding machine,the spot welding robot comprising:
a memory configured to store a program: and
a processor configured to execute the program and control the spot welding robot to:
apply pressure to a welding gun upon reception of a pressure command signal from the robot controller, and release the welding gun upon reception of a pressure release signal; and
transmit a pressure completion signal to the robot controller upon reaching of a pressure force to a predetermined value,
the robot controller comprising:
a memory configured to store a program: and
a processor configured to execute the program and control the robot controller to:
transmit the pressure command signal to the spot welding robot;
transmit a welding command signal for making the welding machine perform welding for a predetermined welding time upon reception of the pressure completion signal from the spot welding robot;
transmit the pressure release signal to the spot welding robot upon reception of a welding completion signal from the welding machine; and
calculate a half of a time obtained by subtracting the welding time from a differential time between the transmitting of the welding command signal and the reception of the welding completion signal, as a communication delay time between the robot controller and the welding machine,
the welding machine comprising:
a memory configured to store a program: and
a processor configured to execute the program and control the welding machine to:
start the welding by supplying a welding current upon reception of the welding command signal from the robot controller; and
transmit the welding completion signal to the robot controller upon completion of the welding for the welding time, wherein
when the communication delay time is calculated,
the welding command signal is transmitted when a time obtained by subtracting the communication delay time from a pressure force rise time corresponding to the pressure command signal elapses after the transmitting of the pressure command signal, and
the welding completion signal is transmitted when a time obtained by subtracting the communication delay time from the welding time elapses after the starting of the welding.

US Pat. No. 10,564,620

SERVO MOTOR CONTROL APPARATUS FOR CONTROLLING SERVO MOTOR AND SERVO MOTOR CONTROL SYSTEM INCLUDING THE SAME

FANUC CORPORATION, Yaman...

1. A servo motor control apparatus for controlling a servo motor, comprising:a memory configured to store a torque constant predefined for the servo motor;
a controller configured to
correct the torque constant stored in the memory when magnetic saturation has occurred in a winding of the servo motor; and
calculate an output of the servo motor based on
(a-1) the torque constant stored in the memory or (a-2) the torque constant after correction calculated by the controller,
(b) a value associated with a current of the servo motor, and
(c) a value associated with a speed of the servo motor,
wherein the controller is configured to correct the torque constant stored in the memory when magnetic saturation has occurred in the winding of the servo motor such that the torque constant decreases as the value associated with the current of the servo motor increases.

US Pat. No. 10,564,630

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller controlling a machine tool which includes a spindle and at least two feed axes for relatively moving the spindle and a workpiece and machines the workpiece by rotating a tool mounted on the spindle in accordance with a machining program,wherein the numerical controller is configured to retract the tool from the workpiece with currently performed machining interrupted, based on a command to interrupt the machining while the workpiece is being machined,
and wherein the numerical controller comprises:
a processor configured to:
detect the command to interrupt the machining;
identify a machining method for the machining to be interrupted when the command to interrupt the machining is detected; and
determine a direction of the retraction of the tool, based on the identified machining method, a cutting feed direction, and rotation direction of the spindle in the machining to be interrupted, and to generate a movement path of the tool in the determined direction of retraction for the tool.

US Pat. No. 10,556,295

LASER MACHINING DEVICE THAT DETECTS CONTAMINATION OF OPTICAL SYSTEM BEFORE LASER MACHINING

FANUC CORPORATION, Yaman...

1. A laser machining device that performs laser machining on a workpiece after detecting contamination of an optical system, the device comprising:a laser oscillator;
an external optical system configured to guide a laser beam from the laser oscillator to focus the laser beam on a surface of the workpiece;
a drive control unit configured to move a focus position and an optical axis of the laser beam emitted from the external optical system;
a cooling control unit configured to control cooling of the external optical system;
a plate having a small-diameter hole and being capable of absorbing the laser beam;
an energy amount measuring part configured to measure an energy amount of the laser beam absorbed by the plate;
a laser beam elimination part capable of removing the laser beam passing through the small-diameter hole; and
a contamination determining part configured to determine contamination of the external optical system before laser machining,
wherein the contamination determining part includes:
a cooling stop commanding section configured to command the cooling control unit to stop cooling the external optical system;
a drive commanding section configured to command the drive control unit to adjust the focus position on a surface of the plate and align the optical axis of the laser beam with a center of the small-diameter hole;
a low power commanding section configured to command the laser oscillator to emit the laser beam with a low power to the extent that the plate is not melted or deformed; and
a lens contamination determining section configured to determine contamination of a lens in the external optical system, based on a comparison between a first measurement value, the first measurement value being measured by the energy amount measuring part within a laser emission start period in which the external optical system is not heated, and a second measurement value, the second measurement value being measured by the energy amount measuring part within a set time elapsed period in which the external optical system is heated.

US Pat. No. 10,540,816

INFORMATION DISPLAY SYSTEM

FANUC CORPORATION, Yaman...

1. An information display system, comprising:a mapping unit configured to
photograph a workpiece during machining by a machine tool, and
create first model data indicative of a shape of the workpiece during the machining;
a complementary unit configured to
compare the first model data with second model data to identify an invisible part of the workpiece, the invisible part being a difference between the first model data and the second model data representing 3D model data of the workpiece during the machining calculated based on NC data, and
generate a 3D model image of the invisible part of the workpiece; and
a display unit configured to display the 3D model image so as to be superimposed on the invisible part of the workpiece during the machining.

US Pat. No. 10,539,947

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. 10,539,452

ROBOTIC WEIGHT MEASUREMENT AND SORTING SYSTEM

FANUC CORPORATION, Yaman...

1. A weight measurement system comprising:a robot arm;
a weight measurement device attached to the robot arm;
a plurality of hand movement mechanisms attached to the weight measurement device; and
a plurality of hands respectively moved by respective motions of the plurality of hand movement mechanisms,
wherein, when a second hand of the plurality of hands moved by the motion of a second hand movement mechanism of the plurality of hand movement mechanisms holds a second article while a first hand of the plurality of hands moved by the motion of a first hand movement mechanism of the plurality of hand movement mechanisms is holding a first article, the weight measurement device is configured to measure a total weight of the first article and the second article,
wherein the weight measurement system is configured to measure a weight of the first article and
a weight of a second article, respectively, based on the total weight.

US Pat. No. 10,534,344

OPERATION MANAGEMENT SYSTEM AND MEASUREMENT SYSTEM

FANUC CORPORATION, Yaman...

1. An operation management system configured to acquire measured values of a workpiece from a numerical controller which controls a machine tool to measure the workpiece, the operation management system comprising:a processor configure to
read a measurement macro for controlling the measurement from the numerical controller,
analyze the measurement macro to identify the name of a measurement result variable loaded with the measured values, and
read out the value of the measurement result variable from the numerical controller, wherein the processor is configured to read out the value of the measurement result variable from the numerical controller in response to a detection that a trigger variable defined for the measurement macro is updated.

US Pat. No. 10,507,539

WIRE ELECTRIC DISCHARGE MACHINE AND METHOD FOR CORRECTING WIRE ELECTRODE CONNECTION HOLE POSITION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine configured to perform a program operation in accordance with a machining program, the wire electric discharge machine comprising:a wire electrode;
a wire electrode feeder configured to feed the wire electrode;
a motor configured to move the wire electrode relatively to a workpiece to be machined, the workpiece including a connection hole previously formed therein;
an amplifier configured to drive the motor;
a controller coupled to the wire electrode feeder and the amplifier,
wherein the controller includes:
at least one memory storing therein the machining program;
an axis control circuit coupled to the amplifier;
a processor; and
a bus connecting the at least one memory, the axis control circuit, and the processor with each other,
wherein the processor is configured to read the machining program stored in the at least one memory,
wherein the processor comprises a machining path creation unit configured to create a machining path based on an axis movement command of the machining program,
wherein the processor is configured to control the amplifier, via the axis control circuit, to drive the motor to move the wire electrode relatively to the workpiece along the machining path to perform machining of the workpiece,
wherein the processor further comprises
a wire electrode connection unit configured to, upon breakage of the wire electrode, control the wire electrode feeder to feed the wire electrode to perform automatic connection of the wire electrode based on a wire electrode connection command of the machining program,
a program operation interruption unit configured to interrupt the program operation when the previously formed connection hole for connecting the wire electrode is located in a position deviated from the wire electrode connection position on the machining path so that the automatic connection of the wire electrode fails,
a wire electrode position storage unit configured to store the wire electrode connection position in the at least one memory,
a wire electrode position comparing unit configured to, after the wire electrode is manually moved to a position of the previously formed connection hole and manually connected in the position of the previously formed connection hole, and then a re-machining operation is performed, compare the position of the connected wire electrode and the stored wire electrode connection position,
a wire electrode return machining unit configured to, when the compared positions are not coincident, control the amplifier, via the axis control circuit, to drive the motor such that the connected wire electrode is returned, while machining the workpiece, back to the stored wire electrode connection position, and
a program operation restart unit configured to restart the program operation after the connected wire electrode is returned to the stored wire electrode connection position, and
wherein the program operation is performed along the machining path.

US Pat. No. 10,507,558

MACHINE TOOL SYSTEM

FANUC CORPORATION, Yaman...

1. A machine tool system comprising:a machine tool main body configured to machine a workpiece supported on a table by using a tool detachably attached to a spindle; and
an information processing apparatus, wherein,
the machine tool main body includes:
a rotary tool magazine in which a plurality of grips each configured to hold the tool to be attached to the spindle are provided along a circumferential direction of the rotary tool magazine; and
an image pickup device arranged in the tool magazine independent of the tool to be attached to the spindle to machine the workpiece and configured to take an image of multiple members including at least the workpiece in a machining area of the machine tool main body; and
the information processing apparatus includes a geometric feature calculating unit configured to calculate shapes of the multiple members located in the machining area and an arrangement state thereof, based on image data of the image taken by the image pickup device before machining of the workpiece wherein the image pickup device remains arranged in the tool magazine during machining.

US Pat. No. 10,509,389

WARM UP OPERATION PLANNING DEVICE AND WARM UP OPERATION PLANNING METHOD

FANUC CORPORATION, Yaman...

1. A warm up operation planning device that generates a warm up operation plan for a machine tool for machining on a work as a machining target, comprising:a warm up operation program memory in which association is recorded between at least one warm up operation program, information on a work to be machined by the machine tool, and cycle time in the warm up operation program;
a working state recording memory in which at least a previous working duration of the machine tool is recorded;
a machining plan input unit that inputs a machining plan for the work including information on the work;
a warm up operation program selection unit that selects the warm up operation program recorded in the warm up operation program memory based on the machining plan;
a warm up operation duration determination unit that calculates a warm up operation duration based on the cycle time in association with the warm up operation program selected by the warm up operation program selection unit;
a warm up operation planning unit that generates a warm up operation plan for the machine tool by calculating start time and finish time of warm up operation based on the input machining plan and the warm up operation duration calculated by the warm up operation duration determination unit, wherein
the warm up operation duration determination unit further calculates the warm up operation duration in consideration of a previous working duration of the machine tool recorded in the working state recording memory; and
an operation duration correction unit that corrects the cycle time in the warm up operation program recorded in the warm up operation program memory in association with the warm up operation program.

US Pat. No. 10,502,253

MACHINE LEARNING DEVICE FOR LEARNING ASSEMBLY OPERATION AND COMPONENT ASSEMBLY SYSTEM

FANUC CORPORATION, Yaman...

1. A machine learning device for learning an assembly operation in which at least one operating machine assembles a first component and a second component to produce an assembly, the machine learning device comprising:a state observation unit for observing state variables that include at least one of the state of the assembly, a time required to assemble the first component and the second component, and information on a force required to assemble the first component and the second component, the result of a continuity test on the assembly, and at least one of position and posture command values for at least one of the first component and the second component before the assembly operation, speed and force command values for the assembly operation; and
a learning unit for learning, in a related manner, at least one of the state of the assembly, the time required to assemble the first component and the second component, and the information on the force required to assemble the first component and the second component, the result of the continuity test on the assembly, and at least one of the position and posture command values for at least one of the first component and the second component before the assembly operation, and the speed and force command values for the assembly operation, observed by the state observation unit.

US Pat. No. 10,505,417

ROTOR AND ROTARY ELECTRIC MACHINE

FANUC CORPORATION, Yaman...

1. A rotor comprising:a rotor core rotatable together with a rotor shaft;
a first slot and a second slot piercing the rotor core in a direction of a rotary axis, each being substantially rectangular and together forming a V-shape with outer peripheral sides placed farther from each other and with inner peripheral sides placed closer to each other when viewed from the direction of the rotary axis of the rotor core;
a communication portion piercing the rotor core in the direction of the rotary axis and connecting the inner peripheral sides of the first slot and the second slot;
a first permanent magnet and a second permanent magnet each being substantially rectangular when viewed from the direction of the rotary axis of the rotor core, and inserted into the first slot and the second slot, respectively;
first abutting portions being at short edges on the outer peripheral side of the first slot and the second slot and formed on inner sides of the first slot and the second slot when viewed from the direction of the rotary axis of the rotor core, the first abutting portions abutting against the first permanent magnet and the second permanent magnet;
second abutting portions being at the short edges on the outer peripheral side of the first slot and the second slot and formed on outer sides of the first slot and the second slot when viewed from the direction of the rotary axis of the rotor core, the second abutting portions abutting against the first permanent magnet and the second permanent magnet; and
flux barriers provided between the first abutting portion and the second abutting portion and formed to bulge toward the outer peripheral side relative to the short edges on the outer peripheral side of the first slot and the second slot when viewed from the direction of the rotary axis of the rotor core,
wherein the first abutting portion is longer than the second abutting portion when viewed from the direction of the rotary axis of the rotor core.

US Pat. No. 10,496,055

MACHINE LEARNING DEVICE, CNC DEVICE AND MACHINE LEARNING METHOD FOR DETECTING INDICATION OF OCCURRENCE OF CHATTER IN TOOL FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine learning device for detecting an indication of an occurrence of chatter in a tool for a machine tool, comprising:a state observation unit which observes state variables including a vibration of the machine tool itself, at least one of a vibration of a building in which the machine tool is installed, an audible sound, and an acoustic emission, and a motor control current value of the machine tool; and
a learning unit which generates a learning model based on the state variables observed by the state observation unit, wherein
the learning unit
generates the learning model by performing unsupervised learning based on the state variables during normal operation in which no chatter occurs in a specific machining block, and
generates and outputs a normal score during the normal operation in which no chatter occurs in the specific machining block, and an abnormal score when there is an indication of the occurrence of chatter in the machining block; and
the machine learning device further comprises:
an output utilization unit which determines whether a score based on the state variables of the machining block corresponds to the normal score or the abnormal score, in order to detect an indication of the occurrence of chatter in the tool for the machine tool.

US Pat. No. 10,480,695

JOINT STRUCTURE AND ROBOT

FANUC CORPORATION, Yaman...

1. A joint structure comprising:two joint members;
a driving mechanism that drives the two joint members so as to rotate about a predetermined axis relative to each other;
two seal members forming a seal between the two joint members at positions doubly surrounding the outside of a lubricant storing part in the driving mechanism; and
a pressure-applying means that makes the air pressure in a space provided between the two seal members higher than the pressure of the outside air,
wherein the seal member on the outer side is formed of an elastic material and has a cut portion at at least one circumferential position,
the cut portion is inclined with respect to the radial direction, and
wherein the outer seal member is attached to a fixed part of the driving mechanism by tightening the outer peripheral surface with a fastener.

US Pat. No. 10,478,935

DEBURRING APPARATUS

FANUC CORPORATION, Yaman...

1. A deburring apparatus comprising:a robot that supports a deburring tool, and uses the deburring tool to conduct a deburring process for an object supported by a support in a machine tool and having been cut;
a visual sensor;
a relative movement mechanism for causing relative movement between the visual sensor and the object supported by the support; and
a controller, wherein the controller is configured to conduct:
an operation process that operates the relative movement mechanism based on a visual sensor relative movement program for controlling operation of the relative movement mechanism so that the relative movement mechanism moves the visual sensor relative to the object along a locus corresponding to a deburring target portion along an outer edge of the object in a state in which at least a portion of the outer edge of the object is located within a visual field of the visual sensor, wherein the controller is configured to operate the relative movement mechanism so that a ridge of the object supported by the support is detected by the visual sensor during the relative movement; and
a deburring operation program generation process which generates a deburring operation program by using the detected ridge obtained by the visual sensor when the relative movement mechanism is operated based on the visual sensor relative movement program;
wherein the deburring operation program is a program which operates the robot and/or the machine tool so that the deburring tool moves along a locus based on the detected ridge.

US Pat. No. 10,478,965

ROBOT SYSTEM

Fanuc Corporation, Yaman...

1. A robot system comprising:a robot;
a control device configured to control the robot according to an operation program;
a portable teach pendant configured to be connected to the control device, and to perform a teaching operation regarding the operation program; and
a teaching handle configured to be attached to the robot, to be connected to the control device, and to perform lead-through teaching, wherein
the teach pendant is provided with a first enable switch configured to be switched to an on state in a state where the teach pendant is gripped, and to permit operation of the robot by manual operation of the teach pendant,
the teaching handle is provided with a second enable switch configured to be switched to an on state in a state where the teaching handle is gripped, and to permit operation of the robot by the teaching handle,
the control device enables operation of the robot by the teaching handle only when the first enable switch is in an off state and the second enable switch is switched to the on state, and enables operation of the robot by the teach pendant only when the second enable switch is in an off state and the first enable switch is switched to the on state, and
the control device shuts off power to the robot at a time point of both the first enable switch and the second enable switch being switched to the on state.

US Pat. No. 10,481,591

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller controlling a machine tool by generating an automatic feed command for driving a motor, the machine tool including a drive shaft for moving a tool and a workpiece relatively, a feed handle for driving the drive shaft by using a mechanical mechanism, and the motor for driving the drive shaft,the numerical controller comprising a processor configured to:
detect a first specific handle operation performed on the feed handle while the numerical controller is operating in a manual feed state for driving the drive shaft;
in response to detecting the first specific handle operation, switch to an automatic feed state for driving the drive shaft and output the automatic feed command;
detect a second specific handle operation performed on the feed handle while the numerical controller is operating in the automatic feed state; and
in response to detecting the second specific handle operation, switch to the manual feed state.

US Pat. No. 10,476,359

MOTOR ROTOR AND METHOD FOR MANUFACTURING THE SAME

FANUC CORPORATION, Yaman...

1. A motor rotor comprising a rotor core having a plurality of punched holes, a plurality of magnets placed on an outer circumferential surface of the rotor core or placed inside the rotor core, and a resin for fixing the plurality of magnets to the rotor core,wherein in plan view, each of the punched holes has one first inner surface section which coincides with an arc of a perfect circle and one second inner surface section which does not coincide with any arc of the perfect circle and, in plan view, the one second inner surface section extends from one end point of a respective arc subtending a central angle smaller than 180° in the perfect circle to the other end point of the respective arc by passing outside the perfect circle,
wherein in plan view, the one first inner surface section coincides with a respective arc subtending a central angle larger than 180° in the perfect circle,
wherein a portion of the one first inner surface section is located in a region directly across from and facing an adjacently positioned one of the magnets.

US Pat. No. 10,471,528

WIRE ELECTRICAL DISCHARGE MACHINE AND DISPLAY METHOD

FANUC CORPORATION, Yaman...

12. A display method for displaying information on a wire electrical discharge machine including a wire electrode for generating electrical discharge under application of voltage across an electrode gap formed between itself and a workpiece; a worktable on which the workpiece is set; and a drive mechanism for relatively moving the wire electrode and the worktable, comprising:a wire electrode cumulative moving time calculating step of calculating a value correlated to a wire electrode cumulative moving time as a cumulative value of time for which the wire electrode has moved in each of wire electrode moving regions which are defined by dividing a movable range of the wire electrode moving relative to the worktable into multiple wire electrode moving regions; and
a display control step of displaying on a display unit information on values correlated to the wire electrode cumulative moving time for respective wire electrode moving regions.

US Pat. No. 10,471,563

CONTROL DEVICE FOR MACHINE TOOL PERFORMING OSCILLATION CUTTING

FANUC CORPORATION, Yaman...

1. A control device for controlling a machine tool for cutting an outer peripheral surface or an inner peripheral surface of a workpiece with a tool, the machine tool having a spindle for rotating the workpiece and the tool relative to each other around a central axis of the workpiece, at least one feed shaft for performing a relative feeding between the tool and the workpiece along a generatrix of the outer peripheral surface or the inner peripheral surface of the workpiece, and a position detector for detecting an actual position of the at least one feed shaft, the control device comprising:a position command generation part for generating a position command for the at least one feed shaft based a relative feed speed of the tool and the workpiece; and
a feed shaft control part for controlling the at least one feed shaft according to the position command, wherein
the feed shaft control part is configured to control the at least one feed shaft by generating a torque command based on a resultant command obtained by adding the oscillation command to a position deviation, which is a difference between the position command and the actual position of the at least one feed shaft detected by the position detector;
the feed shaft control part further comprises an elastic deformation amount calculation part for calculating, based on the torque command, an elastic deformation amount of a structure between an output terminal of the at least one feed shaft and a machine oscillation end which generates oscillation for the oscillation cutting;
the output terminal is the portion of a rotary motor rotating shaft which drives a feed mechanism of the feed shaft that is connected to the feed mechanism;
the machine oscillation end is a tip of the tool;
the elastic deformation amount is an expansion/contraction elastic deformation amount of the rotary motor in the axial direction, or the sum of an expansion/contraction elastic deformation amount of the rotary motor in the axial direction and a torsional elastic deformation amount about the axis of the rotary motor; and
the feed shaft control part comprises an oscillation command generation part that generates the oscillation command for the at least one feed shaft so that the tool performs oscillation cutting on the workpiece, and so as to generate, based on the rotation speed, the position command, and the elastic deformation amount, an oscillation frequency which is a positive non-integral multiple of the rotation speed.

US Pat. No. 10,474,127

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for machining a workpiece by controlling a machine including at least one axis based on a machining program, the numerical controller comprising:a processor configured to: predict a reference machining time corresponding to a machining time not considering a delay time of servo control and machine motion based on the machining program;
extract combinations of program commands included in the machining program by analyzing the machining program, each of the combinations including commands from at least two different blocks of the machining program;
store, in a memory device, information related to an actual delay time of servo control and machine motion measured in actual machining by the machine for of the combinations;
calculate a correction time for correction of the reference machining time based on each of the combinations and information related to an actual delay time of servo control and machine motion for each of the combinations;
calculate a predicted machining time obtained by correcting the reference machining time using the correction time; and control at least one of a servo motor or a spindle motor of the machine based on the predicted machining time; and
measure an actual delay time of servo control and machine motion for each combination of program commands and update the information related to the actual delay time of servo control and machine motion for each combination of the program command types stored in the memory device based on the measured actual delay time of servo control and machine motion for each combination of program commands.

US Pat. No. 10,475,176

INSPECTION SYSTEM FOR WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. An inspection system for a wire electrical discharge machine, the inspection system comprising:a robot configured to inspect a constituent element of the wire electrical discharge machine, wherein the wire electrical discharge machine is configured to machine a workpiece by electrical discharge between a wire electrode and the workpiece;
an image pickup device provided on a movable part of the robot and configured to image the constituent element;
an image processing unit configured to acquire an image of the constituent element by the image pickup device; and
a maintenance necessity determination unit configured to determine the necessity of maintenance of the constituent element based on the image acquired by the image processing unit,
wherein
the constituent element includes at least one selected from the group consisting of
the wire electrode of the wire electrical discharge machine,
an element in a mechanism for feeding the wire electrode through the wire electrical discharge machine, and
an expendable of the wire electrical discharge machine,
the maintenance of the constituent element includes cleaning or replacement of the constituent element.

US Pat. No. 10,468,946

COOLING SYSTEM OF ELECTRIC MOTOR WITH FAN

FANUC CORPORATION, Yaman...

1. A cooling system of an electric motor, comprising:a fan configured to generate a fluid flow for cooling the electric motor;
a duct forming a flow channel for guiding the fluid flow generated by the fan;
at least one hole provided in a straight portion of the duct;
at least one further hole,
wherein
the at least one hole is provided laterally with respect to a flowing direction of the fluid flow through the straight portion of the duct,
the at least one hole is located downstream from the fan in the flowing direction of the fluid flow,
the at least one hole provides an exit for a part of the fluid flow to flow out of the duct for cooling the electric motor,
the at least one hole is located upstream in the flowing direction of the fluid flow from a predetermined position, at which retaining flow in the duct is to be generated, to decrease resistance for the fluid flow,
the duct includes
a first duct connected to the fan, and
a second duct connected to the first duct to receive the fluid flow from the first duct,
the at least one hole is provided in the first duct which defines the straight portion,
the at least one further hole is provided in the second duct which is a further straight portion of the duct,
the at least one further hole is provided laterally with respect to the flowing direction of the fluid flow through the further straight portion of the duct,
the first duct extends along a first side of the electric motor, and
the second duct is angled with respect to the first duct, and extends along a different, second side of the electric motor.

US Pat. No. 10,456,869

LASER PROCESSING DEVICE HAVING PREPROCESSING CONTROLLER AND LASER PROCESSING METHOD

FANUC CORPORATION, Yaman...

1. A laser processing device having a laser oscillator, a storage unit configured to store a processing program and processing conditions including an output condition of the laser oscillator, and a controller configured to issue a command to perform laser processing in accordance with the processing program, the laser processing device being configured to perform laser processing by irradiating a workpiece with a laser beam from the laser oscillator, the laser processing device comprising:a light quantity measuring unit configured to measure the light quantity of light reflected or emitted from a processing point irradiated with the laser beam from the laser oscillator;
a first storage unit configured to store high output conditions, which are previously found by an experiment or calculation in accordance with at least some of the processing conditions and which include an irradiation intensity and irradiation time, at which the workpiece is melted, changed in shape, or denatured;
a second storage unit configured to store low output conditions, which are previously found by an experiment or calculation in accordance with at least some of the processing conditions and which include the irradiation intensity and irradiation time, at which the work piece is not melted, changed in shape, or denatured;
a preprocessing controller which performs the following sequence steps:
issues a first command to perform preprocessing of a the workpiece under the high output conditions, issues a second command to irradiate the workpiece with the laser beam from the laser oscillator under the low output conditions, issues a third command to measure a first light quantity measured by the light quantity measuring unit after the workpiece is irradiated with the laser beam from the laser oscillator under the low output conditions, issues a fourth command of whether to start the laser processing, based on the measured first light quantity, and the laser processing including at least one of piercing, cutting, welding, or marking of the workpiece.

US Pat. No. 10,461,488

LASER DEVICE PROVIDED WITH FUNCTION OF PREDICTING OCCURRENCE OF CONDENSATION

FANUC CORPORATION, Yaman...

1. A laser device comprising:a laser resonator generating laser light,
a cooling water feed device feeding cooling water to the laser resonator for cooling the laser resonator,
a water temperature gauge measuring a temperature of cooling water fed to the laser resonator,
a temperature/humidity adjusting device adjusting at least one of a temperature and humidity of a space in which the laser resonator is set,
a thermometer measuring a temperature of air adjusted by the temperature/humidity adjusting device,
a hygrometer measuring a humidity of air adjusted by the temperature/humidity adjusting device,
a controlling part determining a control target temperature of cooling water which is fed to the laser resonator and calculating a reference temperature or a reference humidity for judging if the cooling water feed device may feed cooling water based on the temperature measured by the thermometer and the humidity measured by the hygrometer,
wherein the reference temperature is a dew point in the space in which the laser resonator is placed, or a value calculated based on the dew point, and
wherein the cooling water feed device is configured to repeat the following steps a plurality of times until the temperature of cooling water reaches the control target temperature:
1) start or continue the feed of cooling water after a command for starting up the laser resonator has been output and when:
a) the temperature of the cooling water is greater than the control target temperature, and
b) the temperature of the cooling water is greater than or equal to the reference temperature, and
2) stop the feed of cooling water when:
a) the temperature of the cooling water is less than or equal to the control target temperature, or
b) the temperature of the cooling water is less than the reference temperature.

US Pat. No. 10,454,951

CELL CONTROL DEVICE THAT CONTROLS MANUFACTURING CELL IN RESPONSE TO COMMAND FROM PRODUCTION MANAGEMENT DEVICE

FANUC CORPORATION, Yaman...

1. A cell control device configured to control a manufacturing cell including a plurality of machines in accordance with a command from a production management device, the cell control device comprising:a communication section configured to communicate with the production management device or the plurality of machines; and
a processor configured to
control the communication section to carry out the communication,
predict a time period from a first time point when a first planned communication is completed to a second time point when a second planned communication to be executed next following the first planned communication is started,
monitor, in real time, actual communication traffic in the communication section, during the predicted time period in which no communication is planned, and
in response to detecting actual communication traffic in the communication section during the predicted time period, determine that unauthorized communication occurred.

US Pat. No. 10,454,201

NAMEPLATE MOUNTING STRUCTURE

FANUC CORPORATION, Yaman...

1. A structure, comprising:a casing; and
a nameplate mounted detachably on the casing,
the nameplate comprising:
a main body portion formed in a plate-like shape; and
a projecting part formed to project out from a surface of the main body portion;
the casing comprising:
a recessed portion in which the nameplate is mounted;
a gripping member formed on a bottom part of the recessed portion, and which grips the projecting part; and
a fulcrum member in contact with a portion of the nameplate that faces toward the bottom part side of the recessed portion, and which acts as a fulcrum when the nameplate is rotated;
wherein the recessed portion includes a space formed between the nameplate and the bottom part of the recessed portion, the space enabling the nameplate to be rotated about the fulcrum that serves as a center of rotation, in a state with the nameplate being mounted on the casing.

US Pat. No. 10,447,104

SPINDLE STRUCTURE, ELECTRIC MOTOR, AND MACHINE TOOL FORMED WITH THROUGH HOLE FOR PASSAGE OF FLUID

FANUC CORPORATION, Yaman...

1. A spindle structure of a machine tool, comprising:a rotation part including:
a tool holding part provided at an end in an axial direction of the rotation part; and
a through hole axially extending through the rotation part so as to open at the end in the axial direction; and
a plurality of individual fluid flow members disposed along the through hole so as to be separate from each other, and rotating together with the rotation part so as to make a fluid present in the through hole flow toward the end in the axial direction when the rotation part is rotated, wherein each of the plurality of individual fluid flow members includes:
a solid center shaft;
a ring member disposed radially outside of the center shaft so as to surround the center shaft, and pressed against a wall surface defining the through hole so as to be fixed to the wall surface; and
a plurality of vanes, one end of each vane being fixed to the center shaft, the other end of each vane being fixed to the ring member.

US Pat. No. 10,442,023

SIMULATION APPARATUS OF WIRE ELECTRIC DISCHARGE MACHINE HAVING FUNCTION OF DETERMINING WELDING POSITIONS OF CORE USING MACHINE LEARNING

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,442,050

ROTARY TABLE DEVICE AND METHOD OF CONTROLLING THE ROTARY TABLE DEVICE

FANUC CORPORATION, Yaman...

1. A rotary table device including a clamp mechanism, the clamp mechanism comprising:a brake disk configured to rotate together with a spindle which rotates a workpiece;
a piston configured to move in a clamping direction in which the brake disk is clamped and an unclamping direction in which the brake disk is unclamped;
a clamp member configured to hold the brake disk between the clamp member and the piston which has moved in the clamping direction; and
a biasing member configured to bias the piston by a restoration force of elastic deformation in the clamping direction,
the rotary table device comprising:
a clamp mechanism drive unit configured to supply working fluid to a clamp fluid chamber to move the piston in the clamping direction, in a case of clamping the brake disk, and supply the working fluid to an unclamp fluid chamber to move the piston in the unclamping direction and change a pressure of the supplied working fluid, in a case of unclamping the brake disk,
a motor drive unit configured to drive the motor which rotates the spindle;
a pressure detection unit configured to detect the pressure of the working fluid;
a load detection unit configured to detect the load torque of the spindle;
a drive control unit configured to control the clamp mechanism drive unit to unclamp the brake disk, and thereafter, decrease the pressure of the working fluid supplied to the unclamp fluid chamber and control the motor drive unit to rotate the motor; and
an abrasion quantity calculation unit configured to calculate an abrasion quantity of the piston and the clamp member based on a reference pressure and the pressure of the working fluid when the load torque of the spindle exceeded the reference load torque.

US Pat. No. 10,447,029

CONNECTION CIRCUIT OF INTERCONNECT DEVICE

Fanuc Corporation, Yaman...

1. A connection circuit of an interconnect device, comprising:at least one interface for connecting to the interconnect device of an electrical load;
at least one power unit for supplying power to the interface through a power line;
at least one safety fuse provided between the power unit and the interface;
at least one ground line for grounding the interface; and
a power control unit configured to perform an output control to the power unit,
wherein when the power control unit receives a power-on signal, a preliminary wiring check operation is performed by:
preventing the power unit from supplying power to the interface through the power line, and
determining whether or not the power line and the ground line are short-circuited,
wherein when it is determined during the preliminary wiring check operation that the power line and the ground line are not short-circuited, a power output control signal is output from the power control unit to the power unit which instructs the power unit to supply power to the interface through the power line.

US Pat. No. 10,434,654

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

FANUC CORPORATION, Yaman...

1. A calibration device that associates at least one of position information in an image coordinate system at a first camera of a stereo camera and position information in an image coordinate system at a second camera of the stereo camera with position information in a robot coordinate system at a robot, the calibration device comprising:a model pattern generation unit that generates a model pattern about a target mark attached to the robot;
a first parameter setting unit that sets a first parameter for detecting the target mark using the model pattern from data about an image captured by the first camera;
a second parameter setting unit that sets a second parameter for detecting the target mark using the model pattern from data about an image captured by the second camera based on the first parameter set by the first parameter setting unit;
an image capture control unit that makes the first camera and the second camera capture images of the target mark attached to the robot and moved by the robot at each of multiple destinations;
a first detection unit that detects the target mark by using a value of the first parameter from the data about the image captured by the first camera, and measures the coordinate position of the detected target mark in the image coordinate system at the first camera;
a second detection unit that detects the target mark by using a value of the second parameter from the data about the image captured by the second camera, and measures the coordinate position or the detected target mark in the image coordinate system at the second camera; and
a calibration unit that calibrates the first camera and the second camera based on the coordinate position of the target mark in the image coordinate system at the first camera measured by the first detection unit, the coordinate position of the target mark in the image coordinate system at the second camera measured by the second detection unit, and the coordinate position of the target mark in the robot coordinate system while the images of the target mark are captured by the first camera and the second camera.

US Pat. No. 10,439,609

REDUNDANT TOUCH SWITCH USING INDUCTION PROXIMITY SENSORS

FANUC CORPORATION, Yaman...

1. A touch switch comprising:first and second induction-type proximity sensors that include first and second LC oscillation circuits, respectively;
a touch input section;
a linkage section;
a first metal piece provided to the touch input section at a surface thereof; and
a second metal piece provided in a position separated from the touch input section via the linkage section to be moveable (i) together with the first metal piece and (ii) relative to the second LC oscillation circuit,
the first and second LC oscillation circuits facing the first and second metal pieces, respectively, and outputting signals that change in accordance with distances to the first and second metal pieces, respectively.

US Pat. No. 10,430,650

IMAGE PROCESSING SYSTEM

FANUC CORPORATION, Yaman...

1. An image processing system that detects an image of a target in input shape information based on a model pattern representing the feature of the image of the target, comprising:a model pattern acquisition unit that acquires the model pattern generated from the input shape information;
a model pattern correction unit used for correcting the model pattern acquired by the model pattern acquisition unit; and
a machine learning unit that generates generation information for generating the model pattern from the input shape information by performing supervised learning using a set of learning data pieces each including correction information about the model pattern corrected by using the model pattern correction unit and the input shape information associated with each other, wherein
the image processing system is capable of generating a model pattern in which a result of the learning is reflected using the input shape information input to the image processing system and the generation information.

US Pat. No. 10,418,921

MACHINE LEARNING DEVICE, SERVO MOTOR CONTROL DEVICE, SERVO MOTOR CONTROL SYSTEM, AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning device configured to perform machine learning with respect to a servo motor control device comprising a non-linear friction compensation unit configured to create a compensation value with respect to non-linear friction on the basis of a position command, the machine learning device comprising:a state information acquisition unit configured to acquire state information from the servo motor control device by causing the servo motor control device to execute a predetermined program, the state information including a servo state including at least position error, and a combination of compensation coefficients of the non-linear friction compensation unit;
an action information output unit configured to output action information including adjustment information of the combination of compensation coefficients included in the state information, to the servo motor control device;
a reward output unit configured to output a reward value in reinforcement learning, based on the position error included in the state information; and
a value function updating unit configured to update an action value function on the basis of the reward value output by the reward output unit, the state information, and the action information.

US Pat. No. 10,409,255

CONTROLLER CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE MEDIUM STORING COMPUTER PROGRAM FOR MACHINE TOOL

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:one or more processors and memory to store one or more programs, the one or more programs comprising instructions for:
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 acceleration calculating unit that calculates an acceleration of the servo motor based on the acquired position command;
an oscillation command calculating unit that calculates an oscillation command based on the acquired position command and the acquired rotation speed, the calculated oscillation command causing the cutting tool and the work to oscillate relative to each other in a machining direction along a machining route along which the cutting tool travels;
an offset value calculating unit that calculates an offset value based on the calculated acceleration;
an offset unit that offsets amplitude of the calculated oscillation command by adding the calculated offset value to the amplitude; and
a driving unit that determines a drive signal to be used for driving the servo motor based on the oscillation command including the offset amplitude and the acquired position command, and outputs the drive signal.

US Pat. No. 10,379,531

TEST SYSTEM FOR PERFORMING MACHINE TEST

FANUC CORPORATION, Yaman...

1. A machine test system which tests whether or not a plurality of machines as manufactured operate normally, the plurality of machines as manufactured include a finished product and a halfway finished product, the machine test system comprising:a plurality of test devices which are connected to the plurality of machines and perform a predetermined basic test; and
a test management device which is connected to the plurality of test devices via a network, wherein
each of the test devices are separately connected to the respective machines, and
the test management device includes:
a judgement part which judges whether or not the respective machines has an abnormality based on a basic test result received from the respective test devices;
an additional test setting part which sets an additional test for determining a cause of the abnormality when the judgement part judges that the respective machines has the abnormality;
an adjustment part which sets the respective test devices that performs the additional test to no longer perform the predetermined basic test, and determines that the predetermined basic test planned to be performed by a different test device does not perform the additional test; and
an abnormal part estimation part which estimates a component of the respective machines at which the abnormality occurs based on an additional test result,
wherein the additional test is a test which is different from the predetermined basic test, and
wherein the additional test setting part sets an another additional test which is different from the additional test when the abnormal part estimation part fails to determine the component of the respective machines at which the abnormality occurs, and
the respective test devices perform the another additional test.

US Pat. No. 10,376,977

CONTROL DEVICE, WIRE ELECTRICAL DISCHARGE MACHINE, PROGRAM EDITING APPARATUS, AND CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A control device for controlling a main processing machine in accordance with a program where a plate thickness of a workpiece is a first plate thickness, comprising:a program storage unit configured to store a program for specifying a machining shape on a machining surface of the workpiece and a fixing distance of a fixing portion that fixes a core to be formed by machining the workpiece to the workpiece, on a machining line between the workpiece and the core;
an enlargement/reduction ratio setter configured to set an enlargement/reduction ratio of the machining shape of the workpiece;
a plate thickness setter configured to set a second plate thickness as the plate thickness of the workpiece to be machined by the main processing machine;
a plate thickness ratio calculator configured to calculate the ratio of the second plate thickness to the first plate thickness as a plate thickness ratio; and
a control unit configured to control the main processing machine by reading the program replacing the machining shape specified in the program with a shape corresponding to the enlargement/reduction ratio and replacing the fixing distance specified in the program with a distance corresponding to the enlargement/reduction ratio and the plate thickness ratio.

US Pat. No. 10,354,941

HEAT SINK AND HEAT SINK ASSEMBLY

FANUC CORPORATION, Yaman...

1. A heat sink comprising:a heat sink body in which a power semiconductor device module having a plurality of power semiconductor devices is placed on a cooling surface and which radiates heat generated by the power semiconductor device; and
a heat dissipation structure portion having a higher heat conductivity than the heat sink body and capable of dissipating heat generated by the power semiconductor device, wherein
the heat dissipation structure portion is provided at a position overlapping the power semiconductor device disposed in the power semiconductor device module in a direction orthogonal to the cooling surface of the heat sink body,
the heat dissipation structure portion is a heat dissipation sheet which is formed in a planar form using a metal material having a higher heat conductivity than the heat sink body and which is disposed in proximity to or on the power semiconductor device module in the heat sink body, and
the heat dissipation sheet is disposed so as to overlap the power semiconductor device disposed in the power semiconductor device module in the direction orthogonal to the cooling surface of the heat sink body.

US Pat. No. 10,355,546

SPINDLE STRUCTURE, ELECTRIC MOTOR, AND MACHINE TOOL FORMED WITH THROUGH HOLE FOR PASSAGE OF FLUID

FANUC CORPORATION, Yaman...

1. A spindle structure of a machine tool, comprising:an electric motor including a stator and a motor rotor rotatably arranged radially inside of the stator, the motor rotor having a first through hole;
a spindle device arranged adjacent to the electric motor in one direction of an axial direction of the electric motor, and including a spindle housing and a spindle rotor rotatably arranged radially inside of the spindle housing, the spindle rotor being coupled to the motor rotor so as to rotate integrally with the motor rotor, the spindle rotor including:
a tool holding part provided at an end of the spindle rotor in the one direction of the axial direction; and
a second through hole extending through the spindle rotor so as to open at the end of the spindle rotor in the one direction of the axial direction, the second through hole being in fluid communication with the first through hole;
a first group of individual fluid flow members arranged separate from each other in the first through hole so as to align along the first through hole, and configured to rotate together with the motor rotor so as to make a fluid present in the first through hole flow toward the one direction of the axial direction when the motor rotor is rotated, each of the first group of fluid flow members including:
a first ring member having:
an outer circumferential surface which fixedly contacts a wall surface defining the first through hole; and
an inner circumferential surface opposite the outer circumferential surface of the first ring member; and
a plurality of first vanes extending radially inward from the inner circumferential surface of the first ring member; and
a second group of individual fluid flow members arranged separate from each other in the second through hole so as to align along the second through hole, and configured to rotate together with the spindle rotor so as to make a fluid present in the second through hole flow toward the one direction of the axial direction when the spindle rotor is rotated, each of the second group of fluid flow members including:
a second ring member having:
an outer circumferential surface which fixedly contacts a wall surface defining the second through hole; and
an inner circumferential surface opposite the outer circumferential surface of the second ring member; and
a plurality of second vanes extending radially inward from the inner circumferential surface of the second ring member.

US Pat. No. 10,343,318

MOLDING SYSTEM PROVIDED WITH MOLDING MACHINE AND MOLDED ARTICLE REMOVAL DEVICE

FANUC CORPORATION, Yaman...

1. A molding system, comprising:a molding machine in which a mold is installed;
a molded article removal device capable of removing a master work attached to the mold;
a measurement section configured to:
measure, as a reference position, a position of the master work held by the molded article removal device when the molded article removal device removes the master work attached to a mold installed at a predetermined suitable position with respect to the molding machine and is arranged at a predetermined measurement position; and
measure, as a detected position, a position of the master work held by the molded article removal device when the molded article removal device removes the master work attached to a mold installed in the molding machine after measuring the reference position and removing the mold installed at the suitable position from the molding machine, and is arranged at the measurement position;
a displacement calculation section configured to calculate a difference between the reference position and the detected position measured by the measurement section, as a displacement amount; and
a correction section configured to correct a work position in a molded article molded by the molding machine with the mold installed in the molding machine after measuring the reference position, based on the displacement amount calculated by the displacement calculation section, the work position being a position where the molded article removal device carries out a work on the molded article.

US Pat. No. 10,343,854

PALLET DEVICE, MACHINE TOOL AND MACHINING SYSTEM WHICH CLAMP WORKPIECE

FANUC CORPORATION, Yaman...

1. A pallet device of a machine tool, comprising:a pallet including:
a pallet main body configured to clamp a workpiece; and
a replacement hook movably provided at the pallet main body so as to advance from at least partially inside of the pallet main body to outside of the pallet main body and so as to retract from the outside of the pallet main body to at least partially inside of the pallet main body, the replacement hook being movable between:
(1) a projection position where the replacement hook projects out from the pallet main body and
(2) a retraction position where the replacement hook is retracted from the projection position to at least partially inside of the pallet main body;
an automatically-controllable driving section embedded in the pallet main body, and configured to move the replacement hook to the projection position in accordance with a command from a controller; and
a jig to and from which the pallet is attached and detached.

US Pat. No. 10,343,282

METHOD FOR CAUSING ROBOT TO FIT MALE COMPONENT IN FEMALE COMPONENT

FANUC CORPORATION, Yaman...

1. A method of fitting a male component to a female component by a robot,the male component including:
a base part; and
a plurality of shaft parts attached to the base part, the plurality of shaft parts being movable in an axial direction thereof with respect to the base part and being hooked at predetermined positions so as to be not able to move in one direction of the axial direction,
the female component including:
a top face; and
a plurality of holes formed to be recessed from the top face and arranged to be able to receive the plurality of shaft parts respectively,
the method comprising:
grasping the base part by the robot and arranging the base part at vertically upward of the top face of the female component so that the plurality of shaft parts are suspended at vertically downside from the base part in a state where the plurality of shaft parts are hooked at the predetermined positions so as to be not able to move in the axial direction toward vertically downward;
moving the base part vertically downward by the robot so that a bottom face of the base part approaches the top face of the female component; and
reciprocating all of portions of the base part, from which the shaft parts are suspended, in a first direction parallel to a horizontal direction and a second direction opposite the first direction, along with moving the base part vertically downward by the robot, so that a tip end of at least one shaft part slides on the top face of the female component along a pathway which passes the hole if the tip end of the at least one shaft part is not inserted into the hole so as to butt against the top face of the female component when moving the base part vertically downward by the robot.

US Pat. No. 10,338,562

NUMERICAL CONTROLLER, CONTROL SYSTEM, CONTROL METHOD, AND CONTROL PROGRAM

FANUC CORPORATION, Yaman...

1. A numerical controller comprising:a storage unit that stores multiple combinations of machining programs and parameters together with a first cycle time required for machining;
a receiving unit that receives a second cycle time of a bottleneck step of another numerical controller; and
a selection unit that compares the first cycle times corresponding to the multiple combinations of machining programs and parameters to the second cycle time, and selects a combination from the multiple combinations of the machining programs and the parameters corresponding to a longest first cycle time within a range not exceeding the second cycle time.

US Pat. No. 10,335,863

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising:a column which includes a feed drive for causing movement along an axis that is extended in an up/down direction;
a spindle head which is movably supported by the column for movement in the up/down direction;
a spindle which is provided in the spindle head and which is extended in the up/down direction;
a draw bar which is movably provided within the spindle for movement in the up/down direction, which drawbar is relatively moved upward with respect to the spindle so as to clamp, in cooperation with the spindle, a tool to a lower end portion of the spindle and which drawbar is relatively moved downward with respect to the spindle so as to release the tool from the lower end portion;
a biasing portion which biases the draw bar upward; and
a cam mechanism provided to the column, which cam mechanism includes a cam and includes an arm which is turnably supported by the spindle head, and one end of the arm slides on a cam surface of the cam such that an other end of the arm pushes down the draw bar,
wherein the machine tool further includes:
a measurement portion which measures, with a distance sensor provided in the spindle head, a position of the draw bar in the up/down direction;
a storage portion which stores a relationship between a position of the spindle head and a position of the draw bar when the draw bar is normal; and
an abnormality determination portion which determines an abnormality in the cam mechanism based on the position of the draw bar measured with the measurement portion and based on the relationship stored in the storage portion,
wherein the cam surface includes an inclination surface that is inclined towards a tip side of the spindle head as the inclination surface is extended upward, and the cam surface further includes a flat surface that is extended in the up/down direction and that is formed sequentially above and continuously with the inclination surface, and
wherein a controlling portion is configured so that the measurement portion measures, after the one end of the arm reaches the flat surface of the cam surface, the position of the draw bar in the up/down direction.

US Pat. No. 10,328,582

PROCESS SYSTEM INCLUDING ROBOT THAT TRANSFERS WORKPIECE TO PROCESS MACHINE

FANUC CORPORATION, Yaman...

1. A process system comprising:a process machine including a fixture where a workpiece is fixed;
a robot that transfers the workpiece to the fixture;
a control device that controls the process machine and the robot; and
a detection device that detects a rotation angle of the workpiece around a predetermined axis line when the robot grips the workpiece, wherein
the process machine includes a drive device that rotates the fixture,
the control device includes a storage unit that stores a reference rotation angle serving as a criterion of a rotation angle of the workpiece, and an error calculation unit that calculates a rotation error relative to the reference rotation angle in the rotation angle of the workpiece detected by the detection device, and
the control device corrects the rotation angle of the fixture based on the rotation error so as to correspond to the rotation angle of the workpiece detected by the detection device when the robot transfers the workpiece to the fixture.

US Pat. No. 10,328,621

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:an injection molding machine;
a physical quantity acquisition means for acquiring a physical quantity related to injection molding;
a molded article image acquisition means for acquiring an image of the molded article manufactured by the injection molding machine;
a processor configured to obtain at least three stages of a compression ratio of the image; and
a storage means configured to compress and store the image of the molded article according to the compression ratio obtained by the processor,
wherein the processor is configured to set such that the greater a difference between the physical quantity acquired by the physical quantity acquisition means and an average of two or more of the physical quantity, the higher stage of the compression ratio.

US Pat. No. 10,309,804

ENCODER SIGNAL PROCESSOR HAVING AUTOMATIC ADJUSTMENT FUNCTION

FANUC CORPORATION, Yaman...

1. An encoder signal processor comprising:an analog signal adjustment circuit including at least two variable resistors for adjusting, based on an adjusting signal received from a sensor, at least one of an offset and an amplitude of a sinusoidal analog signal with two phases having a 90-degree difference outputted in accordance with a rotation of a target measured by the sensor;
a processor:
calculating position data of a target to be measured based on a digital signal obtained through analog/digital conversion of an analog signal adjusted by the analog signal adjustment circuit;
detecting a change amount of velocity per predetermined detection cycle from a velocity calculated based on position data while a target to be measured is rotating at a constant velocity; and
generating an adjusting signal and transmitting the adjusting signal to the analog signal adjustment circuit to increase and decrease a resistance value of at least one of the at least two variable resistors such that the resistance value minimizes the change amount of velocity by forcing the change amount of velocity to converge to a value by repeatedly:
1) increasing the resistance value in a subsequent detection cycle by adding a predetermined shift amount to the resistance value when the change amount of velocity is detected to be smaller than the change amount of velocity detected in a preceding detection cycle, and
2) decreasing the resistance value in the subsequent detection cycle by subtracting the predetermined shift amount from the resistance value when the change amount of velocity is detected to be larger than the change amount of velocity detected in the preceding detection cycle.

US Pat. No. 10,312,758

HOLDING MEMBER, ROTOR OF A ROTATING ELECTRICAL MACHINE COMPRISING THE SAME, AND A ROTATING ELECTRICAL MACHINE COMPRISING THE ROTOR

FANUC CORPORATION, Yaman...

1. A holding member applied to a rotating electrical machine, the rotating electrical machine comprising: a stator including a stator core; a rotor supported by way of a rotating shaft and corresponding to the stator; a plurality of magnets arranged on an outer periphery of the rotor; and a holding member that compressively holds the magnets inwards in a radial direction from an outer periphery side of the magnets,wherein the holding member comprises: a main section that forms a substantially cylindrical body and is composed primarily of a fiber bundle wound on, as circling around, a peripheral surface of the main section per se; and a terminally processed section provided at an end of the main section, the terminally processed section including a region that is terminally processed for preventing the fiber bundle from being untied from at least any one of a start point and an end point of winding the fiber bundle, and
wherein a length of the main section in an axial direction is longer than a length of the stator core in the axial direction; and the terminally processed section is arranged so as to be located outside of an end of the stator core in the axial direction, wherein
an external diameter of the terminally processed section, formed on an end portion extended from the main section, is larger than an external diameter of the main section, and wherein
an external diameter of an opposite side end portion, oppositely extended from the main section in the axial direction, is smaller than an inner diameter of the stator core, wherein the opposite side end portion is formed without the terminally processed section.

US Pat. No. 10,310,488

NUMERICAL CONTROLLER HAVING PROGRAM CORRECTION ASSISTANCE FUNCTION FOR ALARM SOLUTION

Fanuc Corporation, Yaman...

1. A numerical controller that controls a machine based on a machining program, the numerical controller comprising:a mismatch criterion information storage section that stores mismatch criterion information that serves as criteria used to determine a block that causes an alarm to be issued when the machining program is executed;
a program analyzing section that sequentially reads blocks contained in the machining program, analyzes the read blocks to identify the block that causes the alarm based on the mismatch criterion information stored in the mismatch criterion information storage section, and generates alarm cause data;
a program proposing section that generates, based on the alarm cause data, at least one set of proposal patch data for correcting the machining program in such a way that the cause of the alarm is solved; and
a program applying section that generates a corrected machining program that is the machining program to which the proposal patch data is applied.

US Pat. No. 10,303,155

NUMERICAL CONTROLLER HAVING MANUAL HANDLE FEED FUNCTION

Fanuc Corporation, Yaman...

1. A numerical controller that controls a machine tool including at least one axis, the numerical controller comprising:a processor configured to:
detect a touch operation on a predetermined operation area in a display area of a touch panel, wherein the predetermined operation area defines a virtual handle displayed in the display area;
specify a drag operation for the virtual handle in the operation area of the touch panel;
perform an arithmetic operation based on a start point position of the drag operation for the virtual handle and an end point position of the drag operation for the virtual handle, and specify an operation amount of the drag operation and an operation direction with respect to the drag operation for the virtual handle;
perform an arithmetic operation based on the drag operation for the virtual handle, and determine a magnification of a movement amount of the axis with respect to the operation amount of the drag operation;
generate a pulse for moving the axis of the machine tool based on the operation amount and operation direction of the drag operation for the virtual handle, and the magnification of the movement amount of the axis of the machine tool with respect to the operation amount of the drag operation of the virtual handle; and
control, via a servo controller, movement of the axis of the machine tool based on the generated pulse.

US Pat. No. 10,300,600

CONTROL SYSTEM HAVING LEARNING CONTROL FUNCTION AND CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A control system comprising a driven device driven by a servomotor, a control device for controlling the servomotor to operate the driven device, and a sensor for detecting a value related to the position of a certain portion of the driven device, whereinthe control device includes:
an operation control unit for generating a command value for the servomotor in each control cycle based on an operation program generated in advance, to control the operation of the driven device by the command value; and
a learning control processing unit for making the operation control unit repeatedly perform a learning control in which, when an operation control is performed using the operation program, a vibration correction amount is calculated to correct a vibration occurring in the certain portion and the vibration correction amount is applied to the next operation control by the operation program, and
the learning control processing unit includes:
a vibration amount estimation unit for estimating time-series vibration data occurring in the certain portion during the single learning control, based on time-series data of a detection value detected by the sensor and time-series data of the command value generated by the operation control unit while the operation control unit performs the single learning control;
a vibration correction amount calculation unit for calculating the vibration correction amount to be applied to the next operation control by the operation program, based on the time-series vibration data;
a storage unit, whenever the operation control unit performs the single learning control, the storage unit storing the number of learning controls indicating how many learning controls have been performed and the time-series vibration data in correspondence with each other; and
a determination unit for calculating a convergence determination value to determine whether or not the vibration of the certain portion converges based on the time-series vibration data at each number of learning controls stored in the storage unit, and determines the number of learning controls having a minimum convergence determination value out of the calculated convergence determination values as the optimal number of learning controls.

US Pat. No. 10,300,604

GRIPPING APPARATUS INCLUDING PROTECTIVE MEMBER FOR PROTECTING OBJECT AND ROBOT APPARATUS INCLUDING THE GRIPPING APPARATUS

FANUC CORPORATION, Yaman...

1. A gripping apparatus, comprising:a claw configured to releasably grip an object; and
a protective member configured to protect the object, the protective member being attached to the claw, such that when the object is gripped by the claw, the protective member is provided between the claw and the object,
wherein the protective member is an electrical insulator,
wherein the gripping apparatus further comprises:
an electric circuit configured to pass through the claw and the object when the object is gripped by the claw; and
a conduction judgment part configured to judge as to whether or not the electric circuit is electrically conductive, and
wherein the electric circuit is configured to become electrically conductive when the protective member is worn out or impaired and causes the claw and the object to come into direct contact with each other.